公开(公告)号：US09259282B2

公开(公告)日：2016-02-16

申请号：US14101769

申请日：2013-12-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Jonathan Sorger ,  Lutz Blohm ,  Christine Niebler ,  Holger Kunze

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B6/102 ,  A61B6/4441 ,  A61B6/4458 ,  A61B19/2203 ,  A61B34/20 ,  A61B90/37 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2090/376 ,  A61B2090/378 ,  B25J9/1676 ,  B25J9/1697 ,  Y10S901/02 ,  Y10S901/47

Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

Abstract translation: 用于移动控制的系统和方法包括耦合到计算机辅助外科手术装置的控制器，其具有联接到具有工作端的可操纵装置的第一可动臂和连接到图像捕获装置的第二可移动臂。 控制器被配置为接收第一可移动臂的第一配置; 接收第二可动臂的第二构造; 从图像捕获装置接收工作端的多个图像; 确定工作端的位置和方向; 确定第一可移动臂的第一可动臂位置和轨迹; 确定第二可动臂的第二可动臂位置和轨迹; 确定可动臂的运动是否会导致可移动臂之间的不期望的关系; 并向第一或第二可移动臂发送运动命令以避免不期望的关系。

公开(公告)号：US20160008078A1

公开(公告)日：2016-01-14

申请号：US14862692

申请日：2015-09-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mahdi Azizian ,  Jonathan Sorger ,  Lutz Blohm ,  Christine Niebler ,  Holger Kunze

IPC: A61B19/00 ,  B25J9/16

CPC classification number: A61B34/30 ,  A61B6/102 ,  A61B6/4441 ,  A61B6/4458 ,  A61B19/2203 ,  A61B34/20 ,  A61B90/37 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2090/376 ,  A61B2090/378 ,  B25J9/1676 ,  B25J9/1697 ,  Y10S901/02 ,  Y10S901/47

Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

Abstract translation: 用于移动控制的系统和方法包括耦合到计算机辅助外科手术装置的控制器，其具有联接到具有工作端的可操纵装置的第一可动臂和连接到图像捕获装置的第二可移动臂。 控制器被配置为接收第一可移动臂的第一配置; 接收第二可动臂的第二构造; 从图像捕获装置接收工作端的多个图像; 确定工作端的位置和方向; 确定第一可移动臂的第一可动臂位置和轨迹; 确定第二可动臂的第二可动臂位置和轨迹; 确定可动臂的运动是否会导致可移动臂之间的不期望的关系; 并向第一或第二可移动臂发送运动命令以避免不期望的关系。