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    Surgical Instrument With Robotic And Manual Actuation Features
    16.
    发明申请
    Surgical Instrument With Robotic And Manual Actuation Features 审中-公开
    手术仪器与机器人和手动启动功能

    公开(公告)号：US20170000573A1

    公开(公告)日：2017-01-05

    申请号：US15269155

    申请日：2016-09-19

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Paul Millman ,  David Bailey ,  Dean Hoornaert ,  David Stephen Mintz ,  David Q Larkin

    IPC: A61B34/30 ,  A61B34/00

    Abstract: A teleoperated surgical instrument comprises a housing configured to couple to a teleoperated manipulator and an elongated tube having a first end and a second end opposite the first end. The first end is mounted to the housing and the second end has one or more openings configured to deliver or receive a fluid at a surgical site. The instrument further comprises a flow control system in the housing. The flow control system includes a first tubular member coupled to the elongated tube and a first control element rotatable relative to the housing and the first tubular member. The first control element includes a receiving portion coupled to a shaft portion. The receiving portion is configured to couple with the teleoperated manipulator and rotate to control flow of the fluid through the first tubular member.

    Abstract translation: 远程手术器械包括被配置为耦合到远程操作的操纵器的壳体和具有与第一端相对的第一端和第二端的细长管。 第一端安装到壳体，并且第二端具有一个或多个开口，其构造成在外科手术部位处输送或接收流体。 仪器还包括在壳体中的流量控制系统。 流量控制系统包括联接到细长管的第一管状构件和可相对于壳体和第一管状构件旋转的第一控制元件。 第一控制元件包括联接到轴部的接收部。 接收部分被配置为与远程操作的操纵器联接并旋转以控制通过第一管状构件的流体的流动。

    Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
    17.
    发明授权
    Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space 有权
    使用零空间命令重新配置外科手术器械的系统和方法

    公开(公告)号：US09517106B2

    公开(公告)日：2016-12-13

    申请号：US13906767

    申请日：2013-05-31

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke

    IPC: G06F19/00 ,  A61B19/00

    CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/74 ,  A61B2034/742 ,  B25J9/1607 ,  Y10S901/15

    Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

    Abstract translation: 通过在操纵臂的运动学雅可比的零空间内移动操纵器来重新配置外科手术器械的装置，系统和方法。 在一个方面，响应于接收到重新配置命令，系统驱动第一组关节并且计算多个关节的速度在零空间内。 根据重新配置命令和计算的运动来驱动关节，以便保持末端执行器或仪器轴枢转的远程中心的期望状态。 在另一方面，接头还根据计算的末端执行器或雅可比的零垂直空间内的远程中心移动速度被驱动，以便与末端执行器或远程中心的所需运动同时实现期望的重新配置。

    SYSTEMS AND METHODS FOR COMMANDED RECONFIGURATION OF A SURGICAL MANIPULATOR USING THE NULL-SPACE
    18.
    发明申请
    SYSTEMS AND METHODS FOR COMMANDED RECONFIGURATION OF A SURGICAL MANIPULATOR USING THE NULL-SPACE 有权
    使用空间空间进行手术操纵手术的指令重建的系统和方法

    公开(公告)号：US20140358161A1

    公开(公告)日：2014-12-04

    申请号：US13906767

    申请日：2013-05-31

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. HOURTASH ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke

    IPC: A61B19/00

    CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/74 ,  A61B2034/742 ,  B25J9/1607 ,  Y10S901/15

    Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

    Abstract translation: 通过在操纵臂的运动学雅可比的零空间内移动操纵器来重新配置外科手术器械的装置，系统和方法。 在一个方面，响应于接收到重新配置命令，系统驱动第一组关节并且计算多个关节的速度在零空间内。 根据重新配置命令和计算的运动来驱动关节，以便保持末端执行器或仪器轴枢转的远程中心的期望状态。 在另一方面，接头还根据计算的末端执行器或雅可比的零垂直空间内的远程中心移动速度被驱动，以便与末端执行器或远程中心的所需运动同时实现期望的重新配置。

    Methods and systems for assigning input devices to teleoperated surgical instrument functions
    19.
    发明授权
    Methods and systems for assigning input devices to teleoperated surgical instrument functions 有权

    公开(公告)号：US11160622B2

    公开(公告)日：2021-11-02

    申请号：US16824022

    申请日：2020-03-19

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Randal P. Goldberg ,  Michael Hanuschik ,  Paul Millman ,  Paul W. Mohr ,  Thomas R. Nixon ,  David W. Robinson

    IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B90/98 ,  A61B18/00 ,  A61B18/14 ,  A61B17/00

    Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a computer-assisted surgical system includes detecting a first surgical instrument coupled to a first manipulator interface assembly of a computer-assisted surgical system, the first manipulator interface assembly being controlled by a first input device. The method further includes detecting an initial relative position of the first input device and either assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the initial relative position of the first input device is detected to be at a left position relative to a second input device or assigning may also include assigning control of an auxiliary function of the first surgical instrument to the second auxiliary input device disposed in a right position relative to the first auxiliary input device if the initial relative position the first input device is detected to be at a right position relative to the second input device.

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