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    System and method for managing multiple null-space objectives and constraints
    22.
    发明授权
    System and method for managing multiple null-space objectives and constraints 有权

    公开(公告)号：US10029367B2

    公开(公告)日：2018-07-24

    申请号：US15359413

    申请日：2016-11-22

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash

    IPC: B25J15/02 ,  G05B19/04 ,  B25J9/16 ,  A61B34/37 ,  A61B34/30 ,  B25J18/00 ,  A61B34/00

    Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof.

    SYSTEMS AND METHODS FOR UTILIZING AUGMENTED JACOBIAN TO CONTROL MANIPULATOR JOINT MOVEMENT
    23.
    发明申请
    SYSTEMS AND METHODS FOR UTILIZING AUGMENTED JACOBIAN TO CONTROL MANIPULATOR JOINT MOVEMENT 审中-公开

    公开(公告)号：US20170273748A1

    公开(公告)日：2017-09-28

    申请号：US15512495

    申请日：2015-09-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Nitish Swarup ,  Pushkar Hingwe

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

    CPC classification number: A61B34/30 ,  A61B34/35 ,  A61B34/74 ,  A61B34/77 ,  B25J9/1607 ,  G05B2219/45123

    Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.

    SYSTEM AND METHOD FOR MANAGING MULTIPLE NULL-SPACE OBJECTIVES AND CONSTRAINTS
    25.
    发明申请
    SYSTEM AND METHOD FOR MANAGING MULTIPLE NULL-SPACE OBJECTIVES AND CONSTRAINTS 审中-公开

    公开(公告)号：US20170136624A1

    公开(公告)日：2017-05-18

    申请号：US15359413

    申请日：2016-11-22

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash

    IPC: B25J9/16 ,  B25J18/00 ,  A61B34/00 ,  A61B34/37 ,  A61B34/30

    CPC classification number: B25J9/1607 ,  A61B34/30 ,  A61B34/37 ,  A61B34/77 ,  B25J9/1689 ,  B25J18/007 ,  G05B2219/39079 ,  G05B2219/40327 ,  G05B2219/41405

    Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof.

    SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT
    27.
    发明申请
    SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT 审中-公开
    通过空间运动的空间空间中的离散化来定位操纵臂的系统和方法

    公开(公告)号：US20170035518A1

    公开(公告)日：2017-02-09

    申请号：US15235103

    申请日：2016-08-12

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Nitish Swarup

    IPC: A61B34/30 ,  B25J18/00 ,  A61B34/37 ,  B25J9/16

    CPC classification number: A61B34/30 ,  A61B34/37 ,  B25J9/1607 ,  B25J9/1638 ,  B25J9/1666 ,  B25J18/007

    Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

    Abstract translation: 用于通过在零垂直接合速度子空间内漂浮第一组接头并提供操纵臂的近端部分的期望状态或运动来定位操纵臂的末端执行器或远程中心的装置，系统和方法 通过在垂直于零垂直空间的零空间内驱动第二组关节而与末端执行器定位同时进行。 方法包括在空 - 垂直空间内漂浮第一组关节，以允许在工作空间内手动定位远程中心或末端执行器位置中的一个或两个，并根据在空值内计算的辅助运动来驱动第二组关节 - 在关节浮动期间根据所需状态或操纵臂的移动。 本文提供了利用这种方法的装置和系统的各种配置。

    Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
    28.
    发明授权
    Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space 有权
    使用零空间命令重新配置外科手术器械的系统和方法

    公开(公告)号：US09517106B2

    公开(公告)日：2016-12-13

    申请号：US13906767

    申请日：2013-05-31

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke

    IPC: G06F19/00 ,  A61B19/00

    CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/74 ,  A61B2034/742 ,  B25J9/1607 ,  Y10S901/15

    Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

    Abstract translation: 通过在操纵臂的运动学雅可比的零空间内移动操纵器来重新配置外科手术器械的装置，系统和方法。 在一个方面，响应于接收到重新配置命令，系统驱动第一组关节并且计算多个关节的速度在零空间内。 根据重新配置命令和计算的运动来驱动关节，以便保持末端执行器或仪器轴枢转的远程中心的期望状态。 在另一方面，接头还根据计算的末端执行器或雅可比的零垂直空间内的远程中心移动速度被驱动，以便与末端执行器或远程中心的所需运动同时实现期望的重新配置。

    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS
    29.
    发明申请
    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS 审中-公开
    用于操纵手术系统运动的自由度自由度

    公开(公告)号：US20160175061A1

    公开(公告)日：2016-06-23

    申请号：US15057069

    申请日：2016-02-29

    Applicant: Intuitive Surgical Operations, Inc.

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

    IPC: A61B34/30 ,  A61B34/37

    CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361

    Abstract: Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.

    Abstract translation: 用于通过患者的孔进行微创手术的方法，装置和系统。 根据一种方法，从与外科医生相关联的输入设备接收参数，所述参数指示通过所述孔定向的外科器械的末端执行器的期望状态。 手术器械包括在具有第一组关节的机械组件中。 然后计算指令，以便通过计算用于控制第二组接头的指令来控制机械组件，所述参数包括第一组接头和附加接头，附加接头不在机械组件中。 然后驱动机械组件，以便基于计算出的指令将末端执行器移动到期望状态。

    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES
    30.
    发明申请
    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES 有权
    用于操纵机械运动的自由度自由度

    公开(公告)号：US20140052298A1

    公开(公告)日：2014-02-20

    申请号：US13966406

    申请日：2013-08-14

    Applicant: Intuitive Surgical Operations, Inc.

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

    IPC: B25J9/16

    CPC classification number: A61B34/37 ,  A61B34/35 ,  B25J9/16 ,  B25J9/1689 ,  G05B2219/40195 ,  G05B2219/45123 ,  Y10S901/02

    Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.

    Abstract translation: 用于控制机械体运动的方法，装置和系统。 根据一种方法，接收标识机械体的期望运动的期望运动信息，机械体具有第一数量的自由度。 然后通过将接收到的期望运动信息应用于运动学模型来生成多个指令，运动学模型具有大于第一自由度数量的第二数量的自由度，每个指令被配置为控制对应的 第二个自由度之一。 然后传输多个指令的子集用于控制机械体的第一数量的自由度。

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