公开(公告)号：US20240024049A1

公开(公告)日：2024-01-25

申请号：US18256476

申请日：2021-12-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mohammad Sina PARASTEGARI ,  Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/35 ,  A61B34/00 ,  A61B90/50 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/74 ,  A61B34/77 ,  A61B34/76 ,  A61B90/50 ,  A61B90/37 ,  A61B2034/301

Abstract: Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system configured to determine a position of a first reference point associated with a first input modality; in a first mode, determine a position of a target reference point for the imaging device based on the first reference point; in a second mode, determine a position of a second reference point associated with a second input modality, and determine the position of the target reference point based on the position of the first reference point and the position of the second reference point; determine a movement of the first repositionable structure that moves the imaging device such that a third reference point associated with the imaging device moves toward the target reference point; and cause actuation of the repositionable structure based on the movement.

公开(公告)号：US20230397963A1

公开(公告)日：2023-12-14

申请号：US18457218

申请日：2023-08-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Goran A. LYNCH ,  Paul G. GRIFFITHS ,  Michael TURNER

IPC: A61B34/32 ,  A61B34/30 ,  A61B17/00 ,  B25J9/16

CPC classification number: A61B34/32 ,  A61B34/30 ,  A61B17/00234 ,  B25J9/1664 ,  A61B2090/508

Abstract: A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector; determine a deviation between the actual motion and a desired motion of the at least one structure; and in response to determining that the deviation is greater than a deviation threshold, select whether to halt motion of the first repositionable arm and the first end effector or the second repositionable arm and the second end effector based on a mode of operation of the first repositionable arm the first end effector, the second repositionable arm, or a mode of operation of the second end effector.

公开(公告)号：US20230301735A1

公开(公告)日：2023-09-28

申请号：US18320331

申请日：2023-05-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B2034/2059 ,  A61B2018/00898

Abstract: Techniques for monitoring control points of a computer-assisted device include one or more articulated arms having one or more control points and a control unit coupled to the one or more articulated arms. Each control point of the one or more control points is located based on a kinematic configuration of the one or more articulated arms. The control unit is configured to determine, during a movement of a table that causes a change in the kinematic configuration of the one or more articulated arms, an actual spatial configuration of the one or more control points; determine, based on a comparison of the actual spatial configuration with an expected spatial configuration of the one or more control points, whether to perform a remedial action; and perform the remedial action in response to a determination to perform the remedial action.

公开(公告)号：US20220125532A1

公开(公告)日：2022-04-28

申请号：US17569405

申请日：2022-01-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Goran A. LYNCH ,  Paul G. GRIFFITHS ,  Michael TURNER

IPC: A61B34/32 ,  A61B34/30 ,  A61B17/00 ,  B25J9/16

Abstract: A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector, determine a deviation threshold based on at least one parameter selected from the group consisting of a mode of operation of the first end effector and a mode of operation of the computer-assisted device, and in response to determining that the actual motion of the at least one structure deviates from a desired motion of the at least one structure by more than the deviation threshold, halt motion of the first repositionable arm and the first end effector or halt motion of the second repositionable arm and the second end effector.

公开(公告)号：US20200253674A1

公开(公告)日：2020-08-13

申请号：US16862407

申请日：2020-04-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/32 ,  A61B34/20

Abstract: A system and method of monitoring control points during reactive motion includes a computer-assisted device. The computer-assisted device includes the one or more articulated arms and a control unit coupled to the one or more articulated arms. The control unit is configured to perform operations comprising determining, before movement of a table separate from the computer-assisted device, a latched spatial configuration of a plurality of control points associated with the one or more articulated arms; determining one or more geometric attributes of the latched spatial configuration; determining an actual spatial configuration of the plurality of control points as the one or more articulated arms track the movement of the table; determining a difference between the one or more geometric attributes of the latched spatial configuration and corresponding one or more geometric attributes of the actual spatial configuration; and performing, based on the determined difference, a remedial action.

