公开(公告)号：US09610689B2

公开(公告)日：2017-04-04

申请号：US15057073

申请日：2016-02-29

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: G05B15/00 ,  G05B19/00 ,  B25J9/16 ,  A61B34/30 ,  B25J18/00 ,  A61B34/37 ,  A61B34/20 ,  A61B34/10

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：US09554859B2

公开(公告)日：2017-01-31

申请号：US14462507

申请日：2014-08-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B19/00 ,  B25J3/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/065 ,  B25J3/00 ,  B25J9/1682 ,  B25J9/1689 ,  G05B2219/39135 ,  G05B2219/39212 ,  G05B2219/39322 ,  G05B2219/40184 ,  G05B2219/45117

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 n 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 method for their use are also provided.

Abstract translation: 远程手术，远程外科手术和/或外科手术机器人装置，系统和方法使用可以具有比相关联的手术末端执行器n空间更多的自由度的外科手术机器人连接。 处理器可以计算包括围绕孔径位置枢转工具的工具运动。 可以沿着用于给定末端执行器位置的一系列构造可移动的连接朝着抑制碰撞的构造被驱动。 还提供了精制机器人连接及其使用方法。

公开(公告)号：US09516996B2

公开(公告)日：2016-12-13

申请号：US14488408

申请日：2014-09-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola Diolaiti ,  David Q. Larkin ,  Daniel H. Gomez ,  Tabish Mustufa ,  Paul W. Mohr ,  Paul E. Lilagan

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/313 ,  A61B5/06 ,  G06T7/00 ,  G09B23/28 ,  A61B17/00

CPC classification number: A61B1/00149 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00039 ,  A61B1/00045 ,  A61B1/0005 ,  A61B1/00087 ,  A61B1/00154 ,  A61B1/05 ,  A61B1/313 ,  A61B5/065 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/77 ,  A61B90/03 ,  A61B90/36 ,  A61B90/361 ,  A61B2017/00119 ,  A61B2034/102 ,  A61B2034/2074 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/364 ,  A61B2090/365 ,  G06T7/70 ,  G09B23/285

Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.

Abstract translation: 医疗机器人系统包括具有手术工具的进入引导件和从其远端延伸出的相机。 为了补充由相机拍摄的图像提供的视图，包括外科手术工具和/或相机的可铰接臂的辅助视图是从感测或以其它方式确定的关于它们的位置和取向的信息产生的，并且从显示屏幕的视角 指定的观察点。 当操作员控制相机的定位和定向时，相对于辅助视图向操作者提供直观的控制。

公开(公告)号：US09301811B2

公开(公告)日：2016-04-05

申请号：US14028006

申请日：2013-09-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randal P Goldberg ,  Michael Hanuschik ,  Paul Millman ,  Paul W. Mohr ,  Thomas R. Nixon ,  David Robinson

IPC: A61B19/00 ,  A61B18/14 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B18/00 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/98 ,  A61B2017/00225 ,  A61B2017/00973 ,  A61B2034/254 ,  G05B2219/40195

Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system can include automatically assigning an auxiliary input device to control an auxiliary function of a surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating another input device operably coupled to control movement of the surgical instrument. A system for controlling a surgical instrument may include an input device of a surgical system that is operably coupled to generate and transmit an input control signal to control movement of a surgical instrument operably coupled to the surgical system. The system may further include an auxiliary input device, and a control system operably coupling the auxiliary input device to control an auxiliary function of the surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating the input device.

Abstract translation: 分配辅助输入装置以控制机器人手术系统中的外科器械的方法可以包括：根据辅助输入装置的位置和用户的手中的哪一个自动分配辅助输入装置来控制外科器械的辅助功能 正在操作另一输入装置，其可操作地联接以控制手术器械的运动。 用于控制外科器械的系统可以包括外科系统的输入装置，其可操作地联接以产生和传送输入控制信号，以控制可操作地联接到手术系统的手术器械的运动。 该系统还可以包括辅助输入装置和控制系统，该控制系统可操作地联接辅助输入装置以基于辅助输入装置的位置和用户的手操作输入装置来控制外科器械的辅助功能。

公开(公告)号：US20140282196A1

公开(公告)日：2014-09-18

申请号：US14210840

申请日：2014-03-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Christopher J. Hasser ,  Brandon D. Itkowitz ,  Paul E. Lilagan ,  David D. Scott ,  Paul W. Mohr ,  Simon P. DiMaio ,  David W. Robinson ,  Tao Zhao

IPC: G06F3/01 ,  G06F3/0484 ,  G06F3/0482

Abstract: A robotic system provides user selectable actions associated with gaze tracking according to user interface types. User initiated correction and/or recalibration of the gaze tracking may be performed during the processing of individual of the user selectable actions.

Abstract translation: 机器人系统根据用户界面类型提供与凝视跟踪相关联的用户可选择的动作。 注视跟踪的用户发起的校正和/或重新校准可以在用户可选动作的个体的处理期间执行。

公开(公告)号：US20140039521A1

公开(公告)日：2014-02-06

申请号：US14052835

申请日：2013-10-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul W. Mohr ,  David W. Robinson

IPC: A61B19/00

CPC classification number: A61B19/5225 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/37 ,  A61B2090/0811 ,  B25J9/1689 ,  B25J9/1692 ,  G05B2219/39024 ,  G05B2219/45123 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/09

Abstract: Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.

Abstract translation: 状态方向的连续变化以图形方式提供在显示屏幕上，以帮助用户执行用于在医疗机器人系统中的操作模式之间转换或执行校正动作的必要动作。 医疗机器人系统的元件的目标状态的图形表示显示在用户可以看到的显示屏幕上。 持续确定元件的当前状态和指示用户将元件操纵到目标状态的指示，并且连续确定的当前状态和指示的图形表示与目标状态的显示屏幕一起显示在显示屏幕上。