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    SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART
    11.
    发明申请
    SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART 有权
    具有驱动系统的手术患者侧车和移动患者侧面的方法

    公开(公告)号：US20140297130A1

    公开(公告)日：2014-10-02

    申请号：US14209239

    申请日：2014-03-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Paul G. GRIFFITHS ,  Arjang M. HOURTASH ,  Paul W. MOHR ,  David ROBINSON ,  Nitish SWARUP ,  John ZABINSKI ,  Mark ZIMMER

    IPC: B62D6/00

    CPC classification number: A61B19/0248 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2050/185 ,  B25J5/007 ,  G05D1/0011

    Abstract: A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.

    Abstract translation: 用于远程手术的外科系统的患者侧车可以包括用于保持外科器械，转向接口和驱动系统的至少一个操纵臂部分。 转向接口可以被配置为检测用户对转向接口施加的力，指示远程手术系统的期望运动。 驱动系统可以包括至少一个从动轮，控制模块和模型部分。 控制模块可以接收来自转向接口的信号作为输入，该信号对应于由用户施加到转向接口的力。 控制模块可以被配置为输出对应于从转向接口接收到的信号的期望运动信号。 模型部分可以包括患者侧车的运动行为的模型，模型部分输出运动指令输出以驱动从动轮。

    TECHNIQUES FOR FOLLOWING COMMANDS OF AN INPUT DEVICE USING A CONSTRAINED PROXY
    12.
    发明申请
    TECHNIQUES FOR FOLLOWING COMMANDS OF AN INPUT DEVICE USING A CONSTRAINED PROXY 有权

    公开(公告)号：US20240375282A1

    公开(公告)日：2024-11-14

    申请号：US18683630

    申请日：2022-08-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Arjang M. HOURTASH

    IPC: B25J9/16 ,  A61B34/35

    Abstract: Disclosed techniques include a computer-assisted device having an input control, a functional structure, and a processing system. The functional structure is configured to include a repositionable structure, and the repositionable structure is configured to support an instrument. The processing system is configured to receive a movement command from the input control, update a pose of a proxy based on the movement command and a proxy constraint, and cause the functional structure to move based on the updated pose of the proxy. In some embodiments, the input control controls a pose of a virtual leader device. The processing system updates a pose of a proxy based on the pose of the virtual leader device, updates a pose of a virtual follower device based on the updated pose of the proxy, and causes the functional structure to move based on the pose of the virtual follower device.

    SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART
    16.
    发明申请
    SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART 审中-公开

    公开(公告)号：US20190159856A1

    公开(公告)日：2019-05-30

    申请号：US16195095

    申请日：2018-11-19

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Paul G. GRIFFITHS ,  Arjang M. HOURTASH ,  Paul W. MOHR ,  David W. ROBINSON ,  Nitish SWARUP ,  John W. ZABINSKI ,  Mark W. ZIMMER

    IPC: A61B50/10 ,  G05D1/00 ,  A61B50/13 ,  B25J5/00 ,  A61B50/18

    Abstract: A cart for supporting one or more instruments for a computer-assisted, remote procedure can include a base and a support structure extending from the base and adjustable to different configurations, the support structure being configured to support one or more instruments to perform a remote procedure. The cart can further include a steering interface configured to be grasped by a user and a sensor mechanism configured to detect a force applied to the steering interface. The cart also can include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and information about a configuration of the support structure, the control module operably coupled to output a movement command based on the received input from the sensor mechanism and the information about the configuration of the support structure. A driven wheel may be mounted to the base and configured to impart wheeled motion to the cart in response to the movement command.

    SYSTEMS AND METHODS FOR AVOIDING COLLISIONS BETWEEN MANIPULATOR ARMS USING A NULL-SPACE
    17.
    发明申请
    SYSTEMS AND METHODS FOR AVOIDING COLLISIONS BETWEEN MANIPULATOR ARMS USING A NULL-SPACE 有权
    使用空间空间来避免操纵杆之间碰撞的系统和方法

    公开(公告)号：US20130325030A1

    公开(公告)日：2013-12-05

    申请号：US13906819

    申请日：2013-05-31

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. HOURTASH ,  Pushkar Hingwe ,  Bruce Michael Schena ,  Roman L. Devengenzo

    IPC: A61B19/00

    CPC classification number: A61B34/30 ,  A61B34/37 ,  B25J9/1607 ,  B25J9/1643 ,  B25J9/1676 ,  G05B2219/39091 ,  G05B2219/39135 ,  G05B2219/40202 ,  G05B2219/40362 ,  G05B2219/40371 ,  G05B2219/40476 ,  G05B2219/40492 ,  G05B2219/45117

    Abstract: Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.

    Abstract translation: 提供了用于避免使用零空间的操纵臂之间的碰撞的装置，系统和方法。 在一个方面，系统使用多个操纵器的参考几何之间的关系来计算回避运动，以保持参考几何之间的间隔。 在某些实施例中，系统确定相邻参考几何之间的相对状态，确定参考几何之间的回避矢量，并且基于相对状态和回避矢量来计算雅可比的零空间内的一个或多个操纵器的回避运动。 可以根据计算的避免运动来驱动关节，同时保持末端执行器的期望状态或仪器轴枢转的远程中心位置，并且可以根据在零垂直空间内的末端执行器移位运动同时驱动关节 的雅可比人，以便实现末端执行器或远程中心的期望运动。

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