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11.发明申请公开(公告)号：US20160140875A1
公开(公告)日：2016-05-19
申请号：US15006555
申请日：2016-01-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian David Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, JR. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mauherjee
IPC: G09B23/28
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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公开(公告)号：US20140296870A1
公开(公告)日：2014-10-02
申请号：US14225805
申请日：2014-03-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： John D. Stern , Robert G. Younge , David S. Gere , Gunter D. Niemeyer
IPC: A61B19/00
CPC classification number: A61B1/00188 , A61B1/00149 , A61B1/0016 , A61B1/00193 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/77 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/301 , A61B2034/305
Abstract: Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.
Abstract translation: 机器人，远程实验和/或远程手术设备，系统和方法利用机器人结构和数据来响应于图像捕获设备，机器人末端执行器等的运动来计算图像捕获设备的焦点的变化 。 随着显示装置中所示的对象的图像的尺寸随着该对象与用于捕捉图像的图像捕获装置之间的间隔距离的变化而变化，可以响应于移动而改变移动指令输入之间的比例因子 系统的输入设备或相应的主/从机器人移动命令。 这可以增强输入命令和机器人运动之间的感知相关性，因为它们出现在呈现给系统操作者的图像中。
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公开(公告)号：US20140195048A1
公开(公告)日：2014-07-10
申请号：US14163197
申请日：2014-01-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, JR. , Michael J. Tierney
IPC: A61B19/00
CPC classification number: A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G06F19/00 , G09B23/285
Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
Abstract translation: 改进的机器人手术系统，装置和方法包括可选择地可关联的主/从对，通常具有比外科医生的两只手同时移动的更多的操纵臂。 四个操纵臂可以支撑图像捕获装置，左手组织操作工具，右手组织操作工具和第四手术器械，特别是用于稳定，缩回，换刀或受益于间歇运动的其他功能。 四个或更多个臂可以顺序地由左和右主输入控制装置控制。 第四臂可以用于支持另一图像捕获装置，并且可以在操作者和助手之间来回传送一些或所有臂的控制。 可以耦合两个或更多个具有主控制器和从动操纵器的机器人系统，以实现两个或多个操作者之间的协作手术。
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14.发明授权公开(公告)号：US12011244B2
公开(公告)日：2024-06-18
申请号：US18309110
申请日：2023-04-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Simon P. Dimaio , William C. Nowlin , Gunter D. Niemeyer , David S. Mintz
CPC classification number: A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , B25J3/00 , B25J9/1669 , B25J9/1689 , A61B2017/00725 , A61B2034/305 , G05B2219/45117 , Y10S901/27 , Y10S901/41
Abstract: A teleoperated system includes a robotic arm configured to support an instrument, a grip configured to be manipulated by an operator to command motion of the instrument, and a control system communicatively coupled to the robotic arm and the grip. To align the grip with the instrument by the grip, the control system is configured to determine grip rotation values describing an orientation of the grip, determine instrument rotation values describing an orientation of the instrument, determine an orientation error between the orientation of the grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, produce a motion command by selectively imposing, based on the orientation error, an artificial joint limit on a commanded movement of the instrument, and command the robotic arm to move in accordance with the motion command.
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15.发明授权公开(公告)号：US10881473B2
公开(公告)日：2021-01-05
申请号：US16862412
申请日：2020-04-29
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Simon P. Dimaio , William C. Nowlin , Gunter D. Niemeyer , David S. Mintz
Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining a grip orientation by which the master grip is gripped by an operator, determining a commanded velocity for the slave instrument based on a manipulation of the master grip by the operator, determining an error, and altering the commanded velocity for the slave instrument based on at least the grip orientation and the error. The error includes a parameter selected from a group consisting of a position error between a position of the master grip and a position of the slave instrument and an orientation error between an orientation of the master grip and an orientation of the slave instrument.
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Patent Agency Ranking
公开(公告)号：US20180168742A1
公开(公告)日：2018-06-21
申请号：US14794946
申请日：2015-07-09
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gary S. Guthart , David S. Mintz , Gunter D. Niemeyer , J. Kenneth Salisbury, JR. , Robert G. Younge
IPC: A61B34/30 , A61B17/00 , A61B34/20 , A61B34/35 , A61B34/37 , A61B34/00 , A61B90/00 , A61B1/04 , A61B8/12 , A61B8/00 , A61B90/50 , A61B1/00 , A61B18/20 , A61B1/313 , A61B34/10
CPC classification number: A61B34/30 , A61B1/00045 , A61B1/0005 , A61B1/04 , A61B1/3132 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B17/00234 , A61B18/20 , A61B34/20 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2034/107 , A61B2034/305 , A61B2090/031 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2090/0807 , A61B2090/506
Abstract: Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.
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17.发明申请公开(公告)号：US20170258537A1
公开(公告)日：2017-09-14
申请号：US15607676
申请日：2017-05-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian D. Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, JR. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mukherjee
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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18.发明授权公开(公告)号：US09666101B2
公开(公告)日：2017-05-30
申请号：US15006555
申请日：2016-01-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian David Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, Jr. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mauherjee
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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19.发明授权公开(公告)号：US09636186B2
公开(公告)日：2017-05-02
申请号：US15006549
申请日：2016-01-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian David Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, Jr. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mauherjee
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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20.发明授权Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument 有权用于远程操作的微创外科手术器械的对准的棘轮公开(公告)号：US09579164B2
公开(公告)日：2017-02-28
申请号：US14996073
申请日：2016-01-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , William C. Nowlin , Gunter D. Niemeyer , David S. Mintz
CPC classification number: A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , A61B2017/00725 , A61B2034/305 , B25J3/00 , B25J9/1669 , B25J9/1689 , G05B2219/45117 , Y10S901/27 , Y10S901/41
Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
Abstract translation: 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。
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