公开(公告)号：US20240115332A1

公开(公告)日：2024-04-11

申请号：US18544238

申请日：2023-12-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Jason HEMPHILL ,  Goran A. LYNCH ,  Daniel N. MILLER ,  Patrick O'GRADY ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61B34/00 ,  A61G13/02

CPC classification number: A61B34/30 ,  A61B34/25 ,  A61G13/02

Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes articulating means; means for receiving, via a means for communicatively coupling the computer-assisted device with a table means, a table movement request from a table command means, the table means being separate from the computer-assisted device; means for determining whether the table movement request should be allowed; and means for allowing the table means to perform the table movement request based on determining that the table movement request should be allowed.

公开(公告)号：US20240025050A1

公开(公告)日：2024-01-25

申请号：US18256469

申请日：2021-12-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mohammad Sina PARASTEGARI ,  Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: B25J9/16 ,  A61B90/50 ,  A61B34/35 ,  A61B90/00

CPC classification number: B25J9/1689 ,  A61B90/50 ,  A61B34/35 ,  A61B90/37 ,  B25J9/1697

Abstract: Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system coupled to the repositionable structure. The control system is configured to: determine a position of a reference point offset from a display unit, convert the position of the reference point to a target position of another reference point offset from the imaging device, determine a movement command of the first repositionable structure that moves the imaging device such that the another reference point moves toward the target position, and cause actuation of the repositionable structure based on the movement command.

公开(公告)号：US20240008942A1

公开(公告)日：2024-01-11

申请号：US18037896

申请日：2021-11-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mohammad Sina PARASTEGARI ,  Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/37 ,  A61B34/00 ,  A61B90/00 ,  A61B17/00

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B90/06 ,  A61B17/00 ,  A61B2017/00216 ,  A61B2017/00973 ,  A61B2090/065

Abstract: Embodiments relate to a computer-assisted robotic system, In some embodiments, the system includes a head input device, the head input device comprising a head input sensor configured to provide head input signals indicative of a an operator's head inputs, and a foot input device comprising a foot input sensor configured to provide foot input signals indicative of the operator's foot inputs. The system further includes a controller, configured to process the head input signals and the foot input signals, and identify, based on the processed head and foot input signals, that the operator has provided a combination of head and foot inputs corresponding to a steerable viewer mode activation command. The controller is further configured to cause the robotic system to enter a steerable viewer mode in response to identifying that the operator has provided a combination.

公开(公告)号：US20230064265A1

公开(公告)日：2023-03-02

申请号：US17637336

申请日：2020-08-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Charles A. SWEENEY ,  Scott O. LUKE ,  Michael C. WALDO ,  Allen C. THOMPSON ,  Randal P. GOLDBERG ,  Peling G. LEE ,  Pushkar HINGWE ,  Lawton N. VERNER ,  Goran A. LYNCH ,  Russell L. E. BLANCHARD

IPC: B25J13/08 ,  G06F3/01 ,  F16M11/04 ,  F16M11/28 ,  F16M11/12 ,  A61B34/35 ,  A61B34/00

Abstract: Implementations relate to a moveable display system. In some implementations, a control unit includes a first support and a second support coupled to the first support. The second support is linearly translatable along a first axis in a first degree of freedom with respect to the first support, and at least a portion of the second support is linearly translatable along a second axis in a second degree of freedom with respect to the first support. The control unit includes a display unit rotatably coupled to the second support. The display unit is rotatable about a third axis in a third degree of freedom with respect to the second support, and the display unit includes a display device.

公开(公告)号：US20220296320A1

公开(公告)日：2022-09-22

申请号：US17835604

申请日：2022-06-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37

Abstract: Techniques for monitoring control points of a computer-assisted device include a first articulated arm associated with a first control point and a control unit coupled to the first articulated arm. The control unit is configured to determine a first expected path representative of expected positions of the first control point over time when a movement of the first control point is caused by a movement of a table that moves the first articulated arm, the table being separate from the computer-assisted device; determine a first actual path representative of actual positions of the first control point over time when the movement of the first control point is caused by the movement of the table; determine whether to perform a first remedial action based on the first actual path and the first expected path; and in response to a determination to perform the first remedial action, perform the first remedial action.