中科微点-全球专利检索

  1. Login
  2. Sign Up

Search Results

84 records (took 0.026 seconds)

    Phantom degrees of freedom for manipulating the movement of mechanical bodies
    11.
    发明授权
    Phantom degrees of freedom for manipulating the movement of mechanical bodies 有权
    用于操纵机械体运动的幻影自由度

    公开(公告)号：US09272416B2

    公开(公告)日：2016-03-01

    申请号：US13966406

    申请日：2013-08-14

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Amy E. Kerdok ,  Michael Turner

    IPC: B25J13/00 ,  B25J9/16

    CPC classification number: A61B34/37 ,  A61B34/35 ,  B25J9/16 ,  B25J9/1689 ,  G05B2219/40195 ,  G05B2219/45123 ,  Y10S901/02

    Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.

    Abstract translation: 用于控制机械体运动的方法，装置和系统。 根据一种方法，接收标识机械体的期望运动的期望运动信息，机械体具有第一数量的自由度。 然后通过将接收到的期望运动信息应用于运动学模型来生成多个指令，运动学模型具有大于第一自由度数量的第二数量的自由度，每个指令被配置为控制对应的 第二个自由度之一。 然后传输多个指令的子集用于控制机械体的第一数量的自由度。

    Systems and methods for recentering input controls
    15.
    发明授权
    Systems and methods for recentering input controls 有权

    公开(公告)号：US11246671B2

    公开(公告)日：2022-02-15

    申请号：US16503403

    申请日：2019-07-03

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Brandon D. Itkowitz ,  Michael L. Hanuschik ,  Paul W. Mohr ,  Arjang M. Hourtash

    IPC: A61B1/00 ,  A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/00 ,  A61B1/313 ,  A61B34/20

    Abstract: Systems and methods of recentering an input control include a control unit configured to suspend teleoperated control of an end effector by the input control in response to a recentering request, determine a recentering move for the input control to provide positional and orientational harmony between the input control and the end effector, execute the recentering move, and reinstate teleoperated control of the end effector by the input control. In some embodiments, to determine the recentering move the control unit is configured to determine one or more first positions associated with the end effector, map the first positions to a view coordinate system, map the first positions from the view coordinate system to a console workspace coordinate system, and determine one or more second positions for one or more control points on the input control, the control points corresponding to the mapped first positions in the console workspace coordinate system.

    System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
    17.
    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

    公开(公告)号：US10687908B2

    公开(公告)日：2020-06-23

    申请号：US16284815

    申请日：2019-02-25

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Nitish Swarup

    IPC: A61B34/30 ,  B25J9/16 ,  B25J18/00 ,  A61B34/37

    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.

    SYSTEM AND METHODS FOR MANAGING MULTIPLE NULL-SPACE OBJECTIVES AND SLI BEHAVIORS
    18.
    发明申请
    SYSTEM AND METHODS FOR MANAGING MULTIPLE NULL-SPACE OBJECTIVES AND SLI BEHAVIORS 审中-公开

    公开(公告)号：US20200061813A1

    公开(公告)日：2020-02-27

    申请号：US16670825

    申请日：2019-10-31

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash

    IPC: B25J9/16 ,  A61B34/37 ,  A61B34/30 ,  B25J18/00

    Abstract: A method for moving a manipulator arm. The manipulator arm includes a movable distal portion, a proximal portion coupled to a base, and joints between the distal portion and the base. The method involves calculating a first movement of the joints in accordance with a first objective. The method further involves calculating a second movement of the joints in accordance with a second objective. The first and the second movements are in a null-space of a Jacobian of the manipulator arm. The method also involves determining a combined movement of the joints by combining the first and second movements while limiting an overall magnitude of the combined movement without changing a direction of the combined movement, and/or combining the first and second movements while limiting a magnitude of the combined movement degree-of-freedom by degree-of-freedom. The method further involves driving the joints to effect the combined movement of the joints.

    Software configurable manipulator degrees of freedom
    19.
    发明授权
    Software configurable manipulator degrees of freedom 有权

    公开(公告)号：US10561470B2

    公开(公告)日：2020-02-18

    申请号：US14218318

    申请日：2014-03-18

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Niels Smaby ,  Nitish Swarup

    IPC: A61B34/35 ,  A61B34/30 ,  A61B34/20

    Abstract: Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.

    System and method for breakaway clutching in an articulated arm
    20.
    发明授权
    System and method for breakaway clutching in an articulated arm 有权

    公开(公告)号：US10449008B2

    公开(公告)日：2019-10-22

    申请号：US16014619

    申请日：2018-06-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Daniel Miller ,  Nitish Swarup ,  Michael Turner ,  Arjang M. Hourtash ,  Paul G. Griffiths ,  Paul W. Mohr

    IPC: A61B34/30 ,  B25J13/08 ,  B25J9/16 ,  A61B18/00 ,  A61B90/00

    Abstract: A system and method of breakaway clutching in a computer-assisted medical device includes an articulated arm having one or more first joints and a control unit coupled to the articulated arm and having one or more processors. The control unit operates each of the first joints in multiple states. The multiple states include a locked state, wherein movement of respective first joints is restricted, and a float state, wherein movement of the respective first joints is permitted. The control unit further switches one or more second joints selected from the first joints from the locked state to the float state when a stimulus on the second joints exceeds one or more unlock thresholds and switches the second joints from the float state to the locked state when a velocity of each of the second joints is below one or more lock thresholds.

Patent Agency Ranking