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公开(公告)号：US10136947B2
公开(公告)日：2018-11-27
申请号：US14808639
申请日：2015-07-24
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
Abstract: A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.
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公开(公告)号：US10123844B2
公开(公告)日：2018-11-13
申请号：US15488227
申请日：2017-04-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
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公开(公告)号：US20180296284A1
公开(公告)日：2018-10-18
申请号：US16014619
申请日：2018-06-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel Miller , Nitish Swarup , Michael Turner , Arjang M. Hourtash , Paul G. Griffiths , Paul W. Mohr
CPC classification number: A61B34/30 , A61B2018/00666 , A61B2018/00672 , A61B2018/00678 , A61B2034/305 , A61B2090/035 , B25J9/1689 , B25J9/1694 , B25J13/085 , B25J13/088
Abstract: A system and method of breakaway clutching in a computer-assisted medical device includes an articulated arm having one or more first joints and a control unit coupled to the articulated arm and having one or more processors. The control unit operates each of the first joints in multiple states. The multiple states include a locked state, wherein movement of respective first joints is restricted, and a float state, wherein movement of the respective first joints is permitted. The control unit further switches one or more second joints selected from the first joints from the locked state to the float state when a stimulus on the second joints exceeds one or more unlock thresholds and switches the second joints from the float state to the locked state when a velocity of each of the second joints is below one or more lock thresholds.
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公开(公告)号：US09840276B2
公开(公告)日：2017-12-12
申请号：US15463740
申请日：2017-03-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. Griffiths , Paul W. Mohr , Alan W. Petersen , David Robinson , Nitish Swarup , Mark W. Zimmer , Alexander Makhlin , Julio Santos-Munne , Eric Faulring , Thomas Moyer
IPC: B62D6/10 , B62D1/12 , A61B50/10 , A61B50/13 , A61B34/35 , A61B90/00 , A61B50/18 , A61B17/00 , A61B34/30
CPC classification number: B62D6/10 , A61B34/30 , A61B34/35 , A61B50/10 , A61B50/13 , A61B50/18 , A61B2017/00123 , A61B2017/00482 , A61B2050/185 , A61B2090/064 , B62D1/12
Abstract: A patient side cart for a teleoperated surgical system can include one or more wheels positioned to support the cart for wheeled motion on a ground surface, at least one manipulator portion for holding a surgical instrument, a steering interface having a grasping portion and comprising a sensor positioned to sense turning, fore, and aft forces exerted on the grasping portion to move the cart, wherein the sensor is in signal communication with a drive control system of the patient side cart, and an additional sensor operatively coupled to the drive control system. The additional sensor may be positioned between the steering interface and the wheels on a side of the cart at which the steering interface is positioned, wherein in response to a force exerted on the additional sensor during backward motion of the cart in response to an aft force exerted on the grasping portion, the sensor sends a signal to the drive control system to stop motion of the cart.
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公开(公告)号：US09801690B2
公开(公告)日：2017-10-31
申请号：US15597558
申请日：2017-05-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David Q. Larkin , Brian D. Hoffman , Paul W. Mohr
IPC: A61B17/00 , A61B34/20 , A61B34/10 , B25J9/16 , A61B90/00 , A61B34/30 , A61B34/37 , A61B1/04 , A61B1/00
CPC classification number: A61B34/20 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/04 , A61B17/00234 , A61B34/10 , A61B34/30 , A61B34/37 , A61B90/36 , A61B2017/00314 , A61B2017/00323 , A61B2034/2059 , A61B2034/2061 , A61B2034/2065 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B2090/371 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B2219/39449 , G05B2219/40607 , G05B2219/45123 , G05B2219/45169 , G06T7/0012
Abstract: A synthetic representation of a tool for display on a user interface of a robotic system. The synthetic representation may be used to show force on the tool, an actual position of the tool, or to show the location of the tool when out of a field of view. A three-dimensional pointer is also provided for a viewer in the surgeon console of a telesurgical system.
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Patent Agency Ranking
公开(公告)号：US20170215974A1
公开(公告)日：2017-08-03
申请号：US15488173
申请日：2017-04-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
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公开(公告)号：US20170172674A1
公开(公告)日：2017-06-22
申请号：US15125030
申请日：2015-03-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Michael Hanuschik , Julie L. Berry , Joseph Arsanious , Paul W. Mohr , Brandon D. Itkowitz , Paul G. Griffiths
CPC classification number: A61B34/35 , A61B1/00149 , A61B34/30 , A61B34/37 , A61B46/10 , A61B50/10 , A61B50/13 , A61B90/13 , A61B2017/00292 , A61B2034/301 , A61B2050/105 , A61B2050/185
Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.
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28.发明申请公开(公告)号：US20170079731A1
公开(公告)日：2017-03-23
申请号：US15126536
申请日：2015-03-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul G. Griffiths , Paul W. Mohr , Brandon D. Itkowitz
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B2090/035 , A61B2090/508 , B25J9/02 , B25J9/1694 , Y10S901/01 , Y10S901/02 , Y10S901/46
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In an other aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.
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公开(公告)号：US09138297B2
公开(公告)日：2015-09-22
申请号：US13756169
申请日：2013-01-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gabriel F. Brisson , Paul W. Mohr , Thomas R. Nixon
CPC classification number: A61B19/2203 , A61B34/30 , A61B2017/00477
Abstract: A method comprises generating a command to move a surgical robotic manipulator to a predetermined safety configuration and locking the robotic manipulator in the safety configuration in response to receiving the command. The method further comprises detecting if a mock instrument has been mounted on the robotic manipulator when the robotic manipulator is in the safety configuration. If the mock instrument is detected, an override command is generated to unlock the robotic manipulator from the safety configuration.
Abstract translation: 一种方法包括产生用于将手术机器人操纵器移动到预定安全配置的命令，并且响应于接收到该命令将机器人操纵器锁定在安全配置中。 该方法还包括当机器人操纵器处于安全配置时检测模拟乐器是否已经安装在机器人操纵器上。 如果检测到模拟仪器，则产生一个覆盖命令，以将机器人操纵器从安全配置中解锁出来。
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30.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。
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