公开(公告)号：US20240285362A1

公开(公告)日：2024-08-29

申请号：US18655041

申请日：2024-05-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  William C. NOWLIN ,  Gunter D. NIEMEYER ,  David S. MINTZ

IPC: A61B34/37 ,  A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  B25J3/00 ,  B25J9/16

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  A61B2017/00725 ,  A61B2034/305 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

Abstract: Techniques for ratcheting an alignment between an input means and an instrument include a teleoperated system comprising a robotic means configured to support an instrument, an input means configured to be manipulated by an operator to command motion of the instrument, and a ratcheting means. The ratcheting means is configured to determine first rotation values describing an orientation of the input means; determine second rotation values describing an orientation of the instrument; determine, based on the first rotation values and the second rotation values, an orientation error between the orientation of the input means and the orientation of the instrument; generate, based on the orientation error, a motion command for the instrument to reduce the orientation error by increasing an alignment between the input means and the instrument; and command the robotic means to move in accordance with the motion command.

公开(公告)号：US20240024049A1

公开(公告)日：2024-01-25

申请号：US18256476

申请日：2021-12-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mohammad Sina PARASTEGARI ,  Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/35 ,  A61B34/00 ,  A61B90/50 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/74 ,  A61B34/77 ,  A61B34/76 ,  A61B90/50 ,  A61B90/37 ,  A61B2034/301

Abstract: Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system configured to determine a position of a first reference point associated with a first input modality; in a first mode, determine a position of a target reference point for the imaging device based on the first reference point; in a second mode, determine a position of a second reference point associated with a second input modality, and determine the position of the target reference point based on the position of the first reference point and the position of the second reference point; determine a movement of the first repositionable structure that moves the imaging device such that a third reference point associated with the imaging device moves toward the target reference point; and cause actuation of the repositionable structure based on the movement.

公开(公告)号：US20230346494A1

公开(公告)日：2023-11-02

申请号：US18328886

申请日：2023-06-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  Paul E. LILAGAN ,  Tao ZHAO

IPC: A61B34/37 ,  B25J9/16 ,  B25J13/08 ,  A61B34/00 ,  G05B15/02 ,  A61B34/35 ,  A61B90/98 ,  A61B34/30

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/35 ,  A61B34/76 ,  A61B90/98 ,  B25J9/1612 ,  B25J13/086 ,  G05B15/02 ,  A61B2017/00207

Abstract: Techniques for control using hand tracking include a system having an input control configured to be manipulated by an operator of the system, a hand tracking unit, and a controller. The controller is configured to determine a first position of the input control; receive, from the hand tracking unit, a second position of a hand of the operator; determine whether the first position is within a threshold distance of the second position; and control display of a user interface based on the determination of whether the first position is within the threshold distance of the second position.

公开(公告)号：US20230301735A1

公开(公告)日：2023-09-28

申请号：US18320331

申请日：2023-05-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B2034/2059 ,  A61B2018/00898

Abstract: Techniques for monitoring control points of a computer-assisted device include one or more articulated arms having one or more control points and a control unit coupled to the one or more articulated arms. Each control point of the one or more control points is located based on a kinematic configuration of the one or more articulated arms. The control unit is configured to determine, during a movement of a table that causes a change in the kinematic configuration of the one or more articulated arms, an actual spatial configuration of the one or more control points; determine, based on a comparison of the actual spatial configuration with an expected spatial configuration of the one or more control points, whether to perform a remedial action; and perform the remedial action in response to a determination to perform the remedial action.

公开(公告)号：US20230240776A1

公开(公告)日：2023-08-03

申请号：US18298210

申请日：2023-04-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Hsien-Hsin LIAO ,  Brandon D. ITKOWITZ ,  Julie L. BERRY ,  Pushkar HINGWE

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

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/70 ,  A61B2090/064

Abstract: Systems and methods for instrument control include a first actuator for controlling a first mechanical degree of freedom, a second actuator for controlling a second mechanical degree of freedom, and a controller. The controller is configured to command the first actuator to maintain the first actuator at a first position, wherein actuation of the first actuator is subject to a first torque limit; command the second actuator to maintain the second actuator at a second position, wherein actuation of the second actuator is subject to a second torque limit; and in response to detecting that the first actuator cannot be maintained at the first position using actuation subject to the first torque limit and the second actuator can be maintained at the second position using actuation subject to the second torque limit, terminate the command to the first actuator to maintain the first actuator at the first position.

公开(公告)号：US20210113277A1

公开(公告)日：2021-04-22

申请号：US17133890

申请日：2020-12-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ

IPC: A61B34/20 ,  A61G13/04 ,  A61G13/06 ,  A61B34/30 ,  A61G13/02 ,  A61B34/32 ,  A61G13/10

Abstract: Techniques for registering a computer-assisted device to a table include a computer-assisted device having an articulated arm and a control unit coupled to the articulated arm. The control unit is configured to receive information of a first motion of a table. The first motion of the table caused a corresponding second motion of a point associated with the articulated arm. The control unit further configured to receive information of the second motion and determine a first angular relationship between the table and the computer-assisted device based on the first motion and the second motion.

公开(公告)号：US20200253674A1

公开(公告)日：2020-08-13

申请号：US16862407

申请日：2020-04-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/32 ,  A61B34/20

Abstract: A system and method of monitoring control points during reactive motion includes a computer-assisted device. The computer-assisted device includes the one or more articulated arms and a control unit coupled to the one or more articulated arms. The control unit is configured to perform operations comprising determining, before movement of a table separate from the computer-assisted device, a latched spatial configuration of a plurality of control points associated with the one or more articulated arms; determining one or more geometric attributes of the latched spatial configuration; determining an actual spatial configuration of the plurality of control points as the one or more articulated arms track the movement of the table; determining a difference between the one or more geometric attributes of the latched spatial configuration and corresponding one or more geometric attributes of the actual spatial configuration; and performing, based on the determined difference, a remedial action.

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

IPC: A61B34/30 ,  A61G13/02

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.

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

IPC: A61B34/00 ,  B25J9/16 ,  A61B1/00 ,  A61B34/30

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.

公开(公告)号：US20170181806A1

公开(公告)日：2017-06-29

申请号：US15125533

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Nitish SWARUP ,  Paul G. GRIFFITHS ,  Goran LYNCH

IPC: A61B34/00 ,  A61B34/30

CPC classification number: A61B34/30 ,  A61B1/00149 ,  A61B34/70 ,  A61B2017/00017 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/304 ,  A61B2034/305 ,  B25J9/1607 ,  B25J9/1633

Abstract: A system and method of maintaining a tool pose for a computer-assisted medical device with an articulated arm including one or more first joints and one or more second joints, a tool distal to the first joints and the second joints, and a control unit coupled to the first joints and the second joints. The control unit maintains a pose of the tool during movement of the first joints using the second joints by determining a reference coordinate frame for the tool, determining a reference transform of the tool in the reference coordinate frame prior to the movement of the first joints, determining an actual transform of the tool in the reference coordinate frame while the first joints are being moved, determining differences between the reference transform and the actual transform, and maintaining the pose of the tool by driving the second joints based on the differences.