公开(公告)号：US20210267703A1

公开(公告)日：2021-09-02

申请号：US17178776

申请日：2021-02-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Roman L. DEVENGENZO ,  Michael L. HANUSCHIK ,  Gerard J. LABONVILLE ,  Paul W. MOHR ,  Tyler J. MORRISSETTE ,  Joseph P. ORBAN, III

IPC: A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  A61B34/30 ,  A61B34/35

Abstract: A surgical drape for a patient side cart of a teleoperated surgical system may comprise a body sized and shaped to cover at least a portion of an arm or main column of the patient side cart, and an attachment device feature connected to the body, the attachment device feature being configured to install the surgical drape to the arm or main column so as to cover at least a portion of the arm or main column with the surgical drape. In an installed position of the surgical drape on the arm or the main column, the attachment device feature is positioned at a location in sensing proximity of a sensor of the patient side cart.

公开(公告)号：US20210186633A1

公开(公告)日：2021-06-24

申请号：US17196870

申请日：2021-03-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel MILLER ,  Nitish SWARUP ,  Michael TURNER ,  Arjang M. HOURTASH ,  Paul G. GRIFFITHS ,  Paul W. MOHR

IPC: A61B34/30 ,  B25J9/16 ,  B25J13/08

Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold, wherein movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint, switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold, and prevents the switching of the first joint from the first state to the second state when the arm is in a predetermined mode.

公开(公告)号：US20210169600A1

公开(公告)日：2021-06-10

申请号：US17123232

申请日：2020-12-16

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

IPC: A61B50/10 ,  B25J5/00 ,  A61B50/18 ,  A61B50/13 ,  G05D1/00

Abstract: A cart for supporting one or more instruments during a computer-assisted remote procedure can comprise a base; a steering interface having a portion configured to be grasped by a user; a sensor mechanism configured to detect a force applied to the steering interface by a user; and a switch operable between an engaged position and a disengaged position. The cart may further 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, on the condition that the switch is in the engaged position, to output a movement command based on the received input from the sensor mechanism. A driven wheel mounted to the base of the cart may be configured to impart motion to the cart in response to the movement command.

公开(公告)号：US20200254633A1

公开(公告)日：2020-08-13

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 ,  A61B34/30 ,  B25J5/00 ,  A61B34/00 ,  A61B34/35 ,  A61B50/13

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：US20180185106A1

公开(公告)日：2018-07-05

申请号：US15909287

申请日：2018-03-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Michael L. HANUSCHIK ,  Paul W. MOHR

IPC: A61B34/30 ,  A61B90/35 ,  A61B90/30 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B90/30 ,  A61B90/35 ,  A61B2017/00075 ,  A61B2560/02 ,  A61B2560/0266

Abstract: A patient side cart for a teleoperated surgical system may comprise a column extending from a base, the column having a first end connected to the base and a second end opposite the first end. The patient side cart may further include a surgical instrument manipulator arm coupled proximate the second end of the column, and an obstacle indication system comprising an illumination source mounted on the patient side cart at a height above a location the surgical instrument manipulator arm is coupled to the second end of the column, the height being measured in a direction the column extends from the base.

公开(公告)号：US20170000574A1

公开(公告)日：2017-01-05

申请号：US15125679

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Michael L. HANUSCHIK ,  Paul W. MOHR ,  Arjang M. HOURTASH

IPC: A61B34/35 ,  A61B1/00 ,  A61B1/313 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B1/00149 ,  A61B1/3132 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/37 ,  A61B2034/2057 ,  A61B2034/301

Abstract: A system and method of recentering imaging devices and input controls includes a medical device having one or more end effectors, an imaging device, one or more input controls for teleoperating the one or more end effectors, and a control unit including one or more processors coupled to the end effectors, the imaging device, and the input controls. The control unit suspends teleoperated control of the end effectors by the input controls in response to a recentering request, determines a view recentering move for the imaging device so that the end effectors are contained within a view space of the imaging device, determines one or more input control recentering moves to provide positional and orientational harmony between each of the input controls and a corresponding one of the end effectors, executes the view and input control recentering moves, and reinstates teleoperated control of the end effectors by the input controls.

