公开(公告)号：US20160338786A1

公开(公告)日：2016-11-24

申请号：US15161158

申请日：2016-05-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. ROBINSON ,  Thomas R. NIXON ,  Michael HANUSCHIK ,  Randal P. GOLDBERG ,  Jason HEMPHILL ,  David Q. LARKIN ,  Paul MILLMAN

IPC: A61B34/35 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B18/1206 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/76 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2017/00973 ,  A61B2018/00988

Abstract: A teleoperated surgical system may comprise a plurality of teleoperated surgical instruments; a user input device; and a controller operably coupled to the user input device and to the plurality of surgical instruments. The user input device may be configured to transmit an activation command to cause activation of a function of a first one of the plurality of surgical instruments in response to input at the user input device, the function being supported by remote-control supply equipment. The controller may be configured to output a feedback command to cause feedback to a user, the feedback indicating the first one of the plurality of surgical instruments is configured for activation in response to the activation command.

Abstract translation: 远程手术外科系统可以包括多个远程手术器械; 用户输入设备; 以及可操作地耦合到所述用户输入装置和所述多个外科器械的控制器。 用户输入设备可以被配置为响应于在用户输入设备处的输入而发送激活命令以激活多个外科器械中的第一个的功能，该功能由远程控制供应设备支持。 控制器可以被配置为输出反馈命令以对用户产生反馈，指示多个外科器械中的第一个的反馈被配置为响应于激活命令而被激活。

公开(公告)号：US20220183781A1

公开(公告)日：2022-06-16

申请号：US17685317

申请日：2022-03-02

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

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode; transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure; while in the set-up mode, determine an input displacement of a link from an initial positional relationship relative to a portion of the kinematic structure to a displaced positional relationship relative to the portion of the kinematic structure; and while in the set-up mode and in response to the determined input displacement, drive the kinematic structure so that the link returns toward the initial positional relationship relative to the portion of the kinematic structure.

公开(公告)号：US20210122067A1

公开(公告)日：2021-04-29

申请号：US17140420

申请日：2021-01-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David ROBINSON ,  Matthew R. CAVALIER ,  Gregory W. DACHS ,  Michael HANUSCHIK ,  Jason JIANG ,  Paul W. MOHR ,  Bruce M. SCHENA ,  Mark W. ZIMMER

IPC: B25J19/00 ,  A61B50/13 ,  A61B34/30 ,  A61B34/35 ,  A61B34/00 ,  B25J5/00

Abstract: A method includes moving a stabilization device comprising a stabilization surface relative to a base of a surgical cart, wherein the moving comprises moving the stabilization device from a retracted position in which the stabilization surface is spaced from the ground surface to a deployed position in which the stabilization surface is in contact with the ground surface, and wherein the moving comprises overcoming a biasing force biasing the stabilization device toward the retracted position.

公开(公告)号：US20170087730A1

公开(公告)日：2017-03-30

申请号：US15126770

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David ROBINSON ,  Matthew R. CAVALIER ,  Gregory W. DACHS ,  Michael HANUSCHIK ,  Jason JIANG ,  Paul W. MOHR ,  Bruce M. SCHENA ,  Mark W. ZIMMER

IPC: B25J19/00 ,  A61B34/00 ,  A61B34/35 ,  B25J5/00 ,  A61B50/13

CPC classification number: B25J19/0091 ,  A61B34/35 ,  A61B34/70 ,  A61B50/13 ,  B25J5/007

Abstract: A patient side cart for a teleoperated surgical system may include a base, a column connected to the base, a boom connected to the column, a manipulator arm connected to the boom, and a vibration reduction member. The manipulator arm may be configured to support a surgical instrument. The vibration reduction member may be configured to be moved between deployed and retracted positions relative to the base. The vibration reduction member may engage a ground surface in the deployed position and not be in contact with the ground surface in the retracted position. Various exemplary embodiments also relate to carts including a vibration reduction member and methods of controlling a vibration reduction member.

公开(公告)号：US20160374768A1

公开(公告)日：2016-12-29

申请号：US15259951

申请日：2016-09-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul GRIFFITHS ,  Paul MOHR ,  Nitish SWARUP ,  Michael HANUSCHIK

IPC: A61B34/30 ,  B25J9/16 ,  A61B90/50 ,  A61B34/00 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/77 ,  A61B90/06 ,  A61B90/50 ,  A61B2034/301 ,  A61B2034/304 ,  A61B2090/066 ,  A61B2090/508 ,  B25J9/1633 ,  B25J9/1669 ,  G05B2219/40414 ,  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. A set-up mode employs an intuitive user interface in which one or more joints of the kinematic linkage are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. Embodiments of the invention can provide for manual movement of a platform supporting a plurality of surgical manipulators or the like without having to add additional input devices.

