公开(公告)号：US20180035895A1

公开(公告)日：2018-02-08

申请号：US15783967

申请日：2017-10-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Peter M. HERZLINGER ,  Giuseppe Maria PRISCO ,  Vincent DUINDAM ,  David Q. LARKIN

IPC: A61B5/00 ,  A61B1/267 ,  A61B1/00 ,  A61B1/06 ,  A61B5/08

CPC classification number: A61B5/0084 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/00096 ,  A61B1/00165 ,  A61B1/00167 ,  A61B1/00181 ,  A61B1/00183 ,  A61B1/00193 ,  A61B1/0607 ,  A61B1/0676 ,  A61B1/0684 ,  A61B1/2676 ,  A61B5/08 ,  A61B5/6852 ,  A61B2576/00

Abstract: Vision systems on catheters, cannulas, or similar devices with guiding lumens include receptors distributed in annular areas around respective lumens. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors of the vision systems and combine the image data to construct a visual representation of the object environment.

公开(公告)号：US20150057677A1

公开(公告)日：2015-02-26

申请号：US14478349

申请日：2014-09-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola DIOLAITI ,  David Q. LARKIN ,  Thomas G. COOPER ,  Bruce M. SCHENA

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B90/361 ,  A61B2034/2046 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2063 ,  A61B2034/2072 ,  A61B2034/305 ,  A61B2090/371 ,  A61B2090/374 ,  A61B2090/376 ,  G05B19/19 ,  G05B2219/45117 ,  Y10S901/30

Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.

Abstract translation: 具有非理想的致动器到关节联动特性的医疗机器人系统包括控制系统，其包括具有致动器传感器反馈的近侧控制回路，以控制联接到远端关节的致动器的动态响应，所述远程关节联接到末端 以提供端部执行器的自由度运动，具有远端关节传感器反馈的前端控制回路和前馈到致动器以确保远端关节位置的稳态收敛，以及具有端点传感器的末端执行器控制回路 反馈以控制末端执行器位置以达到指令的末端执行器位置。

公开(公告)号：US20240407873A1

公开(公告)日：2024-12-12

申请号：US18811048

申请日：2024-08-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI ,  David Q. LARKIN ,  Catherine J. MOHR

IPC: A61B34/37 ,  A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B17/00 ,  A61B17/34 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

Abstract: A system with coupled control modes includes a first manipulator, a second manipulator, an input device for commanding movement of the first manipulator or the second manipulator, and one or more controllers. The one or more controllers are configured to detect movement of the input device; when movement of the first manipulator is responsive to movement of the input device: determine a commanded movement for the first manipulator from the detected movement of the input device and command the second manipulator to move in response, at least in part, to the commanded movement of the first manipulator; and when movement of the second manipulator is responsive to the movement of the input device: determine a commanded movement for the second manipulator from the detected movement of the input device and command the first manipulator to move in response, at least in part, to the commanded movement of the second manipulator.

公开(公告)号：US20240293942A1

公开(公告)日：2024-09-05

申请号：US18591683

申请日：2024-02-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. MCGROGAN ,  Thomas G. COOPER ,  David Q. LARKIN ,  Kent M. ANDERSON ,  Jeffrey D. BROWN ,  Paul E. LILAGAN ,  Michael IKEDA

IPC: B25J15/00 ,  A61B17/34 ,  A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B90/90

CPC classification number: B25J15/0028 ,  A61B34/30 ,  A61B34/70 ,  A61B90/50 ,  A61B90/90 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/305 ,  Y10S901/36 ,  Y10S901/38 ,  Y10S901/39

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

公开(公告)号：US20230329815A1

公开(公告)日：2023-10-19

申请号：US18340943

申请日：2023-06-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Paul W. MOHR ,  Nitish SWARUP ,  Michael COSTA ,  David Q. LARKIN ,  Thomas G. COOPER

IPC: A61B34/35 ,  A61B50/10 ,  A61B34/30 ,  A61B50/18 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B50/10 ,  A61B34/30 ,  A61B50/18 ,  A61B2050/105 ,  A61B2034/304 ,  A61B2017/00017

Abstract: Techniques for controlling a system include a first structural means supporting a manipulating means, a second structural means supporting the first structural means, and a processing means. The processing means is configured to determine, relative to the first structural means, a first position of a reference location on the system entering into the first mode, the reference location being associated with a linking means of the manipulating means; and while the system in the first mode: detect a manual movement of the reference location that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location from the first position in a second direction,; and, in response, command the second structural means to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

公开(公告)号：US20150173849A1

公开(公告)日：2015-06-25

申请号：US14642163

申请日：2015-03-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. ROBINSON ,  Thomas R. NIXON ,  Michael HANUSCHIK ,  Randal P. GOLDBERG ,  Jason HEMPHILL ,  David Q. LARKIN ,  Paul MILLMAN

IPC: A61B19/00 ,  A61B18/12

CPC classification number: A61B34/35 ,  A61B18/1206 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/76 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2017/00973 ,  A61B2018/00988

Abstract: A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.

Abstract translation: 公开了一种用于微创手术系统的方法，包括：在安装到第一机器臂上的第一机器人手术工具中从存储装置读取第一工具信息，以至少确定第一工具类型; 读取关于一个或多个远程控制设备的设备信息以进行控制; 将所述第一工具信息与所述设备信息进行比较以将所述一个或多个远程控制设备的第一遥控设备适当地匹配到所述第一机器人手术工具; 以及映射第一控制台的一个或多个用户界面输入设备，以控制第一遥控设备以支持第一机器人手术工具的功能。

公开(公告)号：US20150012134A1

公开(公告)日：2015-01-08

申请号：US14497712

申请日：2014-09-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. ROBINSON ,  Thomas R. NIXON ,  Michael HANUSCHIK ,  Randal P. GOLDBERG ,  Jason HEMPHILL ,  David Q. LARKIN ,  Paul MILLMAN

IPC: A61B19/00

Abstract: A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.