公开(公告)号：US20230131431A1

公开(公告)日：2023-04-27

申请号：US17990318

申请日：2022-11-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： SIMON P. DIMAIO ,  Gerard J. Labonville ,  Kollin M. Tierling

IPC: A61B34/35 ,  A61B34/37 ,  G16H40/67 ,  G16H30/40 ,  A61B1/00 ,  G05B19/4155 ,  H04N23/54

Abstract: A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.

公开(公告)号：US10786321B2

公开(公告)日：2020-09-29

申请号：US16072140

申请日：2017-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Alan W. Petersen ,  Gerard J. Labonville ,  John Ryan Steger

IPC: G01D7/00 ,  A61B34/00 ,  A61B90/00 ,  A61B18/00

Abstract: A surgical instrument includes a force sensor apparatus that is immune to noise from arcing cautery without relying on fiber optic strain gauges, and that is autoclabable. The surgical instrument includes a housing, a shaft, the force sensor apparatus, a joint, and an end component. The force sensor apparatus includes at least one strain gauge that is enclosed in a Faraday cage. The Faraday cage includes a sensor capsule that includes one or more strain gauges, a cable shield tube connected to the sensor capsule, and an electronics enclosure connected to the cable shield tube. The sensor capsule is positioned between the joint and the shaft. The cable shield tube extends through the shaft to the electronics enclosure that is within the housing.

公开(公告)号：US10206751B2

公开(公告)日：2019-02-19

申请号：US15859697

申请日：2018-01-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gerard J. Labonville ,  Alan S. Bradley

IPC: B25J9/18 ,  A61B34/30 ,  B25J9/16 ,  A61B34/37 ,  A61B34/00 ,  A61B17/00 ,  A61B34/20

Abstract: A robotic system comprises a joint position controller and a manipulator having coupled together housings. The manipulator is adapted to hold and manipulate a device. Motors for actuating corresponding degrees of freedom of the device and sensor processing units for sensing and converting states of the motors into digitally transmittable information are housed in one or more of the housings. A remote current controller is housed in a different housing than the one or more housings for space and/or heat considerations. The remote current controller generates drive signals provided over individual signal lines to the motors by using motor commands provided by the joint position controller and by using the digitally transmittable information received from the sensor processing units.