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公开(公告)号：US11723742B2
公开(公告)日：2023-08-15
申请号：US17404289
申请日：2021-08-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. Griffiths , Arjang M. Hourtash , Paul W. Mohr , David W. Robinson , Nitish Swarup , John W. Zabinski , Mark W. Zimmer
CPC classification number: A61B50/10 , A61B50/13 , A61B50/18 , B25J5/007 , G05D1/0011 , A61B34/30 , A61B2050/185
Abstract: A cart for supporting one or more instruments for a computer-assisted, remote procedure can include a base and a support structure extending from the base and adjustable to different configurations, the support structure being configured to support one or more instruments to perform a remote procedure. The cart can further include a steering interface configured to be grasped by a user and a sensor mechanism configured to detect a force applied to the steering interface. The cart also can include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and information about a configuration of the support structure, the control module operably coupled to output a movement command based on the received input from the sensor mechanism and the information about the configuration of the support structure. A driven wheel may be mounted to the base and configured to impart wheeled motion to the cart in response to the movement command.
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22.发明授权公开(公告)号：US11723733B2
公开(公告)日：2023-08-15
申请号：US17321115
申请日：2021-05-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. Griffiths , Paul W. Mohr , Nitish Swarup , Michael Costa , David Q. Larkin , Thomas G. Cooper
CPC classification number: A61B34/35 , A61B34/30 , A61B50/10 , A61B50/18 , A61B2017/00017 , A61B2034/304 , A61B2050/105
Abstract: Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.
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公开(公告)号：US11413103B2
公开(公告)日：2022-08-16
申请号：US16862407
申请日：2020-04-29
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. Griffiths , Brandon D. Itkowitz , Goran A. Lynch
Abstract: A system and method of monitoring control points during reactive motion includes a computer-assisted device. The computer-assisted device includes the one or more articulated arms and a control unit coupled to the one or more articulated arms. The control unit is configured to perform operations comprising determining, before movement of a table separate from the computer-assisted device, a latched spatial configuration of a plurality of control points associated with the one or more articulated arms; determining one or more geometric attributes of the latched spatial configuration; determining an actual spatial configuration of the plurality of control points as the one or more articulated arms track the movement of the table; determining a difference between the one or more geometric attributes of the latched spatial configuration and corresponding one or more geometric attributes of the actual spatial configuration; and performing, based on the determined difference, a remedial action.
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公开(公告)号：US11130231B2
公开(公告)日：2021-09-28
申请号：US16275232
申请日：2019-02-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish Swarup , Paul G. Griffiths , Goran A. Lynch , Daniel N. Miller
IPC: G06F17/00 , B25J9/16 , A61B34/30 , B25J9/06 , B25J19/00 , B25J19/02 , A61B90/00 , A61B34/20 , A61B90/50 , A61B34/35
Abstract: Systems and methods for instrument disturbance compensation include a computer-assisted device. The computer-assisted device includes an articulated arm having a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to detect a disturbance to the articulated arm caused by a release of one or more brakes of the plurality of joints and maintain a position of a point of interest associated with the articulated arm by compensating for the disturbance using one or more joints of the plurality of joints. In some embodiments, the point of interest is a tip of an end effector of the articulated arm. In some embodiments, the control unit is configured to determine a predicted motion for the point of interest based on the disturbance and send a drive command to move the point of interest in a direction opposite to the predicted motion.
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公开(公告)号：US10973596B2
公开(公告)日：2021-04-13
申请号：US16563342
申请日：2019-09-06
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel Miller , Nitish Swarup , Michael Turner , Arjang M. Hourtash , Paul G. Griffiths , Paul W. Mohr
Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm and including one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold and switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. Movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint. In some embodiments, the external stimulus applied to the arm is a stimulus detected on the first joint or a stimulus detected on a second joint of the arm.
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Patent Agency Ranking
公开(公告)号：US10905500B2
公开(公告)日：2021-02-02
申请号：US16726675
申请日：2019-12-24
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. Griffiths , Brandon D. Itkowitz
Abstract: A system and method of registration includes detecting a first motion of a table that causes motion of a computer-assisted device, determining a first angular direction of the first motion in a table coordinate frame, determining a second angular direction of the motion of the computer-assisted device in a computer-assisted device coordinate frame, determining a first angular relationship between the table and the computer-assisted device based on the first and second angular directions, and aggregating the first angular relationship in a composite angular relationship. The second angular direction includes a direction of a second motion of a first articulated arm of the computer-assisted device or an aggregation of a plurality of angular directions, wherein, for each angular direction of the plurality of angular directions, that angular direction is of a respective third motion, of a respective articulated arm of a plurality of articulated arms of the computer-assisted device.
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公开(公告)号：US10682190B2
公开(公告)日：2020-06-16
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
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.
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公开(公告)号：US20190388167A1
公开(公告)日：2019-12-26
申请号：US16563342
申请日：2019-09-06
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel Miller , Nitish Swarup , Michael Turner , Arjang M. Hourtash , Paul G. Griffiths , Paul W. Mohr
Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm and including one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold and switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. Movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint. In some embodiments, the external stimulus applied to the arm is a stimulus detected on the first joint or a stimulus detected on a second joint of the arm
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公开(公告)号：US10201393B2
公开(公告)日：2019-02-12
申请号：US15121341
申请日：2015-03-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Roman L. Devengenzo , Paul G. Griffiths
Abstract: A compensated constant force spring device includes a bracket, a drum rotatably supported by the bracket, and a constant force spring wound on the drum. A motor is fixed to the bracket and provides a compensating force to the drum. The motor may be located in an interior volume of the drum. A control module may coupled to the motor to control the compensating force. A position sensor may be coupled to the control module. The compensating force may be responsive to a signal from the position sensor. The constant force spring may support a load and counterbalance gravitational forces on the load. The compensating force may be adjusted when the load approaches an end of a range of travel.
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公开(公告)号：US10070931B2
公开(公告)日：2018-09-11
申请号：US15125533
申请日：2015-03-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Nitish Swarup , Paul G. Griffiths , Goran Lynch
Abstract: A system and method of maintaining a tool pose for a computer-assisted medical device with an articulated arm including one or more first joints and one or more second joints, a tool distal to the first joints and the second joints, and a control unit coupled to the first joints and the second joints. The control unit maintains a pose of the tool during movement of the first joints using the second joints by determining a reference coordinate frame for the tool, determining a reference transform of the tool in the reference coordinate frame prior to the movement of the first joints, determining an actual transform of the tool in the reference coordinate frame while the first joints are being moved, determining differences between the reference transform and the actual transform, and maintaining the pose of the tool by driving the second joints based on the differences.
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