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    Arm With A Combined Force and Shape Sensor
    22.
    发明申请
    Arm With A Combined Force and Shape Sensor 审中-公开
    具有组合力和形状传感器的臂

    公开(公告)号：US20170049520A1

    公开(公告)日：2017-02-23

    申请号：US15345029

    申请日：2016-11-07

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： David Q. Larkin ,  Vincent Duindam

    IPC: A61B34/30 ,  A61B34/00 ,  B25J9/16 ,  B25J13/02 ,  G01L5/22 ,  B25J18/06

    CPC classification number: A61B34/30 ,  A61B34/77 ,  A61B2034/301 ,  B25J9/1689 ,  B25J13/025 ,  B25J18/06 ,  G01L5/226 ,  Y10S901/15 ,  Y10S901/17 ,  Y10S901/46

    Abstract: An apparatus comprises a continuously flexible device and an actuation mechanism that acts to bend and straighten the continuously flexible device. The apparatus also includes a sensor apparatus that generates bend information about at least a portion of the continuously flexible device. The apparatus also includes an electronic data processor. The electronic data processor generates (i) external force information about at least one of a magnitude or a direction of an external force applied to the continuously flexible device, or (ii) both the external force information and internal force information about a bending force applied to the continuously flexible device by the actuation mechanism from (a) the generated bend information and (b) information representing at least one mechanical property of the continuously flexible device.

    Abstract translation: 一种装置包括连续柔性装置和致动机构，其用于弯曲和拉直连续柔性装置。 该装置还包括传感器装置，其产生关于连续柔性装置的至少一部分的弯曲信息。 该装置还包括电子数据处理器。 电子数据处理器产生（i）关于施加到连续柔性装置的外力的大小或方向中的至少一个的外力信息，或者（ii）外力信息和关于施加的弯曲力的内力信息 通过致动机构从（a）产生的弯曲信息和（b）表示连续柔性装置的至少一个机械特性的信息传递到连续柔性装置。

    MEDICAL ROBOTIC SYSTEM WITH COUPLED CONTROL MODES
    23.
    发明申请
    MEDICAL ROBOTIC SYSTEM WITH COUPLED CONTROL MODES 审中-公开
    具有联合控制模式的医用机器人系统

    公开(公告)号：US20160242860A1

    公开(公告)日：2016-08-25

    申请号：US15094721

    申请日：2016-04-08

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Nicola Diolaiti ,  David Q. Larkin ,  Catherine J. Mohr

    IPC: A61B34/37 ,  A61B90/00

    CPC classification number: A61B34/37 ,  A61B1/00087 ,  A61B1/00193 ,  A61B1/0055 ,  A61B1/018 ,  A61B34/20 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00278 ,  A61B2017/00694 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

    Abstract: In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.

    Abstract translation: 在耦合控制模式中，外科医生直接控制相关联的从动操纵器与输入装置的运动，同时间接控制一个或多个非关联从动操纵器的运动，响应于直接控制的从动操纵器的指令运动，以实现次级 目的。 通过耦合控制模式自动执行次要任务，通过减少外科医生切换到另一种直接模式以手动实现所需的次要目标的需求，可以提高系统的可用性。 因此，耦合控制模式允许外科医生更好地关注执行医疗过程并且更少关注管理系统。

    PREVENTING INSTRUMENT/TISSUE COLLISIONS
    24.
    发明申请
    PREVENTING INSTRUMENT/TISSUE COLLISIONS 审中-公开
    防止仪器/组织碰撞

    公开(公告)号：US20160235486A1

    公开(公告)日：2016-08-18

    申请号：US15136658

    申请日：2016-04-22

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： David Q. Larkin

    IPC: A61B34/20 ,  A61B1/00 ,  A61B1/04 ,  A61B17/00

    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: Collisions between a minimally invasive surgical instrument and patient tissue are prevented in various ways. In one aspect, a body cavity is mapped by recording positions of a surgical instrument, and the map is used to insert another surgical instrument. In another aspect, a surgical instrument is inserted into a space vacated by a guide tube. In yet another aspect, a volume is defined in which a control system permits an instrument to move, and the volume is a sum of one volume that is defined by previous movements of the instrument and other volume that is defined by the boundaries of an image capture component. In yet another aspect, a real time image of a surgical site is mosaiced over a previously recorded more distal image of the site. Surgical instruments are visible in the real time image, and representations of the surgical instruments as they would appear in the previously recorded image are generated and displayed on the previously recorded image. Consequently, a person moving the surgical instruments sees a representation of the instruments outside the field of view of an imaging system taking the real time images.

