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    ARM WITH A COMBINED SHAPE AND FORCE SENSOR
    221.
    发明申请
    ARM WITH A COMBINED SHAPE AND FORCE SENSOR 审中-公开

    公开(公告)号：US20190151033A1

    公开(公告)日：2019-05-23

    申请号：US16139451

    申请日：2018-09-24

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David Q. Larkin ,  Vincent Duindam

    IPC: A61B34/30 ,  B25J13/02 ,  B25J9/16 ,  A61B34/00 ,  G01L5/22 ,  B25J18/06

    Abstract: A system comprises an arm including a bendable section and a force transmission mechanism. The system also comprises an actuation mechanism coupled to the force transmission mechanism to bend the bendable section. The system also comprises an electronic data processor configured to receive sensor data about the bendable section and determine external force information about at least one of a magnitude or a direction of an external force applied to the arm from the sensor data. the processor is also configured to determine a pose of the bendable section from the sensor data and generate control information for the actuation mechanism to maintain the pose of the bendable section in a stationary configuration as the external force is applied to or withdrawn from the arm.

    SYSTEMS AND METHODS FOR DEFORMATION COMPENSATION USING SHAPE SENSING
    222.
    发明申请
    SYSTEMS AND METHODS FOR DEFORMATION COMPENSATION USING SHAPE SENSING 审中-公开

    公开(公告)号：US20190008413A1

    公开(公告)日：2019-01-10

    申请号：US16114456

    申请日：2018-08-28

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

    IPC: A61B5/06 ,  G06F19/00 ,  A61B34/30 ,  A61B5/00 ,  A61B34/20 ,  A61B34/10 ,  A61B17/00

    Abstract: A medical system comprises a surgical device including a tracking system. The medical system also includes a memory storing anatomical data describing a patient anatomy. The medical system also includes a processor configured for generating a first model, that includes a set of anatomical passageways including a first proximal branch connected to a first distal branch, from the stored anatomical data describing the patient anatomy. The processor is also configured for determining, by the tracking system, a shape of an elongate flexible body of the surgical device positioned within the first proximal branch and the first distal branch of the set of anatomical passageways. The processor is also configured for computing, based on the determined shape of the elongate flexible body, a total set of forces acting on the set of anatomical passageways in response to the surgical device positioned within the first proximal branch and the first distal branch. The processor is also configured for deforming the first model into a second model of the anatomical passageways by adjusting at least one joint between branches in the set of anatomical passageways in the first model based on the total set of forces computed, to thereby change a pose of at least one branch through which the surgical device extends and at least one additional branch through which the surgical device does not extend.

    ELECTROMAGNETIC SENSOR WITH PROBE AND GUIDE SENSING ELEMENTS
    226.
    发明申请
    ELECTROMAGNETIC SENSOR WITH PROBE AND GUIDE SENSING ELEMENTS 审中-公开
    电磁传感器，带探头和指导传感元件

    公开(公告)号：US20160007880A1

    公开(公告)日：2016-01-14

    申请号：US14802199

    申请日：2015-07-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Vincent Duindam

    IPC: A61B5/06 ,  A61B19/00

    Abstract: A sensing system includes an off-axis coil in which wire is wound in loops about a roll axis and at an angle to the roll axis. In particular, the loops define respective areas that have a normal direction at a non-zero angle relative to the roll axis. A field generator can generate a variable magnetic field through the coil, and sensor logic can be coupled to the coil and configured to determine a measurement of a roll angle of the coil about the first axis using an electrical signal induced in the coil.

    Abstract translation: 感测系统包括离轴线圈，其中线缠绕在辊轴线上并且与辊轴线成一定角度。 特别地，环形件限定相对于辊轴线具有非零角度的法向方向的相应区域。 场发生器可以通过线圈产生可变磁场，并且传感器逻辑可以耦合到线圈并且被配置为使用在线圈中感应的电信号来确定围绕第一轴的线圈的侧倾角的测量。

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