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公开(公告)号：US11766303B2
公开(公告)日：2023-09-26
申请号：US18080577
申请日：2022-12-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Roman L. Devengenzo , Bruce M. Schena , David W. Robinson
CPC classification number: A61B34/37 , A61B2017/00075 , A61B2090/064
Abstract: Techniques for active and semi-active damping include a system including a processor and a linkage having a first link, a second link, and a damper coupling the second link to the first link. The processor is configured to receive a movement command for moving the linkage; determine one or more first vibrations expected to occur in the linkage as a result of performing the movement command; determine a movement profile for moving the linkage to reduce the one or more first vibrations; and drive, using a drive component, the linkage to move according to the movement profile.
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公开(公告)号：US11696804B2
公开(公告)日：2023-07-11
申请号：US16376915
申请日：2019-04-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Roman L. Devengenzo , Bruce M. Schena , David W. Robinson
CPC classification number: A61B34/37 , B25J17/0208 , B25J19/0091
Abstract: Methods and systems for damping vibrations in a surgical system are disclosed herein. The damping of these vibrations can increase the precision of surgery performed using the surgical system. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive damper and can mitigate a vibration arising in one or more of the set-up linkages. The damper can additionally prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. In some embodiments the damper is a squeeze film damper. In some embodiments, the squeeze film damper includes an insert having a plurality of first protrusions, a cup configured to receive the insert, and the cup having a having a plurality of second protrusions interdigitated with the plurality of first protrusions.
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公开(公告)号：US20220160444A1
公开(公告)日：2022-05-26
申请号：US17568505
申请日：2022-01-04
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Pushkar Hingwe , Amy E. Kerdok , William C. Nowlin , David W. Robinson
Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.
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公开(公告)号：US11234782B2
公开(公告)日：2022-02-01
申请号：US16995716
申请日：2020-08-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Roman L. Devengenzo , Bruce M. Schena , David W. Robinson
Abstract: Active and semi-active damping of systems include a first link supported by a base, a second link, a damper coupling the first link to the second link, the damper having a variable damping coefficient, and a processor. The processor is configured to predict an acceleration or a vibration of the second link expected to result from a commanded movement of the second link and adjust the variable damping coefficient of the damper based on the predicted acceleration or the predicted vibration to reduce vibration in the second link.
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15.发明授权公开(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
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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Patent Agency Ranking
公开(公告)号：US11129688B2
公开(公告)日：2021-09-28
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
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.
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公开(公告)号：US20190231463A1
公开(公告)日：2019-08-01
申请号：US16376915
申请日：2019-04-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Roman L. Devengenzo , Bruce M. Schena , David W. Robinson
IPC: A61B34/37
CPC classification number: A61B34/37 , B25J17/0208 , B25J19/0091
Abstract: Methods and systems for damping vibrations in a surgical system are disclosed herein. The damping of these vibrations can increase the precision of surgery performed using the surgical system. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive damper and can mitigate a vibration arising in one or more of the set-up linkages. The damper can additionally prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. In some embodiments the damper is a squeeze film damper. In some embodiments, the squeeze film damper includes an insert having a plurality of first protrusions, a cup configured to receive the insert, and the cup having a having a plurality of second protrusions interdigitated with the plurality of first protrusions.
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18.发明授权Method for graphically providing continuous change of state directions to a user of a medical robotic system 有权用于向医疗机器人系统的用户图形化地提供状态方向的连续变化的方法公开(公告)号：US08892224B2
公开(公告)日：2014-11-18
申请号：US14052835
申请日：2013-10-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul W. Mohr , David W. Robinson
CPC classification number: A61B19/5225 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/37 , A61B2090/0811 , B25J9/1689 , B25J9/1692 , G05B2219/39024 , G05B2219/45123 , Y10S901/02 , Y10S901/06 , Y10S901/09
Abstract: Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.
Abstract translation: 状态方向的连续变化以图形方式提供在显示屏幕上，以帮助用户执行用于在医疗机器人系统中的操作模式之间转换或执行校正动作的必要动作。 医疗机器人系统的元件的目标状态的图形表示显示在用户可以看到的显示屏幕上。 持续确定元件的当前状态和指示用户将元件操纵到目标状态的指示，并且连续确定的当前状态和指示的图形表示与目标状态的显示屏幕一起显示在显示屏幕上。
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19.发明授权Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems 有权机器人手术系统中电外科手术的适应性综合能量控制系统公开(公告)号：US08862268B2
公开(公告)日：2014-10-14
申请号：US13800856
申请日：2013-03-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David W. Robinson , Thomas R. Nixon , Michael Hanuschik , Randal P. Goldberg , Jason Hemphill , David Larkin , Paul Millman
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。
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公开(公告)号：US12201390B2
公开(公告)日：2025-01-21
申请号：US17568505
申请日：2022-01-04
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Pushkar Hingwe , Amy E. Kerdok , William C. Nowlin , David W. Robinson
Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.
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