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    System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
    111.
    发明授权
    System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement 有权

    公开(公告)号：US10251715B2

    公开(公告)日：2019-04-09

    申请号：US15885685

    申请日：2018-01-31

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Nitish Swarup

    IPC: B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  B25J18/00

    Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

    Command shaping to dampen vibrations in mode transitions
    112.
    发明授权
    Command shaping to dampen vibrations in mode transitions 有权

    公开(公告)号：US10201390B2

    公开(公告)日：2019-02-12

    申请号：US15125944

    申请日：2015-03-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Nitish Swarup ,  David W. Robinson

    IPC: G01C21/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B34/00

    Abstract: Systems and method are provided for the elimination/mitigation of vibration arising from a mode transition during a robotic surgery. The robotic surgery can be performed with a patient side cart, portions of which can be affected by the mode transition. Initial parameters for the portions of the patient side cart that can be affected by the mode transition are identified and are used to create a smoothing curve. The smoothing curve can direct the movement of the portions of the patient side cart to transition between the modes. The smoothing curve can be continuously generated until a new mode transition is requested.

    SYSTEMS AND METHODS FOR TRACKING A PATH USING THE NULL-SPACE
    118.
    发明申请
    SYSTEMS AND METHODS FOR TRACKING A PATH USING THE NULL-SPACE 有权
    使用空间跟踪路径的系统和方法

    公开(公告)号：US20140276953A1

    公开(公告)日：2014-09-18

    申请号：US14218862

    申请日：2014-03-18

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Nitish Swarup ,  Arjang Hourtash ,  Paul Mohr

    IPC: A61B19/00

    CPC classification number: B25J9/1643 ,  A61B1/00193 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B50/13 ,  A61B2034/107 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/742 ,  A61B2090/065 ,  B25J18/007 ,  G05B2219/40339 ,  G05B2219/40359 ,  G05B2219/40474

    Abstract: Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.

    Abstract translation: 用于提供具有冗余自由度的多个关节的操纵臂的一个或多个关节的期望运动的装置，系统和方法，同时执行操纵器的远端执行器的命令运动。 方法包括在由一个或多个关节限定的关节空间内限定诸如路径网络的约束，并且确定多个关节在零空间内的运动以跟踪所述一个或多个关节的约束。 方法还可以包括计算关节的重新配置运动并修改约束以与一个或多个关节的重新配置的位置一致。 本文提供了利用这种方法的装置和系统的各种配置。

    Software Configurable Manipulator Degrees of Freedom
    119.
    发明申请
    Software Configurable Manipulator Degrees of Freedom 审中-公开
    软件可配置机器人自由度

    公开(公告)号：US20140276951A1

    公开(公告)日：2014-09-18

    申请号：US14218318

    申请日：2014-03-18

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang Hourtash ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Niels Smaby ,  Nitish Swarup

    IPC: A61B19/00

    CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B2034/2059

    Abstract: Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.

    Abstract translation: 用于控制机器人系统的多个操纵器组件的方法，装置和系统。 根据一种方法，经由第一操纵器组件的关节空间界面元件和关节之间的第一映射，在多个连接器输入元件的多个关节空间界面元件处接收第一多个传感器信号。 连接器输入元件一次可操作以仅耦合到一个操纵器组件。 然后接收的第一传感器信号用联合控制器处理，以便控制第一操纵器组件。 然后，经由与第一映射不同的第二映射，在联合空间接口元件处从连接器输入元件接收第二多个传感器信号。 然后接收的第二传感器信号用联合控制器处理，以便控制与第一操纵器组件不同的第二操纵器组件。

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