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公开(公告)号：US20210220084A1
公开(公告)日：2021-07-22
申请号：US17224049
申请日：2021-04-06
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish SWARUP , Paul G. GRIFFITHS , Goran A. LYNCH , Daniel N. MILLER
Abstract: A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.
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公开(公告)号：US20200298406A1
公开(公告)日：2020-09-24
申请号：US16896083
申请日：2020-06-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. GRIFFITHS , Nitish SWARUP
Abstract: A system and method of collision avoidance includes determining a position and an orientation, the position and the orientation being of a repositionable arm or of an instrument, the repositionable arm being configured to support the instrument; determining, based on the position and the orientation, a plurality of first virtual boundaries around the repositionable arm or the instrument; determining a second virtual boundary around an object; determining a first overlap force on the repositionable arm due to a first overlap between the second virtual boundary and a virtual boundary of the plurality of first virtual boundaries; determining a tip force on a distal end of the instrument based on the first overlap force; and applying the tip force as a first feedback force on the instrument or the repositionable arm.
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公开(公告)号：US20170172670A1
公开(公告)日：2017-06-22
申请号：US15126983
申请日：2015-03-15
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish SWARUP , Paul G. GRIFFITHS , Brandon D. ITKOWITZ , Michael HANUSCHIK , Thomas R. NIXON
Abstract: A system and method of aligning with a reference target includes a computer-assisted medical device. The computer-assisted medical device includes an orientation platform, one or more first joints proximal to the orientation platform, one or more second joints distal to the orientation platform, one or more links distal to the orientation platform, a reference instrument coupled to the orientation platform by the second joints and the links; and a control unit coupled to the first joints and the second joints. The control unit determines a pose of the reference instrument. The pose includes a reference point and a reference orientation. The control unit further positions the orientation platform over the reference point using the first joints, rotates the orientation platform to align the orientation platform with the reference orientation using the first joints, and maintains the pose of the reference instrument using the second joints.
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公开(公告)号：US20170071680A1
公开(公告)日：2017-03-16
申请号：US15125944
申请日：2015-03-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish SWARUP , David W. ROBINSON
CPC classification number: A61B34/30 , A61B34/35 , A61B34/37 , A61B34/74 , A61B34/76 , A61B2034/304 , A61B2034/305 , A61B2034/742 , A61B2034/743
Abstract: Systems and method are provided for the elimination/mitigation of vibration arising from a mode transition during a robotic surgery. The robotic surgery can be performed with a patient side cart, portions of which can be affected by the mode transition. Initial parameters for the portions of the patient side cart that can be affected by the mode transition are identified and are used to create a smoothing curve. The smoothing curve can direct the movement of the portions of the patient side cart to transition between the modes. The smoothing curve can be continuously generated until a new mode transition is requested.
Abstract translation: 提供了系统和方法，用于消除/减轻在机器人手术期间由模式转变引起的振动。 机器人手术可以用患者侧车进行，其中部分可能受到模式转换的影响。 可以识别可能受模式转换影响的患者侧推车部分的初始参数，并用于创建平滑曲线。 平滑曲线可以引导患者侧推车的部分的运动在模式之间转换。 可以连续生成平滑曲线，直到请求新的模式转换为止。
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公开(公告)号：US20240315786A1
公开(公告)日：2024-09-26
申请号：US18732286
申请日：2024-06-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. ITKOWITZ , Paul G. GRIFFITHS , Nitish SWARUP , Kamyar ZIAEI
Abstract: A computer-assisted device includes an articulating means configured to support an end effector and a processing means. When coupled to the articulating means and a patient supporting means, the processing means is configured to configure a first joint of the articulating means to a first mode to allow movement of the first joint in response to an external force on the articulating means, detect movement of the first joint, determine a movement of the patient supporting means, and drive a second joint of the articulating means based on the movement of the first joint and the movement of the patient supporting means.
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Patent Agency Ranking
公开(公告)号：US20220031417A1
公开(公告)日：2022-02-03
申请号：US17404289
申请日：2021-08-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. GRIFFITHS , Arjang M. HOURTASH , Paul W. MOHR , David W. ROBINSON , Nitish SWARUP , John W. ZABINSKI , Mark W. ZIMMER
Abstract: A cart for supporting one or more instruments for a computer-assisted, remote procedure can include a base and a support structure extending from the base and adjustable to different configurations, the support structure being configured to support one or more instruments to perform a remote procedure. The cart can further include a steering interface configured to be grasped by a user and a sensor mechanism configured to detect a force applied to the steering interface. The cart also can include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and information about a configuration of the support structure, the control module operably coupled to output a movement command based on the received input from the sensor mechanism and the information about the configuration of the support structure. A driven wheel may be mounted to the base and configured to impart wheeled motion to the cart in response to the movement command.
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17.发明申请公开(公告)号：US20210267699A1
公开(公告)日：2021-09-02
申请号：US17321115
申请日：2021-05-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. GRIFFITHS , Paul W. MOHR , Nitish SWARUP , Michael COSTA , David Q. LARKIN , Thomas G. Cooper
Abstract: Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.
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公开(公告)号：US20200229880A1
公开(公告)日：2020-07-23
申请号：US16809471
申请日：2020-03-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. ITKOWITZ , Paul G. GRIFFITHS , Nitish SWARUP , Kamyar ZIAEI
Abstract: A computer-assisted device includes an articulated arm configured to support an end effector and a control unit configured to, when coupled to the articulated arm and a table: determine a virtual coordinate frame before a first joint of the articulated arm is set to a floating mode, configure the first joint to the floating mode, detect movement of the first joint, determine a movement of the table, and drive a second joint of the articulated arm based on the movement of the first joint and the movement of the table. In some embodiments, the virtual coordinate frame is based on a pose of an imaging device and/or is detached from the imaging device. In some embodiments, the control unit is further configured to maintain the virtual coordinate frame in fixed relationship to a top of the table based on motion data received from the table.
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公开(公告)号：US20200146764A1
公开(公告)日：2020-05-14
申请号：US16743218
申请日：2020-01-15
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. ITKOWITZ , Nitish SWARUP , Paul G. GRIFFITHS , Goran LYNCH
Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted device include an articulated structure including a plurality of joints and a control unit coupled to the articulated structure. The control unit is configured to determine whether a cannula or an instrument is coupled to a distal end of the articulated structure and in response to determining that the cannula or the instrument is coupled to the distal end of the articulated structure: determine an initial position and orientation of the instrument prior to detection of a disturbance in a first joint of the plurality of joints; determine, during the disturbance in the first joint, a current position and orientation of the instrument; determine a difference between the current position and orientation and the initial position and orientation; and drive at least a second joint of the plurality of joints based on the difference.
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公开(公告)号：US20180303565A1
公开(公告)日：2018-10-25
申请号：US16022602
申请日：2018-06-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul Griffiths , Paul MOHR , Nitish SWARUP , Michael HANUSCHIK
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 a robotic device. The robotic device includes a manipulator, a drive unit coupled to the manipulator, and a processor coupled with the drive unit. The processor is configured determine that a cannula is mounted to the manipulator and inhibit, using the drive unit, manual articulation of the manipulator in response to determining that the cannula is mounted to the manipulator. In some embodiments, the robotic device further includes a linkage. The processor is further configured to determine a manual effort against the manipulator; inhibit, using the drive unit, the manual articulation of the linkage in response to the manual effort being below an articulation threshold; and facilitate, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the linkage in response to the manual effort exceeding the articulation threshold.
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