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    Methods of Controlling Motion of Under-Actuated Joints in a Surgical Set-up Structure
    184.
    发明申请
    Methods of Controlling Motion of Under-Actuated Joints in a Surgical Set-up Structure 审中-公开

    公开(公告)号：US20180280098A1

    公开(公告)日：2018-10-04

    申请号：US16002509

    申请日：2018-06-07

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz

    IPC: A61B34/35 ,  B25J9/02 ,  A61B34/37 ,  A61B34/30 ,  B25J9/16 ,  A61B90/00 ,  A61B90/50

    Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In another aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.

    Methods of controlling motion of under-actuated joints in a surgical set-up structure
    185.
    发明授权
    Methods of controlling motion of under-actuated joints in a surgical set-up structure 有权

    公开(公告)号：US10022196B2

    公开(公告)日：2018-07-17

    申请号：US15126536

    申请日：2015-03-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz

    IPC: A61B34/00 ,  A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  B25J9/02 ,  B25J9/16 ,  A61B90/00 ,  A61B90/50

    Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In an other aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.

    Systems and Methods for Rendering Onscreen Identification of Instruments in a Teleoperational Medical System
    188.
    发明申请
    Systems and Methods for Rendering Onscreen Identification of Instruments in a Teleoperational Medical System 审中-公开

    公开(公告)号：US20180092700A1

    公开(公告)日：2018-04-05

    申请号：US15558466

    申请日：2016-03-16

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

    IPC: A61B34/35 ,  A61B34/37 ,  A61B90/94

    Abstract: A teleoperational assembly is disclosed which includes an operator control system and a plurality of manipulators configured to control the movement of medical instruments in a surgical environment. The manipulators are teleoperationally controlled by the operator control system. The system further includes a processing unit configured to display an image of a field of view of the surgical environment, project the position of distal end portions of the medical instruments into the image's coordinate space, determine initial positions for badges associated with the distal end portions of each medical instrument, evaluate a display factor for each badge based on its initial position, and determine a final display position for each badge in the image's coordinate space based on the display factor.

    Structural Adjustment Systems And Methods For A Teleoperational Medical System
    190.
    发明申请
    Structural Adjustment Systems And Methods For A Teleoperational Medical System 审中-公开

    公开(公告)号：US20170172676A1

    公开(公告)日：2017-06-22

    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 ,  A61B90/00 ,  B25J9/16 ,  A61B34/30

    CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/03 ,  B25J9/1689

    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.

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