公开(公告)号：US20150257837A1

公开(公告)日：2015-09-17

申请号：US14659833

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Michael L. HANUSCHIK ,  Paul W. MOHR

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B90/30 ,  A61B90/35 ,  A61B2017/00075 ,  A61B2560/02 ,  A61B2560/0266

Abstract: A patient side cart for a teleoperated surgical system may include a base, a column connected to the base, a boom connected to the column, a surgical instrument manipulator arm connected to the boom, and an obstacle indication system comprising an illumination source that directs light in a path of the boom. Various exemplary embodiments also encompass methods of providing obstacle indication via a patient side cart of a teleoperated surgical system, including directing light onto an object in a path of the boom to indicate that the object is located in a path of the boom, and methods of determining a predetermined height to be stored in a patient side cart for a teleoperated surgical system, including illuminating an object in the path of the patient side cart and storing a current height of the patient side cart as the predetermined height.

Abstract translation: 用于远程手术的外科系统的患者侧车可以包括基座，连接到基座的柱，连接到柱的吊杆，连接到起重臂的外科器械操纵臂，以及包括引导光的照明源的障碍物指示系统 在繁荣的道路上。 各种示例性实施例还包括通过远程手术外科系统的患者侧车提供障碍物指示的方法，包括将光引导到动臂的路径中的物体上以指示物体位于动臂的路径中，以及方法 确定要存储在远程手术系统的患者侧车中的预定高度，包括照射患者侧车的路径中的物体并将患者侧车的当前高度存储为预定高度。

公开(公告)号：US20250143823A1

公开(公告)日：2025-05-08

申请号：US19018337

申请日：2025-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Nitish SWARUP ,  Paul G. GRIFFITHS ,  Goran LYNCH

IPC: A61B34/00 ,  A61B1/00 ,  A61B17/00 ,  A61B34/20 ,  A61B34/30 ,  B25J9/16

Abstract: Techniques for maintaining instrument position and orientation include a teleoperated device comprising an articulated structure comprising a plurality of joints, a plurality of links, one or more sensors, and a plurality of actuators; and a control unit comprising one or more hardware processors. The control unit is coupled to the articulated structure. The control unit is configured to: determine, based on information from the one or more sensors, a first change to an instrument due to a disturbance causing movement of at least a first joint of the plurality of joints, the first change comprising: a change in a position of the instrument and/or a change in an orientation of the instrument; and drive, using at least a first actuator of the plurality of actuators, at least a second joint of the plurality of joints to reduce the first change. The instrument is supported by the articulated structure.

公开(公告)号：US20250090243A1

公开(公告)日：2025-03-20

申请号：US18961863

申请日：2024-11-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ

IPC: A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61G13/02 ,  A61G13/04 ,  A61G13/06 ,  A61G13/10

Abstract: Techniques for registering a teleoperated device to a table include a teleoperated device comprising a control unit and an articulated arm. The control unit is configured to receive information of a first table motion of a table, the first table motion causing a corresponding first arm motion, the first arm motion being of at least a portion of the articulated arm, the table comprising one or more links and one or more joints coupling a base of the table to a top of the table, the first table motion indicating a movement of the top of the table; receive information of the first arm motion; determine a first angular relationship between the table and the first articulated arm based on the first table motion and the first arm motion; and control, using a plurality of actuators, movement of the articulated arm based on the first angular relationship.

公开(公告)号：US20240208065A1

公开(公告)日：2024-06-27

申请号：US18288511

申请日：2022-04-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. ITKOWITZ

IPC: B25J9/16 ,  A61B34/00 ,  A61B34/35

CPC classification number: B25J9/1689 ,  A61B34/35 ,  A61B34/76

Abstract: Systems and methods are described herein for providing reminders with a computer-assisted robotic system. In one example, a robotic system comprises head and hand input devices, and a control system. The head input device comprises a sensor configured to sense head inputs provided by a head of an operator. The hand input device comprises a hand input sensor configured to sense hand inputs provided by a hand of the operator. The control system is configured to, in a teleoperation mode, command a change in a display of an image based on head input signals provided by the head input device, where the image is obtained by an imaging device, and command motion of a tool based on hand input signals provided by the hand input device. The control system is further configured to, in a clutch mode, provide a reminder for the operator to reposition the hand input device.

