公开(公告)号：US11986262B2

公开(公告)日：2024-05-21

申请号：US18083248

申请日：2022-12-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. Holop ,  Anthony K. McGrogan ,  Jeffrey R. Roeder ,  Daniel H. Gomez ,  Arjang M. Hourtash ,  Thomas Brennan-Marquez ,  Probal Mitra

IPC: A61B34/00 ,  A61B17/34 ,  A61B34/30 ,  A61B34/35 ,  A61B46/10 ,  B25J9/12 ,  B25J9/16 ,  B25J13/06 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B17/3476 ,  A61B34/30 ,  A61B34/71 ,  A61B46/10 ,  B25J9/126 ,  B25J9/1689 ,  B25J13/06 ,  A61B2017/00398 ,  A61B2017/00473 ,  G05B2219/45117

Abstract: A computer-assisted system includes an instrument manipulator assembly including a preload assembly and a motor, an insertion assembly configured to control a position of the instrument manipulator assembly, and a motor controller coupled to the preload assembly. The motor controller is configured to actuate the preload assembly to control an amount of preload applied by the preload assembly to the motor and actuate the preload assembly to apply a low preload in response to detecting that a sterile adapter is mounted to the instrument manipulator assembly.

公开(公告)号：US11638619B2

公开(公告)日：2023-05-02

申请号：US17390722

申请日：2021-07-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nitish Swarup ,  Arjang M. Hourtash

IPC: A61B34/30 ,  B25J9/16 ,  B25J18/00 ,  A61B34/37

Abstract: A system includes a manipulator arm configured to support an instrument having an end effector, the manipulator arm including a distal portion, a proximal portion coupled to a base, and a multitude of joints between the distal portion and the base, the multitude of joints providing sufficient degrees of freedom to allow a range of differing joint states of the multitude of joints for a state of the distal portion. The system also includes a processor coupled to the manipulator arm. The processor is configured with a manipulation mode and a clutch mode, the clutch mode selected from the group consisting of: an arm-null-perpendicular-clutch mode, a port-null-perpendicular-clutch mode, and an arm-port-null-perpendicular-clutch mode. The processor is configured to operate the multitude of joints in accordance with at least one of the manipulation mode and the various clutch modes.

公开(公告)号：US10682191B2

公开(公告)日：2020-06-16

申请号：US15927978

申请日：2018-03-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce M. Schena ,  Roman L. Devengenzo ,  Scott Luke

IPC: A61B34/37 ,  B25J18/00 ,  B25J9/16 ,  A61B34/30 ,  A61B34/00 ,  A61B1/00

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

公开(公告)号：US10327855B2

公开(公告)日：2019-06-25

申请号：US15512495

申请日：2015-09-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Nitish Swarup ,  Pushkar Hingwe

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  B25J9/16

Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.

公开(公告)号：US10251715B2

公开(公告)日：2019-04-09

申请号：US15885685

申请日：2018-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Nitish Swarup

IPC: B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  B25J18/00

Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

公开(公告)号：US10052167B2

公开(公告)日：2018-08-21

申请号：US15428009

申请日：2017-02-08

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

IPC: G06F19/00 ,  A61B34/37 ,  A61B34/10

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.

公开(公告)号：US09949799B2

公开(公告)日：2018-04-24

申请号：US15057069

申请日：2016-02-29

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 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

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.

公开(公告)号：US09907619B2

公开(公告)日：2018-03-06

申请号：US15235103

申请日：2016-08-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Nitish Swarup

IPC: B25J18/00 ,  A61B34/30 ,  B25J9/16 ,  A61B34/37

CPC classification number: A61B34/30 ,  A61B34/37 ,  B25J9/1607 ,  B25J9/1638 ,  B25J9/1666 ,  B25J18/007

Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

公开(公告)号：US09861447B2

公开(公告)日：2018-01-09

申请号：US15003556

申请日：2016-01-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Amy E. Kerdok ,  Michael Turner

IPC: B25J13/00 ,  A61B34/37 ,  B25J9/16 ,  A61B34/35

CPC classification number: A61B34/37 ,  A61B34/35 ,  B25J9/16 ,  B25J9/1689 ,  G05B2219/40195 ,  G05B2219/45123 ,  Y10S901/02

Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.

公开(公告)号：US20170296277A1

公开(公告)日：2017-10-19

申请号：US15640045

申请日：2017-06-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Pushkar Hingwe ,  Bruce M. Schena ,  Roman L. Devengenzo

IPC: A61B34/30 ,  B25J9/16 ,  A61B34/37

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B2034/305 ,  B25J9/1607 ,  B25J9/1676 ,  G05B2219/39135 ,  G05B2219/40202 ,  G05B2219/40371 ,  G05B2219/40471 ,  G05B2219/40492 ,  G05B2219/45117

Abstract: Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.