公开(公告)号：US20220296324A1

公开(公告)日：2022-09-22

申请号：US17833993

申请日：2022-06-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI

IPC: A61B34/00 ,  A61B34/35

Abstract: A teleoperational control system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to engage a first operational mode of the teleoperational control system for controlling a teleoperational instrument in response to movement of a control device in a first degree of freedom and engage a second operational mode of the teleoperational control system for controlling a graphical user interface. While in the second operational mode, the system may track movement of the control device in a second degree of freedom, different from the first degree of freedom. While in the second operational mode and responsive to the movement of the control device in the second degree of freedom, the system may apply a first haptic force to the control device.

公开(公告)号：US20210220066A1

公开(公告)日：2021-07-22

申请号：US17159764

申请日：2021-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Todd R. SOLOMON ,  Thomas G. COOPER ,  Eugene F. DUVAL ,  Nicola DIOLAITI ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Anthony K. McGROGAN ,  Craig R. RAMSTAD ,  Theodore W. ROGERS

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00

Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

公开(公告)号：US20150297300A1

公开(公告)日：2015-10-22

申请号：US14753575

申请日：2015-06-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. GOMEZ ,  Nicola DIOLAITI ,  David Q. LARKIN ,  Paul E. LILAGAN ,  Probal MITRA ,  Tabish MUSTUFA

IPC: A61B19/00 ,  B25J9/16

CPC classification number: A61B34/30 ,  A61B1/0055 ,  A61B1/018 ,  A61B5/15196 ,  A61B19/2203 ,  A61B19/56 ,  A61B34/25 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B2019/223 ,  A61B2019/2292 ,  A61B2034/252 ,  A61B2034/258 ,  B25J9/10 ,  B25J9/1005 ,  B25J9/16 ,  B25J9/161 ,  B25J9/1656 ,  B25J9/1658 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1679 ,  Y10S901/02 ,  Y10S901/41 ,  Y10S901/47 ,  A61B2019/2269 ,  A61B2019/2207 ,  A61B2019/2223 ,  A61B2019/562 ,  A61B2019/568

Abstract: To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.

Abstract translation: 为了在医疗机器人系统中执行工具交换，工具从部署位置缩回到入口引导件中，并且构成使得手术室中的助手可以用不同的工具来替换它。 当工具通过用户操作被缩回到入口指南时，其配置被改变为入口姿势，同时避免与其他对象的碰撞，使得其可以适合入口指南。 在完成工具交换之后，在工具控制器通过重新配置来帮助用户之前，用户操作将一个新工具插入到引导件中，并将其从引导工具延伸到旧工具的原始位置，然后再将其退回到入口指南中 新工具，以便在退回到入门指南之前，将旧工具的原始部署姿态类似。

公开(公告)号：US20250064538A1

公开(公告)日：2025-02-27

申请号：US18946712

申请日：2024-11-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Niels SMABY ,  Gregory W. DACHS, II ,  Nicola DIOLAITI ,  Pushkar HINGWE ,  Thomas R. NIXON ,  Bruce M. SCHENA ,  Nitish SWARUP

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J19/02 ,  B25J19/04

Abstract: Teleoperated control includes commanding, in response to a first input to move a tool while an imaging device is mounted to a first manipulator and a tool is mounted to a second manipulator, actuator(s) of the second manipulator to move the tool with a first motion relative to a first reference frame that corresponds with a first movement of an input device relative to a display, the first reference frame defined based on the imaging device mounted to the first manipulator; and commanding, in response to receiving a second input to move the tool while the imaging device is mounted to the third manipulator, the actuator(s) to move the tool with a second motion relative to a second reference frame that corresponds with a second movement of the input device relative to the display, the second reference frame defined based on the imaging device being mounted to the third manipulator.

公开(公告)号：US20240407873A1

公开(公告)日：2024-12-12

申请号：US18811048

申请日：2024-08-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI ,  David Q. LARKIN ,  Catherine J. MOHR

IPC: A61B34/37 ,  A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B17/00 ,  A61B17/34 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

Abstract: A system with coupled control modes includes a first manipulator, a second manipulator, an input device for commanding movement of the first manipulator or the second manipulator, and one or more controllers. The one or more controllers are configured to detect movement of the input device; when movement of the first manipulator is responsive to movement of the input device: determine a commanded movement for the first manipulator from the detected movement of the input device and command the second manipulator to move in response, at least in part, to the commanded movement of the first manipulator; and when movement of the second manipulator is responsive to the movement of the input device: determine a commanded movement for the second manipulator from the detected movement of the input device and command the first manipulator to move in response, at least in part, to the commanded movement of the second manipulator.

公开(公告)号：US20230363838A1

公开(公告)日：2023-11-16

申请号：US18358091

申请日：2023-07-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI ,  Paul E. LILAGAN

IPC: A61B34/30 ,  A61B34/00 ,  B25J13/02 ,  A61B17/00 ,  B25J19/02

CPC classification number: A61B34/30 ,  A61B34/76 ,  B25J13/025 ,  A61B34/72 ,  A61B17/00234 ,  B25J19/021 ,  A61B34/20

Abstract: Techniques for retracting an instrument into an entry guide include an entry guide manipulator configured to support an entry guide and an instrument manipulator configured to support an instrument. The robotic system is configured to receive a command indicating a commanded movement of the entry guide in a direction parallel to an insertion axis of the entry guide; in response to the commanded movement of the entry guide being greater than a threshold distance in the direction parallel to the insertion axis, cause a response comprising one or more actions selected from the group consisting of: movement, using the instrument manipulator, of one or more rotational joints of the instrument external to the entry guide toward a distal end of the entry guide; and actuation of the one or more rotational joints to straighten the instrument so that the instrument can be retracted into the entry guide.

公开(公告)号：US20200163539A1

公开(公告)日：2020-05-28

申请号：US16775259

申请日：2020-01-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI

IPC: A61B1/045 ,  A61B1/313 ,  A61B1/05 ,  A61B1/008 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B34/30 ,  A61B1/00

Abstract: A system and method for multi-mode imaging device control includes a manipulator having one or more first joints and one or more second joints and a controller. The one or more first joints are configured to pivot a focal point of an imaging device about a pivot. The one or more second joints are configured to position the pivot within a three-dimensional space. The controller is configured to actuate the one or more first joints in response to sensed movement of one or more input devices until a release of the actuation of the one or more first joints is detected, detect the release of the actuation of the one or more first joints, and actuate the one or more second joints in response to sensed movement of the one or more input devices following the detection of the release of the actuation of the one or more first joints.

公开(公告)号：US20170340397A1

公开(公告)日：2017-11-30

申请号：US15677964

申请日：2017-08-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Niels SMABY ,  Gregory W. DACHS, II ,  Nicola DIOLAITI ,  Pushkar HINGWE ,  Thomas R. NIXON ,  Bruce M. SCHENA ,  Nitish SWARUP

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  A61B90/00 ,  A61B34/30

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361

Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.