公开(公告)号：US20240115332A1

公开(公告)日：2024-04-11

申请号：US18544238

申请日：2023-12-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Jason HEMPHILL ,  Goran A. LYNCH ,  Daniel N. MILLER ,  Patrick O'GRADY ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61B34/00 ,  A61G13/02

CPC classification number: A61B34/30 ,  A61B34/25 ,  A61G13/02

Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes articulating means; means for receiving, via a means for communicatively coupling the computer-assisted device with a table means, a table movement request from a table command means, the table means being separate from the computer-assisted device; means for determining whether the table movement request should be allowed; and means for allowing the table means to perform the table movement request based on determining that the table movement request should be allowed.

公开(公告)号：US20240025050A1

公开(公告)日：2024-01-25

申请号：US18256469

申请日：2021-12-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mohammad Sina PARASTEGARI ,  Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

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

CPC classification number: B25J9/1689 ,  A61B90/50 ,  A61B34/35 ,  A61B90/37 ,  B25J9/1697

Abstract: Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system coupled to the repositionable structure. The control system is configured to: determine a position of a reference point offset from a display unit, convert the position of the reference point to a target position of another reference point offset from the imaging device, determine a movement command of the first repositionable structure that moves the imaging device such that the another reference point moves toward the target position, and cause actuation of the repositionable structure based on the movement command.

公开(公告)号：US20240008942A1

公开(公告)日：2024-01-11

申请号：US18037896

申请日：2021-11-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mohammad Sina PARASTEGARI ,  Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/37 ,  A61B34/00 ,  A61B90/00 ,  A61B17/00

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B90/06 ,  A61B17/00 ,  A61B2017/00216 ,  A61B2017/00973 ,  A61B2090/065

Abstract: Embodiments relate to a computer-assisted robotic system, In some embodiments, the system includes a head input device, the head input device comprising a head input sensor configured to provide head input signals indicative of a an operator's head inputs, and a foot input device comprising a foot input sensor configured to provide foot input signals indicative of the operator's foot inputs. The system further includes a controller, configured to process the head input signals and the foot input signals, and identify, based on the processed head and foot input signals, that the operator has provided a combination of head and foot inputs corresponding to a steerable viewer mode activation command. The controller is further configured to cause the robotic system to enter a steerable viewer mode in response to identifying that the operator has provided a combination.

公开(公告)号：US20230329817A1

公开(公告)日：2023-10-19

申请号：US18309110

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  William C. NOWLIN ,  Gunter D. NIEMEYER ,  David S. MINTZ

IPC: A61B34/37 ,  A61B34/30 ,  B25J9/16 ,  A61B90/10 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35

CPC classification number: A61B34/37 ,  A61B34/30 ,  B25J9/1689 ,  A61B90/10 ,  B25J9/1669 ,  B25J3/00 ,  A61B34/25 ,  A61B34/35 ,  G05B2219/45117 ,  A61B2017/00725

Abstract: A teleoperated system includes a robotic arm configured to support an instrument, a grip configured to be manipulated by an operator to command motion of the instrument, and a control system communicatively coupled to the robotic arm and the grip. To align the grip with the instrument by the grip, the control system is configured to determine grip rotation values describing an orientation of the grip, determine instrument rotation values describing an orientation of the instrument, determine an orientation error between the orientation of the grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, produce a motion command by selectively imposing, based on the orientation error, an artificial joint limit on a commanded movement of the instrument, and command the robotic arm to move in accordance with the motion command.

公开(公告)号：US20230263584A1

公开(公告)日：2023-08-24

申请号：US18309453

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61G13/02

CPC classification number: A61B34/30 ,  A61G13/02

Abstract: A computer-assisted device includes an articulated arm configured to support an end effector and a control unit. When coupled to the articulated arm and a table, the control unit is configured to detect movement of the articulated arm caused by movement of the table, determine a movement of the table based on motion data received from the table, and drive one or more first joints of the articulated arm based on the movement of the articulated arm and the determined movement of the table.

公开(公告)号：US20220296320A1

公开(公告)日：2022-09-22

申请号：US17835604

申请日：2022-06-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37

Abstract: Techniques for monitoring control points of a computer-assisted device include a first articulated arm associated with a first control point and a control unit coupled to the first articulated arm. The control unit is configured to determine a first expected path representative of expected positions of the first control point over time when a movement of the first control point is caused by a movement of a table that moves the first articulated arm, the table being separate from the computer-assisted device; determine a first actual path representative of actual positions of the first control point over time when the movement of the first control point is caused by the movement of the table; determine whether to perform a first remedial action based on the first actual path and the first expected path; and in response to a determination to perform the first remedial action, perform the first remedial action.