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公开(公告)号：US11712798B2
公开(公告)日：2023-08-01
申请号：US17512832
申请日：2021-10-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
CPC classification number: B25J9/1607 , A61B34/35 , A61B34/37 , B25J3/04 , B25J9/06 , B25J9/163 , B25J9/1641 , B25J9/1689 , G05B19/00 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2061 , A61B2090/371 , B25J9/1694 , G05B2219/37388
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.
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公开(公告)号：US20230131431A1
公开(公告)日：2023-04-27
申请号：US17990318
申请日：2022-11-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： SIMON P. DIMAIO , Gerard J. Labonville , Kollin M. Tierling
Abstract: A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.
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公开(公告)号：US11173597B2
公开(公告)日：2021-11-16
申请号：US16185867
申请日：2018-11-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.
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公开(公告)号：US20200261169A1
公开(公告)日：2020-08-20
申请号：US16495484
申请日：2018-11-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC,
Inventor： Daniel N. Miller , Dinesh Rabindran , Kollin M. Tierling
Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.
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