    Abstract translation: 以各种方式防止微创手术器械与患者组织之间的碰撞。 在一个方面，通过记录外科器械的位置来映射体腔，并且使用该图来插入另外的手术器械。 另一方面，将手术器械插入由引导管腾出的空间中。 在另一方面，定义了体积，其中控制系统允许仪器移动，并且体积是由仪器的先前移动和由图像的边界限定的其他体积限定的一个体积的总和 捕获组件。 在另一方面，外科手术部位的实时图像在先前记录的远端位置图像上镶嵌。 手术器械在实时图像中是可见的，并且将在先前记录的图像中出现外观仪器的表现，并将其显示在先前记录的图像上。 因此，移动手术器械的人看到在拍摄实时图像的成像系统的视场外的仪器的表示。

    Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator
    28.
    发明授权
    Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator 有权
    用于减少内部产生的摩擦和惯性阻力的控制系统，以手动定位外科手术器械

    公开(公告)号：US09198730B2

    公开(公告)日：2015-12-01

    申请号：US14490090

    申请日：2014-09-18

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin

    IPC: A61B17/00 ,  A61B19/00 ,  B25J9/16

    CPC classification number: A61B34/30 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/75 ,  A61B90/361 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1689 ,  G05B2219/41213 ,  G05B2219/41426 ,  Y10S901/02 ,  Y10S901/15 ,  Y10S901/28 ,  Y10S901/30

    Abstract: A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.

    Abstract translation: 机器人控制系统被置于离合器模式中，使得保持手术器械的从操作器暂时脱离主操纵器的控制，以允许手术器械在患者体内的手术部位手动定位。 在处理器中实现的控制系统补偿在定位期间经历的内部产生的摩擦和惯性阻力，从而使得移动者更容易移动，并且从控制的角度来看稳定。 每个控制系统使用饱和转矩指令信号来驱动从动操纵器中的联合马达，该饱和转矩指令信号使用估计的关节角速度产生以补偿非线性粘滞力，库伦摩擦，齿槽效应和经受关节的惯性力， 通过从与关节相关联的传感器接收到的采样位移测量，由控制系统中的观察者产生的加速度和外部施加的扭矩。

    MEDICAL ROBOTIC SYSTEM WITH COUPLED CONTROL MODES
    29.
    发明申请
    MEDICAL ROBOTIC SYSTEM WITH COUPLED CONTROL MODES 审中-公开
    具有联合控制模式的医用机器人系统

    公开(公告)号：US20140222021A1

    公开(公告)日：2014-08-07

    申请号：US14095011

    申请日：2013-12-03

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Nicola Diolaiti ,  David Q. Larkin ,  Catherine J. Mohr

    IPC: A61B19/00

    CPC classification number: A61B34/37 ,  A61B1/00087 ,  A61B1/00193 ,  A61B1/0055 ,  A61B1/018 ,  A61B34/20 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00278 ,  A61B2017/00694 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

    Abstract: In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.

    Abstract translation: 在耦合控制模式中，外科医生直接控制相关联的从动操纵器与输入装置的运动，同时间接控制一个或多个非关联从动操纵器的运动，响应于直接控制的从动操纵器的指令运动，以实现次级 目的。 通过耦合控制模式自动执行次要任务，通过减少外科医生切换到另一种直接模式以手动实现所需的次要目标的需求，可以提高系统的可用性。 因此，耦合控制模式允许外科医生更好地关注执行医疗过程并且更少关注管理系统。

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