公开(公告)号：US20190008599A1

公开(公告)日：2019-01-10

申请号：US16069875

申请日：2016-12-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Goran A. LYNCH ,  Paul G. GRIFFITHS ,  Michael TURNER

IPC: A61B34/32 ,  A61B17/00 ,  B25J9/16

Abstract: A system and method for rapid halt and recovery of motion deviations in a medical device includes a computer-assisted medical device having a first repositionable arm having one or more first repositionable elements, a second repositionable arm having one or more second repositionable elements, and a control unit communicably coupled to the first and second repositionable arms. The control unit is configured to control motion of the first repositionable arm and the first end effector based on a desired motion, monitor an actual motion of the first repositionable arm and the first end effector, determine whether the actual motion deviates from the desired motion by more than a predetermined threshold, and halt motion of the first repositionable arm and the first end effector, or of the second repositionable arm and the second end effector, when the actual motion deviates from the desired motion by more than the predetermined threshold.

公开(公告)号：US20170333145A1

公开(公告)日：2017-11-23

申请号：US15522155

申请日：2015-10-27

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/35 ,  A61B34/37 ,  A61B34/32 ,  A61B34/20 ,  A61B17/00

Abstract: A system and method of monitoring control points during reactive motion includes a computer-assisted medical device. The computer-assisted medical device includes one or more articulated arms each having a control point and a control unit coupled to the one or more articulated arms. The one or more articulated arms and corresponding control points are configured to track movement of a surgical table. The control unit monitors a spatial configuration of the one or more control points by determining an expected spatial configuration of the one or more control points during the movement of the surgical table, determining an actual spatial configuration of the one or more control points during the movement of the surgical table, and determining a difference between the expected spatial configuration and the actual spatial configuration.