公开(公告)号：US11369445B2

公开(公告)日：2022-06-28

申请号：US16439634

申请日：2019-06-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory K. Toth ,  Nitish Swarup ,  Thomas R. Nixon ,  David Q. Larkin ,  Steven J. Colton

IPC: A61B34/35 ,  A61B34/32 ,  A61B34/30 ,  A61B34/37 ,  G16H40/40 ,  A61B17/00 ,  A61B90/00

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods include both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory on the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor is updated by shipping of new data. Once downloaded by the processor from a component, subsequent components take advantage of the updated processor without repeated downloading.

公开(公告)号：US20170265948A1

公开(公告)日：2017-09-21

申请号：US15608907

申请日：2017-05-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  Hubert Stein ,  Paul Millman ,  David W. Bailey ,  William C. Nowlin ,  Thomas R. Nixon ,  Gregory K. Toth

IPC: A61B34/30 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361

Abstract: A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

公开(公告)号：US20150112481A1

公开(公告)日：2015-04-23

申请号：US14496768

申请日：2014-09-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： CHRISTOPHER R. BURNS ,  Vaughn Fuelling ,  Gregory K. Toth ,  Akash Patel

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1674 ,  B25J9/0084 ,  G05B2219/31366 ,  G05B2219/40204 ,  G05B2219/40205 ,  Y02P90/14 ,  Y10S901/02

Abstract: A robotic system has arms, arm processors, arm supervisor, and system supervisor. Each arm includes nodes for controlling motors in the arm. Each node, including each arm processor, detects faults affecting the node, places the node into a safe state upon detecting a fault, propagates a fault notification, diagnoses the fault and classifies it, and sends an error message to the supervisor processor. The arm supervisor may detect faults affecting an arm and also perform fault reaction activities. The system supervisor handles the fault as either a system or local fault depending upon its class. For system faults, a fault notification is sent to the arm processors of non-failed arms so that the non-failed arms are placed in the safe state. For local faults, a degraded operation option is provided to a user and if the fault is classified as recoverable, a recovery option is provided to the user.

Abstract translation: 机器人系统有武器，手臂处理器，手臂主管和系统主管。 每个臂包括用于控制臂中的电动机的节点。 每个节点（包括每个臂处理器）检测到影响节点的故障，在检测到故障时将节点置于安全状态，传播故障通知，诊断故障并对其进行分类，并向管理器处理器发送错误消息。 手臂主管可以检测到影响手臂的故障，并执行故障反应活动。 系统主管根据其类别将系统故障或本地故障处理。 对于系统故障，故障通知被发送到未故障臂的臂处理器，使得未故障的臂被置于安全状态。 对于本地故障，向用户提供降级的操作选项，如果故障被归类为可恢复，则向用户提供恢复选项。