公开(公告)号：US11690689B2

公开(公告)日：2023-07-04

申请号：US17133877

申请日：2020-12-24

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

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  B25J19/02 ,  B25J19/021 ,  B25J19/023 ,  B25J19/04

Abstract: Inter-operative switching of tools in a robotic system includes a system with a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, the first imaging device having a first reference frame; in response to detecting the mounting of the first imaging device, control a tool relative to the first reference frame using a second manipulator of the plurality of manipulators, the tool being mounted to the second manipulator; detect mounting of a second imaging device to a third manipulator of the plurality of manipulators, the second imaging device having a second reference frame; and in response to detecting the mounting of the second imaging device, control the tool relative to the second reference frame using the second manipulator.

公开(公告)号：US20220160444A1

公开(公告)日：2022-05-26

申请号：US17568505

申请日：2022-01-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pushkar Hingwe ,  Amy E. Kerdok ,  William C. Nowlin ,  David W. Robinson

IPC: A61B34/35 ,  A61B34/00 ,  A61B90/98

Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.

公开(公告)号：US10707786B2

公开(公告)日：2020-07-07

申请号：US16020658

申请日：2018-06-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Amir Chaghajerdi ,  Pushkar Hingwe

IPC: H02P6/10 ,  A61B34/00 ,  A61B34/35 ,  H02P29/50 ,  A61B17/072 ,  A61B17/00 ,  A61B90/00 ,  G05B19/4062

Abstract: A method includes receiving a torque limit for a motor, monitoring a torque output of the motor, determining an amplitude and a phase of a torque ripple of the torque output, and determining a compensated torque limit for the motor, the compensated torque limit including a first component at the torque limit and a second component at an adjusted torque limit.

公开(公告)号：US10194997B2

公开(公告)日：2019-02-05

申请号：US15640045

申请日：2017-06-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Pushkar Hingwe ,  Bruce M. Schena ,  Roman L. Devengenzo

IPC: G06F19/00 ,  A61B34/30 ,  B25J9/16 ,  A61B34/37

Abstract: Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.

公开(公告)号：US20180309395A1

公开(公告)日：2018-10-25

申请号：US16020658

申请日：2018-06-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Amir Chaghajerdi ,  Pushkar Hingwe

IPC: H02P6/10 ,  A61B34/00 ,  H02P29/50 ,  A61B34/35 ,  A61B90/00 ,  A61B17/072 ,  A61B17/00

Abstract: A method includes receiving a torque limit for a motor, monitoring a torque output of the motor, determining an amplitude and a phase of a torque ripple of the torque output, and determining a compensated torque limit for the motor, the compensated torque limit including a first component at the torque limit and a second component at an adjusted torque limit.

公开(公告)号：US10033308B2

公开(公告)日：2018-07-24

申请号：US14660282

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Amir Chaghajerdi ,  Pushkar Hingwe

IPC: H02P6/10 ,  A61B34/35 ,  A61B34/00 ,  H02P29/50 ,  A61B17/072 ,  A61B17/00 ,  A61B90/00

CPC classification number: H02P6/10 ,  A61B17/07207 ,  A61B34/35 ,  A61B34/70 ,  A61B2017/00398 ,  A61B2090/031 ,  A61B2090/066 ,  G05B19/4062 ,  G05B2219/45117 ,  H02P29/50

Abstract: A method includes receiving a torque limit for a motor, monitoring a torque output of the motor, determining an amplitude and a phase of a torque ripple of the torque output, and determining a compensated torque limit for the motor, the compensated torque limit including a first component at the torque limit and a second component at an adjusted torque limit.

公开(公告)号：US20170179857A1

公开(公告)日：2017-06-22

申请号：US15118264

申请日：2015-02-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Hsien-Hsin Liao ,  Niels Smaby ,  Gregory W. Dachs II ,  Pushkar Hingwe ,  Amir Chaghajerdi

IPC: H02P6/10 ,  H02P6/04 ,  A61B17/00 ,  A61B34/35 ,  A61B90/00 ,  H02P6/08 ,  H02P6/14

CPC classification number: H02P6/10 ,  A61B17/00 ,  A61B34/35 ,  A61B90/03 ,  A61B2017/00464 ,  A61B2090/031 ,  A61B2090/066 ,  A61B2560/0223 ,  H02P6/08 ,  H02P6/14 ,  H02P23/0031 ,  H02P23/04

Abstract: A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.

公开(公告)号：US20170143437A1

公开(公告)日：2017-05-25

申请号：US15428009

申请日：2017-02-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Arjang M. Hourtash ,  Amy E. Kerdok ,  Michael Turner

IPC: A61B34/37 ,  A61B34/10

CPC classification number: A61B34/37 ,  A61B34/10 ,  A61B34/30 ,  A61B2034/104 ,  Y10S901/15 ,  Y10S901/29 ,  Y10S901/41

Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated. position of the joints.

公开(公告)号：US09585726B2

公开(公告)日：2017-03-07

申请号：US14997249

申请日：2016-01-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Arjang M. Hourtash ,  Amy E. Kerdok ,  Michael Turner

IPC: G06F19/00

CPC classification number: A61B34/37 ,  A61B34/10 ,  A61B34/30 ,  A61B2034/104 ,  Y10S901/15 ,  Y10S901/29 ,  Y10S901/41

Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.

Abstract translation: 用于操作外科系统的方法，装置和系统。 根据一种方法，测量手术器械的位置，所述手术器械被包括在具有多个关节和第一数量自由度的机械组件中，所述手术器械的位置被测量为 手术器械的第二数量的自由度。 该方法还包括估计每个关节的位置，其中估计每个关节的位置包括将位置测量值应用于机械组件的至少一个运动学模型，运动学模型具有大于 第一数量的自由度。 该方法还包括基于关节的估计位置来控制机械组件。

公开(公告)号：US20160317234A1

公开(公告)日：2016-11-03

申请号：US15147608

申请日：2016-05-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Pushkar Hingwe ,  Bruce Michael Schena ,  Roman L. Devengenzo

IPC: A61B34/30 ,  B25J9/16 ,  A61B34/37

CPC classification number: A61B34/30 ,  A61B34/37 ,  B25J9/1607 ,  B25J9/1643 ,  B25J9/1676 ,  G05B2219/39091 ,  G05B2219/39135 ,  G05B2219/40202 ,  G05B2219/40362 ,  G05B2219/40371 ,  G05B2219/40476 ,  G05B2219/40492 ,  G05B2219/45117

Abstract: Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.