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    Structural adjustment systems and methods for a teleoperational medical system
    141.
    发明授权
    Structural adjustment systems and methods for a teleoperational medical system 有权

    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.

    System and method for maintaining a tool pose
    142.
    发明授权
    System and method for maintaining a tool pose 有权

    公开(公告)号：US10070931B2

    公开(公告)日：2018-09-11

    申请号：US15125533

    申请日：2015-03-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Brandon D. Itkowitz ,  Nitish Swarup ,  Paul G. Griffiths ,  Goran Lynch

    IPC: B25J9/06 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

    Abstract: A system and method of maintaining a tool pose for a computer-assisted medical device with an articulated arm including one or more first joints and one or more second joints, a tool distal to the first joints and the second joints, and a control unit coupled to the first joints and the second joints. The control unit maintains a pose of the tool during movement of the first joints using the second joints by determining a reference coordinate frame for the tool, determining a reference transform of the tool in the reference coordinate frame prior to the movement of the first joints, determining an actual transform of the tool in the reference coordinate frame while the first joints are being moved, determining differences between the reference transform and the actual transform, and maintaining the pose of the tool by driving the second joints based on the differences.

    System and method for aligning with a reference target
    144.
    发明授权
    System and method for aligning with a reference target 有权

    公开(公告)号：US10064689B2

    公开(公告)日：2018-09-04

    申请号：US15126983

    申请日：2015-03-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Michael Hanuschik ,  Thomas R. Nixon

    IPC: A61B34/30 ,  B25J9/16 ,  A61B1/00 ,  A61B34/20

    Abstract: A system and method of aligning with a reference target includes a computer-assisted medical device. The computer-assisted medical device includes an orientation platform, one or more first joints proximal to the orientation platform, one or more second joints distal to the orientation platform, one or more links distal to the orientation platform, a reference instrument coupled to the orientation platform by the second joints and the links; and a control unit coupled to the first joints and the second joints. The control unit determines a pose of the reference instrument. The pose includes a reference point and a reference orientation. The control unit further positions the orientation platform over the reference point using the first joints, rotates the orientation platform to align the orientation platform with the reference orientation using the first joints, and maintains the pose of the reference instrument using the second joints.

    SYSTEMS AND METHODS FOR CONTROL OF IMAGING INSTRUEMENT ORIENTATION
    150.
    发明申请
    SYSTEMS AND METHODS FOR CONTROL OF IMAGING INSTRUEMENT ORIENTATION 审中-公开

    公开(公告)号：US20170188792A1

    公开(公告)日：2017-07-06

    申请号：US15262932

    申请日：2015-03-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC

    Inventor： Brandon D. Itkowitz ,  Ian E. McDowall ,  Thomas R. Nixon ,  Bruce M. Schena ,  Niels Samby

    IPC: A61B1/00 ,  A61B1/04 ,  A61B34/30

    Abstract: A medical imaging system comprises a teleoperational assembly and a processing unit including one or more processors. The processing unit is configured for receiving a roll position indicator for an imaging instrument coupled to the teleoperational assembly. The imaging instrument has a view angle greater than 0° relative (e.g., 30 degrees) to an optical axis of the imaging instrument. The processing unit is further configured for obtaining first image data from the imaging instrument coupled to the teleoperational assembly at a first roll position and for obtaining subsequent image data from the imaging instrument coupled to the teleoperational assembly at a second roll position. The processing unit is further configured for coordinating a roll movement of the imaging instrument between the first and second roll positions with a transition between presentation of the first image data and the subsequent image data.

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