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公开(公告)号：US20210121164A1
公开(公告)日：2021-04-29
申请号：US17142087
申请日：2021-01-05
摘要： A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.
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公开(公告)号：US10799306B2
公开(公告)日：2020-10-13
申请号：US15774848
申请日：2016-11-04
发明人： David W. Robinson , Gabriel F. Brisson , Amir Chaghajerdi , Pushkar Hingwe , Donald F. Wilson, Jr.
摘要： Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end effector so that at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.
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公开(公告)号：US20200289142A1
公开(公告)日：2020-09-17
申请号：US16836292
申请日：2020-03-31
发明人： Gabriel F. Brisson , Alan E. Loh , Lawrence Kerver
IPC分类号： A61B17/295 , A61B34/30 , A61B17/32 , A61B17/285
摘要： Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A medical device includes an input link movable through an input link range of motion, a jaw coupled with the input link, and a tissue manipulation member coupled to the input link and positioned to manipulate a tissue gripped by the jaw. The input link range of motion includes a first portion and a second portion. The input link within the first portion of the input link range of motion drives the jaw through a jaw range of motion. The input link within the second portion of the input link range of motion drives the tissue manipulation member through a tissue manipulation member range of motion.
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公开(公告)号：US20190038371A1
公开(公告)日：2019-02-07
申请号：US16072356
申请日：2017-01-27
发明人： Matthew A. Wixey , Gabriel F. Brisson , William A. Burbank , Patrick Flanagan , Pushkar Hingwe , David W. Weir , Donald F. Wilson
IPC分类号： A61B34/00 , A61B17/00 , A61B34/35 , A61B34/10 , A61B17/072
摘要： A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.
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公开(公告)号：US10098705B2
公开(公告)日：2018-10-16
申请号：US15128234
申请日：2015-03-31
发明人： Gabriel F. Brisson , Niels Smaby , Melody Wu
摘要： A surgical system having a patient side cart having at least one telesurgically operated instrument, the at least one telesurgically operated instrument comprising a surgical end effector having a plurality of effector components. A transmission is coupled to a motor. The drive train includes at least a first effector drive train and a second effector drivetrain. A controller comprises at least one processor for controlling the transmission. The controller is performs a method by locking an output gear of the second effector drivetrain rotating a camshaft to shift coupling of the motor from the first effector drivetrain to the second effector drivetrain; determining that the output gear is aligned by driving the locked output gear using a first torque; determining that the output gear is properly braked by driving the locked output gear using a second torque; disengaging the lock from the output gear; and driving the second effector drivetrain using the motor.
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公开(公告)号：US20170333065A1
公开(公告)日：2017-11-23
申请号：US15669100
申请日：2017-08-04
发明人： Gabriel F. Brisson , Alan Loh , Lawrence Kerver
IPC分类号： A61B17/295 , A61B17/32 , A61B34/30 , A61B17/29 , A61B17/285
CPC分类号： A61B17/295 , A61B17/285 , A61B17/320016 , A61B34/30 , A61B2017/00389 , A61B2017/2915 , A61B2017/2936 , A61B2018/1455
摘要： Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A medical device includes an input link movable through an input link range of motion, a jaw coupled with the input link, and a tissue manipulation member coupled to the input link and positioned to manipulate a tissue gripped by the jaw. The input link range of motion includes a first portion and a second portion. The input link within the first portion of the input link range of motion drives the jaw through a jaw range of motion. The input link within the second portion of the input link range of motion drives the tissue manipulation member through a tissue manipulation member range of motion.
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公开(公告)号：US12059152B2
公开(公告)日：2024-08-13
申请号：US16930235
申请日：2020-07-15
发明人： David W. Weir , Melody Wu , Gabriel F. Brisson , Kevin Durant , Grant Duque
IPC分类号： A61B17/072 , A61B1/00 , A61B17/08 , A61B17/10 , A61B18/14 , A61B34/00 , A61B34/30 , A61B34/37 , A61B50/13 , A61B50/33 , A61B90/92 , A61B90/98 , B25J9/16 , G01L5/22 , A61B17/00 , A61B17/29 , A61B18/00 , A61B90/00
CPC分类号： A61B17/07207 , A61B1/000095 , A61B17/08 , A61B17/10 , A61B18/1445 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/76 , A61B50/13 , A61B50/33 , A61B90/92 , A61B90/98 , B25J9/1633 , G01L5/226 , A61B2017/00199 , A61B2017/00398 , A61B2017/07271 , A61B2017/07285 , A61B2017/2927 , A61B2018/00595 , A61B2018/0063 , A61B2018/00988 , A61B2018/1455 , A61B2090/031 , Y10S901/29 , Y10S901/31
摘要： In some embodiments, torque compensation in a clamping instrument includes control electronics obtaining an initial torque limit for the clamping instrument, adjusting the initial torque limit based on a temperature of a motor assembly used to operate the clamping instrument, and clamping the clamping instrument according to the adjusted torque limit. The adjusted torque limit corresponds to a maximum torque that may be applied by the clamping instrument to perform the clamping. In some embodiments, torque compensation in a stapling instrument includes control electronics obtaining an initial torque limit for the stapling instrument, adjusting the initial torque limit based on a number of times the stapling instrument has been fired, and firing the stapling instrument according to the adjusted torque limit. The adjusted torque limit corresponds to a maximum torque that may be applied by the stapling instrument to perform the firing.
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公开(公告)号：US11992273B2
公开(公告)日：2024-05-28
申请号：US17265486
申请日：2019-08-02
发明人： Gabriel F. Brisson
CPC分类号： A61B34/20 , A61B1/00193 , A61B90/37 , A61B2034/2048 , A61B2034/2055 , A61B2090/376 , A61B2090/378
摘要： A system and method of displaying images from an imaging device includes a display device and one or more processors. The one or more processors are configured to track movement of an imaging device, determine a display-device-to-imaging-window transform based on the tracked movement and a corresponding command to move the imaging device, and render an image received from the imaging device on the display device at a position and orientation on the display device based on the display-device-to-imaging-window transform. In some embodiments, the display-device-to-imaging-window transform is determined based on at least one of a difference between: a commanded and an actual position of the imaging device, a commanded and an actual orientation of the imaging device, a commanded and an estimated position of the imaging device, or a commanded and an estimated orientation of the imaging device.
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公开(公告)号：US11627948B2
公开(公告)日：2023-04-18
申请号：US17142087
申请日：2021-01-05
摘要： A medical system includes a control system and an instrument manipulator. The instrument manipulator is configured to receive an instrument and includes a first drive output and a first actuating element configured to drive movement of the first drive output. The first drive output is configured to drive a first input coupling of the instrument. The control system is configured to receive an indication that the first input coupling of the instrument is positioned adjacent to the first drive output of the manipulator, in response to receiving the indication, command the first actuating element to cause movement of the first drive output, receive a feedback associated with a force experienced by the first actuating element during the movement of the first drive output, determine an instruction signal for the first actuating element based on the feedback, and transmit the instruction signal to the first actuating element.
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公开(公告)号：US10973519B2
公开(公告)日：2021-04-13
申请号：US16072356
申请日：2017-01-27
发明人： David W. Weir , Gabriel F. Brisson , William A. Burbank , Amir Chaghajerdi , Patrick Flanagan , Pushkar Hingwe , Andrew Wilson , Donald F. Wilson, Jr. , Matthew A. Wixey
IPC分类号： A61B17/072 , A61B34/10 , A61B34/00 , A61B34/35 , A61B17/00 , A61B34/30 , A61B90/00 , A61B34/20
摘要： A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.
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