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196 条记录 (耗时 0.035 秒)

    Limited movement of a surgical mounting platform controlled by manual motion of robotic arms
    172.
    发明授权
    Limited movement of a surgical mounting platform controlled by manual motion of robotic arms 有权

    公开(公告)号：US11033345B2

    公开(公告)日：2021-06-15

    申请号：US16355517

    申请日：2019-03-15

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： Paul G. Griffiths ,  Paul W. Mohr ,  Nitish Swarup ,  Michael Costa ,  David Q. Larkin ,  Thomas G. Cooper

    IPC分类号： A61B34/35 ,  A61B34/30 ,  A61B50/10 ,  A61B50/18 ,  A61B17/00

    摘要： A tele-operated system includes a platform, a manipulator supported by the platform, a support structure supporting the platform, and a processor. In a platform movement mode the processor is configured to sense a manual movement of a link of the manipulator relative to the platform that moves the link from a first to a second positional relationship relative to the platform wherein a difference between the first and second positional relationships includes a displacement having components in first, second, and third directions that are perpendicular to one another, calculate, in response to the sensed manual movement, a command for the support structure that causes the link to move in the first direction so as to reduce the displacement in the first direction and does not change the displacement in the second direction, and transmit the command to the support structure so as to move the platform and the manipulator.

    Estimation of a position and orientation of a frame used in controlling movement of a tool
    175.
    发明授权
    Estimation of a position and orientation of a frame used in controlling movement of a tool 有权

    公开(公告)号：US10582974B2

    公开(公告)日：2020-03-10

    申请号：US15719275

    申请日：2017-09-28

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Tao Zhao ,  Giuseppe Maria Prisco ,  John R. Steger ,  David Q. Larkin

    IPC分类号： A61B34/30 ,  B25J9/16 ,  A61B90/00 ,  A61B34/37 ,  A61B34/20

    摘要： A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.

    ARM WITH A COMBINED SHAPE AND FORCE SENSOR
    178.
    发明申请
    ARM WITH A COMBINED SHAPE AND FORCE SENSOR 审中-公开

    公开(公告)号：US20190151034A1

    公开(公告)日：2019-05-23

    申请号：US16234227

    申请日：2018-12-27

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： David Q. Larkin ,  Vincent Duindam

    IPC分类号： A61B34/30 ,  G01L5/22 ,  B25J18/06 ,  B25J9/16 ,  A61B34/00 ,  B25J13/02

    摘要： A robotic surgical system comprising a surgical instrument. The surgical instrument includes an elongate, hollow shaft having a proximal end, a distal end, and a flexible section. The surgical instrument also includes a sensor apparatus comprising an electromagnetic sensor. The robotic surgical system also includes a force transmission mechanism coupled to the proximal end of the shaft and a processor communicatively coupled to at least the sensor apparatus. The processor is configured to receive sensor data from the sensor apparatus and to use the sensor data with video information, mechanical property data for the surgical instrument, and material property data for the surgical instrument to determine position and orientation information for the surgical instrument.

    ARM WITH A COMBINED SHAPE AND FORCE SENSOR
    179.
    发明申请
    ARM WITH A COMBINED SHAPE AND FORCE SENSOR 审中-公开

    公开(公告)号：US20190151033A1

    公开(公告)日：2019-05-23

    申请号：US16139451

    申请日：2018-09-24

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： David Q. Larkin ,  Vincent Duindam

    IPC分类号： A61B34/30 ,  B25J13/02 ,  B25J9/16 ,  A61B34/00 ,  G01L5/22 ,  B25J18/06

    摘要： A system comprises an arm including a bendable section and a force transmission mechanism. The system also comprises an actuation mechanism coupled to the force transmission mechanism to bend the bendable section. The system also comprises an electronic data processor configured to receive sensor data about the bendable section and determine external force information about at least one of a magnitude or a direction of an external force applied to the arm from the sensor data. the processor is also configured to determine a pose of the bendable section from the sensor data and generate control information for the actuation mechanism to maintain the pose of the bendable section in a stationary configuration as the external force is applied to or withdrawn from the arm.