Abstract translation: 重构成像设备和输入控制的系统和方法包括具有一个或多个终端执行器的医疗设备，成像设备，用于远程操作所述一个或多个终端执行器的一个或多个输入控制器，以及包括一个或多个处理器耦合的控制单元 到最终效果器，成像装置和输入控件。 所述控制单元响应于重新要求暂停所述输入控制器对所述末端执行器的远程操作控制，确定所述成像设备的观察重新移动，使得所述末端执行器被包含在所述成像设备的视图空间内，确定一个或多个 输入控制重新移动以提供每个输入控制和相应的一个末端执行器之间的位置和取向协调，执行视图和输入控制重新移动，并且通过输入控件来恢复末端执行器的远程操作控制。

公开(公告)号：US20160199143A1

公开(公告)日：2016-07-14

申请号：US15073811

申请日：2016-03-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Paul W. MOHR ,  Alan W. PETERSEN ,  David ROBINSON ,  Nitish SWARUP ,  Mark W. ZIMMER ,  Alexander MAKHLIN ,  Julio SANTOS-MUNNE ,  Eric FAULRING ,  Thomas MOYER

IPC: A61B50/13 ,  A61B34/35

CPC classification number: B62D6/10 ,  A61B34/30 ,  A61B34/35 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2017/00123 ,  A61B2017/00482 ,  A61B2050/185 ,  A61B2090/064 ,  B62D1/12

Abstract: A patient side cart for a teleoperated surgical system includes at least one manipulator portion for holding a surgical instrument and a steering interface. The steering interface may include at least one sensor positioned to sense turning, fore, and aft forces exerted by a user to move the cart. The steering interface may further include a coupling mechanism to removably couple the steering interface with the patient side cart. The at least one sensor may be placed in signal communication with a drive control system of the patient side cart when the steering interface is in a coupled state with the patient side cart.

Abstract translation: 用于远程手术的外科系统的患者侧车包括至少一个用于保持手术器械和操纵界面的操纵器部分。 转向界面可以包括至少一个传感器，其被定位成感测用户施加的转动，前后力以移动推车。 转向接口还可以包括联接机构，用于可拆卸地将转向接口与患者侧车辆联接。 当转向接口处于与患者侧车的联接状态时，至少一个传感器可被放置成与患者侧车的驱动控制系统进行信号通信。

公开(公告)号：US20160022360A1

公开(公告)日：2016-01-28

申请号：US14808639

申请日：2015-07-24

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

IPC: A61B19/02 ,  G05D1/00

CPC classification number: G05D1/0011 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2050/185 ,  B25J5/007

Abstract: A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.

Abstract translation: 用于远程手术的外科系统的患者侧车可以包括用于保持外科器械，转向接口和驱动系统的至少一个操纵臂部分。 转向接口可以被配置为检测用户对转向接口施加的力，指示远程手术系统的期望运动。 驱动系统可以包括至少一个从动轮，控制模块和模型部分。 控制模块可以接收来自转向接口的信号作为输入，该信号对应于由用户施加到转向接口的力。 控制模块可以被配置为输出对应于从转向接口接收到的信号的期望运动信号。 模型部分可以包括患者侧车的运动行为的模型，模型部分输出运动指令输出以驱动从动轮。

公开(公告)号：US20140297130A1

公开(公告)日：2014-10-02

申请号：US14209239

申请日：2014-03-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Arjang M. HOURTASH ,  Paul W. MOHR ,  David ROBINSON ,  Nitish SWARUP ,  John ZABINSKI ,  Mark ZIMMER

IPC: B62D6/00

CPC classification number: A61B19/0248 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2050/185 ,  B25J5/007 ,  G05D1/0011

Abstract: A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.

Abstract translation: 用于远程手术的外科系统的患者侧车可以包括用于保持外科器械，转向接口和驱动系统的至少一个操纵臂部分。 转向接口可以被配置为检测用户对转向接口施加的力，指示远程手术系统的期望运动。 驱动系统可以包括至少一个从动轮，控制模块和模型部分。 控制模块可以接收来自转向接口的信号作为输入，该信号对应于由用户施加到转向接口的力。 控制模块可以被配置为输出对应于从转向接口接收到的信号的期望运动信号。 模型部分可以包括患者侧车的运动行为的模型，模型部分输出运动指令输出以驱动从动轮。

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

IPC: A61B50/10 ,  B25J5/00 ,  A61B50/18 ,  A61B50/13 ,  G05D1/00

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.