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。 安装模式采用直观的用户界面，其中运动连杆的一个或多个关节最初由制动器或联合驱动系统保持静止。 用户可以通过用超过手动关节阈值的力，扭矩等手动地推动联动装置来铰接关节。 通过改变传输到制动器或驱动系统的信号来促进移动接头的铰接。 该系统可以根据从低于阈值的关节的速度来完成重新配置，可选地为期望的停留时间。 本发明的实施例可以提供支撑多个手术操纵器等的平台的手动移动，而不必增加额外的输入装置。

公开(公告)号：US20240245479A1

公开(公告)日：2024-07-25

申请号：US18626050

申请日：2024-04-03

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 ,  A61B34/32 ,  A61B90/50

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

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system comprising a first manipulating means and processing means. The processing means is for detecting whether a first means for accessing an internal worksite is mounted to the first manipulating means; detecting an input indicating the system is to be in a set-up mode; and inhibiting, in response to detecting that the first means is mounted to the first manipulating means, transition of the system to the set-up mode.

公开(公告)号：US20220361970A1

公开(公告)日：2022-11-17

申请号：US17875266

申请日：2022-07-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul GRIFFITHS ,  Paul MOHR ,  Nitish SWARUP ,  Michael HANUSCHIK

IPC: A61B34/30 ,  B25J9/16 ,  A61B34/00 ,  A61B90/00 ,  A61B90/50

Abstract: User-initiated break-away clutching includes a robotic system having a joint, a brake or drive unit coupled to the joint, and a control system coupled with the brake or drive unit. The control system is configured to determine a first manual effort applied to the joint; inhibit, using the brake or drive unit, manual articulation of the joint in response to the first manual effort being below an articulation threshold; facilitate, using the brake or drive unit, the manual articulation of the joint in response to the first manual effort exceeding the articulation threshold; and inhibit, using the brake or drive unit, further manual articulation of the joint in response to a determination that a speed of the manual articulation of the joint is below a speed threshold.

公开(公告)号：US20200229883A1

公开(公告)日：2020-07-23

申请号：US16842592

申请日：2020-04-07

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

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.

公开(公告)号：US20160192998A1

公开(公告)日：2016-07-07

申请号：US15072303

申请日：2016-03-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randal P. GOLDBERG ,  Michael HANUSCHIK ,  Paul MILLMAN ,  Paul W. MOHR ,  Thomas R. NIXON ,  David ROBINSON

IPC: A61B34/35 ,  A61B18/00 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B18/00 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/98 ,  A61B2017/00225 ,  A61B2017/00973 ,  A61B2034/254 ,  G05B2219/40195

Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system may include detecting a first surgical instrument coupled to a first manipulator interface assembly of a teleoperated surgical system, the manipulator interface assembly being controlled by a first input device; detecting which one of a user's left and right hands operates the first input device; and assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the user's left hand is detected to operate the first input device, or assigning control of an auxiliary function of the first surgical instrument to a second auxiliary input device disposed in a right position relative to the first auxiliary input device if the user's right hand is detected to operate the first input device. A frame of reference of the left position and right position is relative to a user operating the first input device.

Abstract translation: 分配辅助输入装置以控制机器人手术系统中的外科器械的方法可以包括检测耦合到远程手术外科系统的第一操纵器接口组件的第一外科器械，所述操纵器接口组件由第一输入装置控制; 检测用户的左手和右手中的哪一个操作第一输入装置; 以及如果检测到所述用户的左手来操作所述第一输入装置，则将所述第一外科器械的辅助功能的控制分配给设置在相对于所述第二辅助输入装置的左侧位置的第一辅助输入装置，或者分配辅助 如果检测到用户的右手来操作第一输入设备，则第一外科器械的功能被设置在相对于第一辅助输入装置的右侧位置的第二辅助输入装置。 左位置和右位置的参考系相对于操作第一输入设备的用户。

公开(公告)号：US20150173849A1

公开(公告)日：2015-06-25

申请号：US14642163

申请日：2015-03-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. ROBINSON ,  Thomas R. NIXON ,  Michael HANUSCHIK ,  Randal P. GOLDBERG ,  Jason HEMPHILL ,  David Q. LARKIN ,  Paul MILLMAN

IPC: A61B19/00 ,  A61B18/12

CPC classification number: A61B34/35 ,  A61B18/1206 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/76 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2017/00973 ,  A61B2018/00988

Abstract: A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.

Abstract translation: 公开了一种用于微创手术系统的方法，包括：在安装到第一机器臂上的第一机器人手术工具中从存储装置读取第一工具信息，以至少确定第一工具类型; 读取关于一个或多个远程控制设备的设备信息以进行控制; 将所述第一工具信息与所述设备信息进行比较以将所述一个或多个远程控制设备的第一遥控设备适当地匹配到所述第一机器人手术工具; 以及映射第一控制台的一个或多个用户界面输入设备，以控制第一遥控设备以支持第一机器人手术工具的功能。