公开(公告)号：US20180344416A1

公开(公告)日：2018-12-06

申请号：US16102614

申请日：2018-08-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Roman L. DEVENGENZO ,  Bruce M. SCHENA ,  David W. ROBINSON

IPC: A61B34/37

CPC classification number: A61B34/37 ,  A61B2017/00075 ,  A61B2090/064

Abstract: A surgical system includes methods and systems for damping vibrations. The surgical system can include one or several moveable set-up linkages. A passive, active, or semi-active damper can be connected with one or several of the set-up linkages. The damper can mitigate a vibration arising in one of the set-up linkages and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback or a feed-forward model. In some embodiments, the system includes a first link supported by a base, a second link, a damper having a variable portion coupling the first link to the second link, and a processor. The processor is configured to detect a movement or a vibration of the second link and adjust the variable portion of the damper based on the detected movement or vibration.

公开(公告)号：US20180049828A1

公开(公告)日：2018-02-22

申请号：US15796016

申请日：2017-10-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. ROBINSON ,  Thomas R. NIXON ,  Michael HANUSCHIK ,  Randal P. GOLDBERG ,  Jason HEMPHILL ,  David Q. LARKIN ,  Paul MILLMAN

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B18/12

Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.

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。