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公开(公告)号：US20160206386A1
公开(公告)日：2016-07-21
申请号：US14997249
申请日：2016-01-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Pushkar Hingwe , Arjang M. Hourtash , Amy E. Kerdok , Michael Turner
CPC classification number: A61B34/37 , A61B34/10 , A61B34/30 , A61B2034/104 , Y10S901/15 , Y10S901/29 , Y10S901/41
Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.
Abstract translation: 用于操作外科系统的方法，装置和系统。 根据一种方法，测量手术器械的位置，所述手术器械被包括在具有多个关节和第一数量自由度的机械组件中，所述手术器械的位置被测量为 手术器械的第二数量的自由度。 该方法还包括估计每个关节的位置，其中估计每个关节的位置包括将位置测量值应用于机械组件的至少一个运动学模型，运动学模型具有大于 第一数量的自由度。 该方法还包括基于关节的估计位置来控制机械组件。
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22.发明授权公开(公告)号：US09295525B2
公开(公告)日：2016-03-29
申请号：US13966437
申请日：2013-08-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Pushkar Hingwe , Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Arjang M. Hourtash , Amy E. Kerdok , Michael Turner
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/37 , A61B90/361
Abstract: Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.
Abstract translation: 用于通过患者的孔进行微创手术的方法，装置和系统。 根据一种方法，从与外科医生相关联的输入设备接收参数，所述参数指示通过所述孔定向的外科器械的末端执行器的期望状态。 手术器械包括在具有第一组关节的机械组件中。 然后计算指令，以便通过计算用于控制第二组接头的指令来控制机械组件，所述参数包括第一组接头和附加接头，附加接头不在机械组件中。 然后驱动机械组件，以便基于计算出的指令将末端执行器移动到期望状态。
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23.发明申请公开(公告)号：US20160045270A1
公开(公告)日：2016-02-18
申请号：US14802866
申请日：2015-07-17
Applicant: Intuitive Surgical Operations, Inc
Inventor： Arjang M. Hourtash , Pushkar Hingwe
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B2034/306 , B25J9/1607 , B25J9/1643 , G05B2219/40362 , G05B2219/40365 , G05B2219/40367
Abstract: Devices, systems, and methods for cancelling movement one or more joints of a tele-surgical manipulator to effect manipulation movement of an end effector. Methods include calculating movement of joints within a null-perpendicular space to effect desired end effector movement while calculating movement of one or more locked joints within a null-space to cancel the movement of the locked joints within the null-perpendicular-space. Methods may further include calculating movement of one or more joints to effect an auxiliary movement or a reconfiguration movement that may include movement of one or more locked joints. The auxiliary and reconfiguration movements may be overlaid the manipulation movement of the joints to allow movement of the locked joints to effect the auxiliary movement or reconfiguration movement, while the movement of the locked joints to effect manipulation is canceled. Various configurations for devices and systems utilizing such methods are provided herein.
Abstract translation: 用于取消移动远程外科手术操纵器的一个或多个关节以实现末端执行器的操纵运动的装置，系统和方法。 方法包括计算在零垂直空间内的关节的运动以实现期望的末端执行器运动，同时计算零空间内的一个或多个锁定关节的运动以消除零垂直空间内的锁定关节的运动。 方法可以进一步包括计算一个或多个关节的运动以实现辅助运动或可以包括一个或多个锁定关节的移动的重新配置运动。 辅助和重新配置运动可以覆盖关节的操纵运动，以允许锁定关节的运动来实现辅助运动或重新配置运动，同时消除锁定关节的运动以实现操纵。 本文提供了利用这种方法的装置和系统的各种配置。
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公开(公告)号：US12201390B2
公开(公告)日：2025-01-21
申请号：US17568505
申请日：2022-01-04
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Pushkar Hingwe , Amy E. Kerdok , William C. Nowlin , David W. Robinson
Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.
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公开(公告)号：US12171517B2
公开(公告)日：2024-12-24
申请号：US18320357
申请日：2023-05-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
Abstract: A system includes first and second manipulating means, and a means for detecting mounting of an imaging means to the first manipulating means, a means for determining a first reference frame for the imaging means while the imaging means is mounted to the first manipulating means, a means for controlling a tool means relative to the first reference frame by maintaining a position and orientation of a distal portion of the tool means relative to the imaging means in the first reference frame based on a position and orientation of an input means relative to a display means, a means for detecting mounting of the imaging means to the second manipulating means, a means for determining a second reference frame for the imaging means while the imaging means is mounted to the second manipulating means, and a means for controlling the tool means relative to the second reference frame.
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Patent Agency Ranking
公开(公告)号：US20210113284A1
公开(公告)日：2021-04-22
申请号：US17133877
申请日：2020-12-24
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
Abstract: Inter-operative switching of tools in a robotic system includes a system with a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, the first imaging device having a first reference frame; in response to detecting the mounting of the first imaging device, control a tool relative to the first reference frame using a second manipulator of the plurality of manipulators, the tool being mounted to the second manipulator; detect mounting of a second imaging device to a third manipulator of the plurality of manipulators, the second imaging device having a second reference frame; and in response to detecting the mounting of the second imaging device, control the tool relative to the second reference frame using the second manipulator.
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公开(公告)号：US10799306B2
公开(公告)日：2020-10-13
申请号：US15774848
申请日：2016-11-04
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David W. Robinson , Gabriel F. Brisson , Amir Chaghajerdi , Pushkar Hingwe , Donald F. Wilson, Jr.
Abstract: Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end effector so that at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.
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公开(公告)号：US20200163731A1
公开(公告)日：2020-05-28
申请号：US16630134
申请日：2018-07-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Pushkar Hingwe
Abstract: Systems and methods for reassigning control by a master controller between a plurality of teleoperational instruments is provided herein. An exemplary method includes detecting activation of an instrument reassignment input, computing proxy positions of at least a first instrument and a second instrument of the plurality of teleoperational instruments, and computing a proxy position of the master controller. The exemplary method may also include receiving input from the master controller associating the proxy position of the master controller with the proxy position of the second medical instrument and assigning control of the second instrument to the master controller based on the association between the proxy position of the master controller with the proxy position of the second instrument.
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公开(公告)号：US10561470B2
公开(公告)日：2020-02-18
申请号：US14218318
申请日：2014-03-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Nicola Diolaiti , Pushkar Hingwe , Niels Smaby , Nitish Swarup
Abstract: Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.
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公开(公告)号：US10483881B2
公开(公告)日：2019-11-19
申请号：US15118264
申请日：2015-02-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Hsien-Hsin Liao , Niels Smaby , Gregory W. Dachs, II , Pushkar Hingwe , Amir Chaghajerdi
IPC: A61B34/30 , A61B34/37 , H02P6/10 , H02P6/08 , H02P23/04 , H02P23/00 , A61B34/35 , A61B90/00 , A61B17/00 , H02P6/14
Abstract: A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.
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