公开(公告)号：US20190282311A1

公开(公告)日：2019-09-19

申请号：US16349196

申请日：2017-11-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Mahdi Azizian ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B34/20 ,  A61B34/00 ,  A61B34/10

Abstract: A method is provided for intra-surgical use of a surgical patient health record in a teleoperated surgical system that includes a surgical instrument and a surgical instrument actuator, comprising: receiving user input commands to control movement of a robotic surgical instrument; tracking robotic surgical instrument actuator state in response to the user input commands; and transitioning robotic surgical instrument actuator state to a safety mode in response to the robotic surgical instrument transitioning to a prescribed actuator state.

公开(公告)号：US20190231459A1

公开(公告)日：2019-08-01

申请号：US16316981

申请日：2017-04-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tabish Mustufa ,  Heath Feather ,  Daniel H. Gomez ,  Brian D. Hoffman ,  Paul W. Mohr ,  Huan L. Phan

IPC: A61B34/35 ,  A61B34/00 ,  A61B90/00

Abstract: A system comprises a teleoperational assembly including an operator control system and a first teleoperational manipulator configured for operation by an operator control device of the operator control system. The first teleoperational manipulator is configured to control the operation of a first medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu proximate to an image of the first medical instrument in the image of the field of view. The menu includes at least one icon representing a function for the first medical instrument.

公开(公告)号：US20190213770A1

公开(公告)日：2019-07-11

申请号：US16351444

申请日：2019-03-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian David Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: G06T11/60 ,  B25J9/16 ,  G06T11/40 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00 ,  G05B19/42

CPC classification number: G06T11/60 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06T11/40 ,  Y02P90/265

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

公开(公告)号：US10182873B2

公开(公告)日：2019-01-22

申请号：US15262780

申请日：2015-03-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. The motorized surgical arms have a motion limit defining a boundary beyond which the surgical arm cannot pass when the surgical arm is attached to a patient. The teleoperational medical system also includes a control system having a surgical threshold limit stored therein. The surgical threshold limit is an edge of a boundary to be potentially travelled by the surgical arm to suitably perform a surgical procedure. The control system is configured to compare the motion limit to the surgical threshold limit and notify an operator via an output device when the threshold limit is outside a range of motion bounded by the motion limit.

公开(公告)号：US10117714B2

公开(公告)日：2018-11-06

申请号：US15488173

申请日：2017-04-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC: A61B34/35 ,  B25J9/16 ,  B25J3/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

公开(公告)号：US10071479B2

公开(公告)日：2018-09-11

申请号：US15456394

申请日：2017-03-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nitish Swarup ,  Arjang M. Hourtash ,  Paul W. Mohr

IPC: G06F19/00 ,  G05B15/00 ,  B25J9/16 ,  B25J18/00 ,  A61B34/37 ,  A61B34/20 ,  A61B34/00 ,  A61B1/00 ,  A61B50/13 ,  A61B90/00 ,  A61B34/30

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.

公开(公告)号：US20180225855A1

公开(公告)日：2018-08-09

申请号：US15946408

申请日：2018-04-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: G06T11/60 ,  B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G05B19/42 ,  G06T11/40 ,  A61B34/00 ,  A61B34/20

CPC classification number: G06T11/60 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06T11/40 ,  Y02P90/265

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

公开(公告)号：US20180214225A1

公开(公告)日：2018-08-02

申请号：US15927978

申请日：2018-03-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce M. Schena ,  Roman L. Devengenzo ,  Scott Luke

IPC: A61B34/37 ,  A61B1/00 ,  A61B34/00 ,  B25J9/16

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

公开(公告)号：US10008017B2

公开(公告)日：2018-06-26

申请号：US13768047

申请日：2013-02-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Daniel J. Halabe ,  Tao Zhao ,  Simon P. DiMaio ,  Christopher J. Hasser ,  Catherine J. Mohr ,  Paul W. Mohr ,  David Q. Larkin ,  Brian David Hoffman ,  Wenyi Zhao

IPC: G06T11/60 ,  G06T11/40 ,  B25J9/16 ,  G05B19/42 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  A61B34/00

CPC classification number: G06T11/60 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06T11/40 ,  Y02P90/265

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

公开(公告)号：US09949801B2

公开(公告)日：2018-04-24

申请号：US15359405

申请日：2016-11-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke

IPC: G06F19/00 ,  A61B34/37 ,  A61B34/00 ,  A61B1/00 ,  B25J9/16

CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/74 ,  A61B2034/742 ,  B25J9/1607 ,  Y10S901/15

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.