公开(公告)号：US12082902B2

公开(公告)日：2024-09-10

申请号：US17637060

申请日：2020-08-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Sina Parastegari ,  Goran Lynch

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

CPC classification number: A61B34/77 ,  A61B34/25 ,  A61B34/37 ,  B25J9/1689 ,  A61B2017/00216 ,  A61B2034/2059

Abstract: A computer-assisted medical system includes a display unit configured to provide images to an operator of the display unit, a headrest configured to receive a mechanical input provided by a head of the operator in mechanical contact with the headrest, a headrest sensor interfacing with the headrest and configured to provide sensor signals based on the mechanical input, and a controller. The controller includes a computer processor, and is configured to process the sensor signals to obtain a driving input, drive, by the driving input, a virtual mass to obtain a simulated virtual mass movement, and cause movement of the headrest, the movement of the headrest tracking the virtual mass movement.

公开(公告)号：US20240189051A1

公开(公告)日：2024-06-13

申请号：US18286623

申请日：2022-04-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Goran Lynch ,  Sean Duffy ,  Will Valladao ,  Amin Zeiaee

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

CPC classification number: A61B34/37 ,  A61B34/35 ,  A61B2034/302

Abstract: A computer-assisted system includes a manipulator arm including a joint, an actuator mechanism configured to drive the joint, and a controller including a computer processor. The controller is communicatively coupled to the manipulator arm and configured with a first control mode and a second control mode. In each of the first control mode and the second control mode, the controller commands the actuator mechanism to allow an external articulation to reconfigure the manipulator arm by backdriving the joint. The first control mode is distinguished from the second control mode at least by the controller being configured to, in the first control mode, command the actuator mechanism to provide a first speed-dependent resistance in response to the joint being backdriven at a first backdriven speed above a first speed threshold. The first speed-dependent resistance opposes the joint being backdriven.

公开(公告)号：US11707337B2

公开(公告)日：2023-07-25

申请号：US17389243

申请日：2021-07-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Nitish Swarup ,  Paul G. Griffiths ,  Goran Lynch

IPC: G01B21/04 ,  A61B34/00 ,  A61B34/30 ,  A61B1/00 ,  B25J9/16 ,  A61B17/00 ,  A61B34/20

CPC classification number: A61B34/70 ,  A61B1/00149 ,  A61B34/30 ,  B25J9/1607 ,  B25J9/1633 ,  A61B2017/00017 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/304 ,  A61B2034/305

Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted device include a control unit and an articulated structure coupled to the control unit and including a plurality of joints. The articulated structure is configured to support an instrument. The control unit is configured to determine an error that is introduced to a position of the instrument, an orientation of the instrument, or both the position of the instrument and the orientation of the instrument by movement of a first joint of the plurality of joints; and drive at least a second joint of the plurality of joints to reduce the error.