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公开(公告)号：US20190143506A1
公开(公告)日：2019-05-16
申请号：US16185867
申请日：2018-11-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.
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公开(公告)号：US20250144794A1
公开(公告)日：2025-05-08
申请号：US18976064
申请日：2024-12-10
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. Dimaio , Kollin M. Tierling
Abstract: A system includes a robotic manipulator including a plurality of joints and a processing unit including one or more processors. The processing unit is configured to provide one or more weights associated with a plurality of joint state estimates of the plurality of joints based on one or more weighting scheme parameters associated with the robotic manipulator. The weights are provided to reduce vibrations at a first control point. The processing unit is further configured to apply the one or more weights to the joint state estimates for the plurality of joints to generate a plurality of weighted joint state estimates; and control the plurality of joints based on the plurality of weighted joint state estimates.
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公开(公告)号：US20250025247A1
公开(公告)日：2025-01-23
申请号：US18904838
申请日：2024-10-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel N. Miller , Dinesh Rabindran , Kollin M. Tierling
Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.
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公开(公告)号：US12133700B2
公开(公告)日：2024-11-05
申请号：US18301905
申请日：2023-04-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel N. Miller , Dinesh Rabindran , Kollin M. Tierling
Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.
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公开(公告)号：US20240156554A1
公开(公告)日：2024-05-16
申请号：US18513322
申请日：2023-11-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Simon P. DiMaio , Gerard J. Labonville , Kollin M. Tierling
CPC classification number: A61B34/35 , A61B1/00149 , A61B34/37 , G05B19/4155 , G16H30/40 , G16H40/67 , H04N23/54 , A61B34/71
Abstract: A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.
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Patent Agency Ranking
公开(公告)号：US11679499B2
公开(公告)日：2023-06-20
申请号：US17493918
申请日：2021-10-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
CPC classification number: B25J9/1653 , A61B34/37 , B25J9/1607 , B25J9/1641 , B25J9/1664 , B25J9/1689 , B25J9/1694 , G05B2219/37388
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
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公开(公告)号：US11161243B2
公开(公告)日：2021-11-02
申请号：US16185687
申请日：2018-11-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
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公开(公告)号：US20190143513A1
公开(公告)日：2019-05-16
申请号：US16185687
申请日：2018-11-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
IPC: B25J9/16
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
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公开(公告)号：US12213757B2
公开(公告)日：2025-02-04
申请号：US18513322
申请日：2023-11-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Simon P. DiMaio , Gerard J. Labonville , Kollin M. Tierling
IPC: H04N23/00 , A61B1/00 , A61B34/35 , A61B34/37 , G05B19/4155 , G16H30/40 , G16H40/67 , H04N23/54 , A61B17/02 , A61B17/068 , A61B17/128 , A61B17/29 , A61B17/32 , A61B17/3201 , A61B18/00 , A61B34/00 , A61B90/00 , H04N23/50
Abstract: A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.
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公开(公告)号：US12194635B2
公开(公告)日：2025-01-14
申请号：US18313230
申请日：2023-05-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
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