公开(公告)号：US20160199142A1

公开(公告)日：2016-07-14

申请号：US14995523

申请日：2016-01-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul Griffiths ,  Paul Mohr ,  Nitish Swarup ,  Michael Costa ,  David Larkin ,  Thomas Cooper ,  Michael Hanuschik

IPC: A61B34/00 ,  A61B34/30

CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B34/32 ,  A61B90/50 ,  A61B2034/304 ,  A61B2090/508 ,  Y10S901/02

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动的关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为一个单元的那些多个操纵器移动到与工作空间对准来促进和加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。

公开(公告)号：US09259281B2

公开(公告)日：2016-02-16

申请号：US13967573

申请日：2013-08-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul Griffiths ,  Paul Mohr ,  Nitish Swarup ,  Michael Costa ,  David Larkin ,  Thomas Cooper ,  Michael Hanuschik

IPC: A61B19/00

CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B34/32 ,  A61B90/50 ,  A61B2034/304 ,  A61B2090/508 ,  Y10S901/02

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动的关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为一个单元的那些多个操纵器移动到与工作空间对准来促进和加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。

公开(公告)号：US20140052153A1

公开(公告)日：2014-02-20

申请号：US13967573

申请日：2013-08-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul Griffiths ,  Paul Mohr ,  Nitish Swarup ,  Michael Costa ,  David Larkin ,  Thomas Cooper

IPC: A61B19/00

CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B34/32 ,  A61B90/50 ,  A61B2034/304 ,  A61B2090/508 ,  Y10S901/02

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为单元的那些多个操纵器移动到与工作空间对准来促进并加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。