公开(公告)号：US09452020B2

公开(公告)日：2016-09-27

申请号：US13967594

申请日：2013-08-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul Griffiths ,  Paul Mohr ,  Nitish Swarup ,  Michael Hanuschik

IPC: A61B19/00 ,  B25J9/16

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. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints 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. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system 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。 一个或多个运动联动子系统可以包括被主动驱动的，被动的或两者的混合的关节。 安装模式采用直观的用户界面，其中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。 系统可以提供类似于止动器的手动关节，其不限于机械预定义的止动器接头构造。 本发明的实施例提供并且可以特别适合于在机器人手术系统等中支撑多个外科手术操纵器的平台的手动移动，而不必增加额外的输入装置。

公开(公告)号：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。

公开(公告)号：US20150257840A1

公开(公告)日：2015-09-17

申请号：US14660321

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul Mohr ,  Michael Hanuschik ,  Paul Millman

IPC: A61B19/00

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/35 ,  A61B2090/035 ,  A61B2090/508

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. A set-up mode employs an intuitive user interface in which one or more joints 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. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system 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。 一个或多个运动联动子系统可以包括被主动驱动的，被动的或两者的混合的关节。 安装模式采用直观的用户界面，其中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。 系统可以提供类似于止动器的手动关节，其不限于机械预定义的止动器接头构造。 本发明的实施例提供并且可以特别适合于在机器人手术系统等中支撑多个外科手术操纵器的平台的手动移动，而不必增加额外的输入装置。

公开(公告)号：US20140276953A1

公开(公告)日：2014-09-18

申请号：US14218862

申请日：2014-03-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  Arjang Hourtash ,  Paul Mohr

IPC: A61B19/00

CPC classification number: B25J9/1643 ,  A61B1/00193 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B50/13 ,  A61B2034/107 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/742 ,  A61B2090/065 ,  B25J18/007 ,  G05B2219/40339 ,  G05B2219/40359 ,  G05B2219/40474

Abstract: Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.

Abstract translation: 用于提供具有冗余自由度的多个关节的操纵臂的一个或多个关节的期望运动的装置，系统和方法，同时执行操纵器的远端执行器的命令运动。 方法包括在由一个或多个关节限定的关节空间内限定诸如路径网络的约束，并且确定多个关节在零空间内的运动以跟踪所述一个或多个关节的约束。 方法还可以包括计算关节的重新配置运动并修改约束以与一个或多个关节的重新配置的位置一致。 本文提供了利用这种方法的装置和系统的各种配置。