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公开(公告)号：US20240350219A1
公开(公告)日：2024-10-24
申请号：US18649939
申请日：2024-04-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang Hourtash , Goran Lynch
CPC classification number: A61B34/77 , A61B34/35 , A61B34/37 , A61B34/74 , A61B34/76 , B25J9/0045 , B25J9/1676 , B25J9/1689
Abstract: Disclosed herein are apparatus and method for resisting external articulation of one or more joints of a manipulator assembly when the joints are approaching mechanical limits. For example, an articulable system may include a joint mechanism, an actuator coupled to the joint mechanism, a sensor system for sensing a joint state and a controller. The controller can operate the articulable system in an external articulation facilitation mode. The controller can command the actuator to resist movement of the joint in response to the joint state indicating the joint is moving toward a mechanical limit location with a joint velocity meeting a first velocity criterion. The controller can also command the actuator resist movement of the joint at a second joint position when the joint velocity meets a second criterion.
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Patent Agency Ranking
公开(公告)号：US11602840B2
公开(公告)日：2023-03-14
申请号：US17505566
申请日：2021-10-19
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang Hourtash
Abstract: A medical system includes a manipulator arm including a movable distal portion, a proximal portion coupled to a base, and joints between the distal portion and the base. A processor coupled to the manipulator arm performs operations including calculating a first movement of the joints in a null-space of a Jacobian of the manipulator arm, the first movement being calculated in accordance with a first objective for arm-to-patient collision avoidance. The operations further include calculating a second movement of the joints in the null-space, the second movement being calculated in accordance with a second objective for arm-to-arm collision avoidance, and combining at least the first and second movements into a combined movement in a manner allowing the first objective to overpower the second objective, and driving the joints to effect the combined movement.
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13.发明授权System and methods for managing multiple null-space objectives and SLI behaviors 有权用于管理多个零空间目标和SLI行为的系统和方法公开(公告)号：US09510911B2
公开(公告)日：2016-12-06
申请号：US14218832
申请日：2014-03-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Arjang Hourtash
CPC classification number: B25J9/1607 , A61B34/30 , A61B34/37 , A61B34/77 , B25J9/1689 , B25J18/007 , G05B2219/39079 , G05B2219/40327 , G05B2219/41405
Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof.
Abstract translation: 用于根据一个或多个合并的零空间目标提供与操纵器的一个或多个关节的期望运动同时进行操纵器的末端执行器的命令移动的装置，系统和方法。 零空间目标可以包括联合状态组合，相对关节状态，关节状态范围，关节状态轮廓，动能，离合运动，碰撞避免运动，奇异性避免运动，姿态或俯仰偏好，期望的操纵器配置，命令重新配置 的机械手，以及关节的各向异性强调。 方法包括根据不同的零空间目标来计算多个零空间运动，使用各种方法确定每个属性并使用零空间管理器合并零空间运动。 这些方法可以包括应用加权，缩放，饱和度水平，优先级，主速度限制，饱和有限积分及其各种组合。
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14.发明授权System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement 有权用于通过在零空间垂直的空间中捕捉来定位操纵臂的系统和方法与空 - 空运动同时发生公开(公告)号：US09415510B2
公开(公告)日：2016-08-16
申请号：US14218788
申请日：2014-03-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Arjang Hourtash , Nitish Swarup
CPC classification number: A61B34/30 , A61B34/37 , B25J9/1607 , B25J9/1638 , B25J9/1666 , B25J18/007
Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.
Abstract translation: 用于通过在零垂直接合速度子空间内漂浮第一组接头并提供操纵臂的近端部分的期望状态或运动来定位操纵臂的末端执行器或远程中心的装置，系统和方法 通过在垂直于零垂直空间的零空间内驱动第二组关节而与末端执行器定位同时进行。 方法包括在空 - 垂直空间内漂浮第一组关节，以允许在工作空间内手动定位远程中心或末端执行器位置中的一个或两个，并根据在空值内计算的辅助运动来驱动第二组关节 - 在关节浮动期间根据所需状态或操纵臂的移动。 本文提供了利用这种方法的装置和系统的各种配置。
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公开(公告)号：US09296104B2
公开(公告)日：2016-03-29
申请号：US14218862
申请日：2014-03-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish Swarup , Arjang Hourtash , Paul Mohr
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.
Abstract translation: 用于提供具有冗余自由度的多个关节的操纵臂的一个或多个关节的期望运动的装置，系统和方法，同时执行操纵器的远端执行器的命令运动。 方法包括在由一个或多个关节限定的关节空间内限定诸如路径网络的约束，并且确定多个关节在零空间内的运动以跟踪所述一个或多个关节的约束。 方法还可以包括计算关节的重新配置运动并修改约束以与一个或多个关节的重新配置的位置一致。 本文提供了利用这种方法的装置和系统的各种配置。
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16.发明申请公开(公告)号：US20140276952A1
公开(公告)日：2014-09-18
申请号：US14218788
申请日：2014-03-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Arjang Hourtash , Nitish Swarup
CPC classification number: A61B34/30 , A61B34/37 , B25J9/1607 , B25J9/1638 , B25J9/1666 , B25J18/007
Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.
Abstract translation: 用于通过在零垂直接合速度子空间内漂浮第一组接头并提供操纵臂的近端部分的期望状态或运动来定位操纵臂的末端执行器或远程中心的装置，系统和方法 通过在垂直于零垂直空间的零空间内驱动第二组关节而与末端执行器定位同时进行。 方法包括在空 - 垂直空间内漂浮第一组关节，以允许在工作空间内手动定位远程中心或末端执行器位置中的一个或两个，并根据在空值内计算的辅助运动来驱动第二组关节 - 在关节浮动期间根据所需状态或操纵臂的移动。 本文提供了利用这种方法的装置和系统的各种配置。
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