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    ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL
    21.
    发明申请
    ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL 审中-公开
    用于控制工具运动的框架的位置和方位的估计

    公开(公告)号：US20160206387A1

    公开(公告)日：2016-07-21

    申请号：US14997257

    申请日：2016-01-15

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tao Zhao ,  Giuseppe Maria Prisco ,  John Ryan Steger ,  David Q. Larkin

    IPC: A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16

    CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2034/2065 ,  B25J9/1689 ,  B25J9/1697

    Abstract: A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.

    Abstract translation: 机器人系统包括具有图像帧的照相机，其相对于固定帧的位置和取向可通过一个或多个图像帧变换来确定，工具设置在照相机的视野内，并且具有工具框架，其位置和取向相对 通过一个或多个工具框架变换可以确定固定框架，并且至少一个处理器被编程为从一个或多个摄像机捕获的图像识别工具的姿势指示点，确定图像和工具框架中的未知图像的估计变换 使用所识别的姿势指示点和已知的图像和工具帧变换来变换，使用估计和已知的图像和工具帧变换来更新主对工具变换，以及响应于移动的工具的命令移动 的主人使用更新的主对工具变换。

    Tension Control In Actuation Of Multi-Joint Medical Instrument
    22.
    发明申请
    Tension Control In Actuation Of Multi-Joint Medical Instrument 审中-公开
    多联合医疗仪器的张力控制

    公开(公告)号：US20150289942A1

    公开(公告)日：2015-10-15

    申请号：US14751636

    申请日：2015-06-26

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Samuel Kwok Wai Au ,  Giuseppe Maria Prisco

    IPC: A61B19/00

    CPC classification number: A61B34/30 ,  A61B2034/301 ,  A61B2034/306 ,  A61B2034/715

    Abstract: Control systems and methods for a medical instrument use measurements to determine and control the tensions that actuators apply through instrument transmission systems. The use of tension and feedback allows control of a medical instrument having transmission systems that provide non-negligible compliance between joints and actuators even when the positions of joints cannot be directly related to actuator positions. One embodiment determines joint torques and tensions from differences between desired and measured joint positions. Another embodiment determines joint torques and tensions from differences between desired and measured positions of a tip of the instrument. Determination of tensions from joint torques can be performed using sequential evaluation of joints in an order from a distal end of the instrument toward a proximal end of the instrument.

    Abstract translation: 用于医疗仪器的控制系统和方法使用测量来确定和控制致动器通过仪器传输系统应用的张力。 张力和反馈的使用允许控制具有传动系统的医疗仪器，即使关节的位置不能直接与致动器位置相关，也能在关节和致动器之间提供不可忽视的顺应性。 一个实施例从期望和测量的关节位置之间的差异确定关节扭矩和张力。 另一个实施例由仪器的尖端的期望和测量位置之间的差异确定关节扭矩和张力。 可以通过从仪器的远端朝向仪器的近端的顺序对接头进行顺序评估来确定关节扭矩的张力。

    NONFORCE REFLECTING METHOD FOR PROVIDING TOOL FORCE INFORMATION TO A USER OF A TELESURGICAL SYSTEM
    23.
    发明申请
    NONFORCE REFLECTING METHOD FOR PROVIDING TOOL FORCE INFORMATION TO A USER OF A TELESURGICAL SYSTEM 审中-公开
    用于向工具系统用户提供工具信息的非强制反射方法

    公开(公告)号：US20150182287A1

    公开(公告)日：2015-07-02

    申请号：US14585853

    申请日：2014-12-30

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Gary S. Guthart ,  David Q. Larkin ,  David J. Rosa ,  Paul W. Mohr ,  Giuseppe Maria Prisco

    IPC: A61B19/00

    Abstract: Tool force information is provided to a user of a telesurgical system using an alternative modality other than force reflection on a master manipulator, such as providing the information on user-visible, user-audible, or haptic “buzz” or “viscosity” indicators, so as to allow expanded processing, including amplification, of the information, while not significantly affecting the stability of the telesurgical system or any closed-loop control systems in the telesurgical system.

    Abstract translation: 使用除主力操纵器上的力反射之外的替代方式（例如提供关于用户可见的，用户可听的或触觉的“嗡嗡声”或“粘性”）指示符的信息，向远程外科系统的用户提供工具力信息， 以允许信息的扩展处理，包括放大，同时不显着影响远程外科系统或远程外科系统中的任何闭环控制系统的稳定性。

    Tension control in actuation of multi-joint medical instruments
    26.
    发明授权
    Tension control in actuation of multi-joint medical instruments 有权

    公开(公告)号：US11877814B2

    公开(公告)日：2024-01-23

    申请号：US16745906

    申请日：2020-01-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Samuel Kwok Wai Au ,  Giuseppe Maria Prisco

    IPC: A61B34/30 ,  A61B34/00

    CPC classification number: A61B34/30 ,  A61B2034/301 ,  A61B2034/306 ,  A61B2034/715

    Abstract: A medical instrument system includes a plurality of joints, a plurality of actuators, and a plurality of transmission systems. The transmission systems have proximal ends respectively coupled to the actuators. Each of the transmission systems have a distal end attached to an associated one of the joints to allow the transmission of a force for articulation of the medical instrument system. The system also includes a sensor coupled to measure a configuration of the medical instrument; and a control system coupled to receive configuration data, including a current configuration of a tip of the medical instrument from the sensor and a desired configuration of the tip of the medical instrument. Using the difference between the desired configuration and the current configuration of the tip of the medical instrument, the control system generates control signals for the actuators that cause the actuators to apply a set of tensions to the plurality of transmission systems.

    FLEXIBLE SURGICAL DEVICES
    30.
    发明申请
    FLEXIBLE SURGICAL DEVICES 有权

    公开(公告)号：US20220304668A1

    公开(公告)日：2022-09-29

    申请号：US17841500

    申请日：2022-06-15

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Katherine D. Stoy ,  Samuel Kwok Wai Au ,  Carolyn M. Fenech ,  Giuseppe Maria Prisco

    IPC: A61B17/00 ,  A61B34/00 ,  A61B34/30

    Abstract: A surgical device comprises a tube including a proximal segment and a distal segment and a plurality of force transmission elements coupled to the tube. The force transmission elements are actuatable to alter the distal segment of the tube between a flexible state and a stiffened state. The device also comprises a plurality of routing members. Each routing member is coupled to a wall of the tube. The routing members are configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. The device also comprises a decoupling structure that generates a reduced force transmitted to the proximal segment when an applied force is applied to the distal segment by the force transmission elements.

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