公开(公告)号：US11160622B2

公开(公告)日：2021-11-02

申请号：US16824022

申请日：2020-03-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randal P. Goldberg ,  Michael Hanuschik ,  Paul Millman ,  Paul W. Mohr ,  Thomas R. Nixon ,  David W. Robinson

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B90/98 ,  A61B18/00 ,  A61B18/14 ,  A61B17/00

Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a computer-assisted surgical system includes detecting a first surgical instrument coupled to a first manipulator interface assembly of a computer-assisted surgical system, the first manipulator interface assembly being controlled by a first input device. The method further includes detecting an initial relative position of the first input device and either 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 initial relative position of the first input device is detected to be at a left position relative to a second input device or assigning may also include assigning control of an auxiliary function of the first surgical instrument to the second auxiliary input device disposed in a right position relative to the first auxiliary input device if the initial relative position the first input device is detected to be at a right position relative to the second input device.

公开(公告)号：US10899021B2

公开(公告)日：2021-01-26

申请号：US16860569

申请日：2020-04-28

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 ,  A61B17/00 ,  A61B90/00 ,  B62B5/04

Abstract: A surgical cart assembly may comprise a base portion; a plurality of wheels coupled to the base portion; a column extending vertically from the base portion; a manipulator arm coupled to an end portion of the column; a stabilization device coupled to the base portion, the stabilization device moveable between a retracted position and a deployed position; an actuation device to cause movement of the stabilization device between the retracted position and the deployed position; and a biasing element coupled to the stabilization device, the biasing element exerting a biasing force to bias the stabilization device toward the retracted position. The stabilization device may comprise a stabilization surface, the stabilization surface contacting the ground surface on which the surgical cart assembly is supported in the deployed position of the stabilization device, and the stabilization surface spaced from the ground surface in the retracted position of the stabilization device.

公开(公告)号：US20180338808A1

公开(公告)日：2018-11-29

申请号：US16052555

申请日：2018-08-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Michael Hanuschik ,  Thomas R. Nixon

IPC: A61B34/00 ,  A61B34/30 ,  A61B1/00 ,  B25J9/16 ,  A61B34/20 ,  A61B17/00

Abstract: A system and method of aligning with a reference target includes a computer-assisted device. The computer-assisted device includes a link, one or more first joints coupled proximally to the link, an articulated arm comprising one or more second joints coupled distally to the link, the articulated arm configured to couple to an instrument, and a control unit. The control unit is configured to position or orient the link, using the one or more first joints, based on at least one reference of the instrument selected from the group consisting of a reference point associated with the instrument and a reference orientation of the instrument. The control unit is further configured to maintain, while positioning or orienting the link and by using the one or more second joints, a position or an orientation of the instrument relative to a workspace in accordance with the at least one reference of the instrument.

公开(公告)号：US10071488B2

公开(公告)日：2018-09-11

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 ,  B25J5/00 ,  A61B50/13 ,  A61B34/35 ,  A61B34/00

CPC classification number: B25J19/0091 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B50/13 ,  A61B2017/00539 ,  A61B2090/064 ,  B25J5/007 ,  B62B5/049

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：US09814536B2

公开(公告)日：2017-11-14

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: A61B19/00 ,  A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/98 ,  A61B18/00 ,  A61B18/14 ,  A61B17/00 ,  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.

公开(公告)号：US08862268B2

公开(公告)日：2014-10-14

申请号：US13800856

申请日：2013-03-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David W. Robinson ,  Thomas R. Nixon ,  Michael Hanuschik ,  Randal P. Goldberg ,  Jason Hemphill ,  David Larkin ,  Paul Millman

IPC: G06F19/00 ,  A61B19/00 ,  G05B19/04 ,  A61B18/00 ,  A61B18/14 ,  A61B17/00 ,  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。

公开(公告)号：US11919154B2

公开(公告)日：2024-03-05

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: B62B5/04 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B50/13 ,  B25J5/00 ,  B25J19/00 ,  A61B17/00 ,  A61B90/00

CPC classification number: B25J19/0091 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B50/13 ,  B25J5/007 ,  A61B2017/00539 ,  A61B2090/064 ,  B62B5/049

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：US11298200B2

公开(公告)日：2022-04-12

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 ,  A61B34/32 ,  A61B90/50

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：US20210401516A1

公开(公告)日：2021-12-30

申请号：US17468241

申请日：2021-09-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Michael Hanuschik ,  Joseph Arsanious ,  Julie L. Berry ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B50/13 ,  A61B46/10 ,  A61B90/13 ,  A61B34/37 ,  A61B34/30 ,  A61B50/10

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.

公开(公告)号：US10646297B2

公开(公告)日：2020-05-12

申请号：US15985529

申请日：2018-05-21

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 ,  A61B90/50 ,  A61B34/32

Abstract: Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.