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    User initiated break-away clutching of a surgical mounting platform
    23.
    发明授权
    User initiated break-away clutching of a surgical mounting platform 有权
    用户启动外科手术安装平台的脱离离合器

    公开(公告)号：US09452020B2

    公开(公告)日：2016-09-27

    申请号：US13967594

    申请日：2013-08-15

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Paul Griffiths ,  Paul Mohr ,  Nitish Swarup ,  Michael Hanuschik

    IPC: A61B19/00 ,  B25J9/16

    CPC classification number: A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/77 ,  A61B90/06 ,  A61B90/50 ,  A61B2034/301 ,  A61B2034/304 ,  A61B2090/066 ,  A61B2090/508 ,  B25J9/1633 ,  B25J9/1669 ,  G05B2219/40414 ,  Y10S901/02

    Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system or the like without having to add additional input devices.

    Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括被主动驱动的，被动的或两者的混合的关节。 安装模式采用直观的用户界面，其中一个或多个关节最初由制动器或联合驱动系统保持静止。 用户可以通过用超过手动关节阈值的力，扭矩等手动地推动联动装置来铰接关节。 通过改变传输到制动器或驱动系统的信号来促进移动接头的铰接。 该系统可以根据从低于阈值的关节的速度来完成重新配置，可选地为期望的停留时间。 系统可以提供类似于止动器的手动关节，其不限于机械预定义的止动器接头构造。 本发明的实施例提供并且可以特别适合于在机器人手术系统等中支撑多个外科手术操纵器的平台的手动移动，而不必增加额外的输入装置。

    Movable Surgical Mounting Platform Controlled By Manual Motion of Robotic Arms
    24.
    发明申请
    Movable Surgical Mounting Platform Controlled By Manual Motion of Robotic Arms 审中-公开
    可移动手术安装平台由机器人手动运动控制

    公开(公告)号：US20160199142A1

    公开(公告)日：2016-07-14

    申请号：US14995523

    申请日：2016-01-14

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Paul Griffiths ,  Paul Mohr ,  Nitish Swarup ,  Michael Costa ,  David Larkin ,  Thomas Cooper ,  Michael Hanuschik

    IPC: A61B34/00 ,  A61B34/30

    CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B34/32 ,  A61B90/50 ,  A61B2034/304 ,  A61B2090/508 ,  Y10S901/02

    Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

    Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动的关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为一个单元的那些多个操纵器移动到与工作空间对准来促进和加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。

    Movable surgical mounting platform controlled by manual motion of robotic arms
    25.
    发明授权
    Movable surgical mounting platform controlled by manual motion of robotic arms 有权
    通过机械臂的手动运动控制的可移动手术安装平台

    公开(公告)号：US09259281B2

    公开(公告)日：2016-02-16

    申请号：US13967573

    申请日：2013-08-15

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Paul Griffiths ,  Paul Mohr ,  Nitish Swarup ,  Michael Costa ,  David Larkin ,  Thomas Cooper ,  Michael Hanuschik

    IPC: A61B19/00

    CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B34/32 ,  A61B90/50 ,  A61B2034/304 ,  A61B2090/508 ,  Y10S901/02

    Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

    Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动的关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为一个单元的那些多个操纵器移动到与工作空间对准来促进和加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。

    METHOD OF USER INTERFACES FOR ELECTROSURGICAL TOOLS IN ROBOTIC SURGICAL SYSTEMS
    26.
    发明申请
    METHOD OF USER INTERFACES FOR ELECTROSURGICAL TOOLS IN ROBOTIC SURGICAL SYSTEMS 审中-公开
    用户界面在机械手术系统中的电磁工具的方法

    公开(公告)号：US20130217967A1

    公开(公告)日：2013-08-22

    申请号：US13848224

    申请日：2013-03-21

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Paul W. Mohr ,  David W. Robinson ,  Thomas R. Nixon ,  Michael Hanuschik ,  Randal P. Goldberg ,  Salvatore J. Brogna

    IPC: A61B18/12 ,  A61B1/00 ,  A61B19/00

    CPC classification number: A61B18/12 ,  A61B1/00009 ,  A61B17/320068 ,  A61B18/1206 ,  A61B18/1482 ,  A61B18/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2017/00973

    Abstract: A method for a minimally invasive surgical system is disclosed including capturing camera images of a surgical site; generating a graphical user interface (GUI) including a first colored border portion in a first side and a second colored border in a second side opposite the first side; and overlaying the GUI onto the captured camera images of the surgical site for display on a display device of a surgeon console. The GUI provides information to a user regarding the first electrosurgical tool and the second tool in the surgical site that is concurrently displayed by the captured camera images. The first colored border portion in the GUI indicates that the first electrosurgical tool is controlled by a first master grip of the surgeon console and the second colored border portion indicates the tool type of the second tool controlled by a second master grip of the surgeon console.

    Abstract translation: 公开了一种用于微创手术系统的方法，包括：捕获外科手术部位的相机图像; 生成图形用户界面（GUI），其包括第一侧中的第一着色边界部分和与第一侧相对的第二侧中的第二彩色边框; 并将GUI覆盖在手术部位的捕获的相机图像上，以在外科医生控制台的显示装置上显示。 GUI向用户提供关于第一电外科手术工具和外科手术部位中由捕获的相机图像同时显示的第二工具的信息。 GUI中的第一彩色边界部分指示第一电外科手术由外科医生控制台的第一主把手控制，而第二彩色边界部分指示由外科医生控制台的第二主把手控制的第二工具的工具类型。

    User initiated break-away clutching of a surgical mounting platform
    27.
    发明授权
    User initiated break-away clutching of a surgical mounting platform 有权

    公开(公告)号：US11432886B2

    公开(公告)日：2022-09-06

    申请号：US16022602

    申请日：2018-06-28

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Paul Griffiths ,  Paul Mohr ,  Nitish Swarup ,  Michael Hanuschik

    IPC: A61B34/30 ,  B25J9/16 ,  A61B34/00 ,  A61B90/00 ,  A61B90/50 ,  A61B34/37 ,  A61B34/35

    Abstract: Robotic and/or surgical devices, systems, and methods include a robotic device. The robotic device includes a manipulator, a drive unit coupled to the manipulator, and a processor coupled with the drive unit. The processor is configured determine that a cannula is mounted to the manipulator and inhibit, using the drive unit, manual articulation of the manipulator in response to determining that the cannula is mounted to the manipulator. In some embodiments, the robotic device further includes a linkage. The processor is further configured to determine a manual effort against the manipulator; inhibit, using the drive unit, the manual articulation of the linkage in response to the manual effort being below an articulation threshold; and facilitate, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the linkage in response to the manual effort exceeding the articulation threshold.

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