公开(公告)号：US20160199143A1

公开(公告)日：2016-07-14

申请号：US15073811

申请日：2016-03-18

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: A61B50/13 ,  A61B34/35

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 includes at least one manipulator portion for holding a surgical instrument and a steering interface. The steering interface may include at least one sensor positioned to sense turning, fore, and aft forces exerted by a user to move the cart. The steering interface may further include a coupling mechanism to removably couple the steering interface with the patient side cart. The at least one sensor may be placed in signal communication with a drive control system of the patient side cart when the steering interface is in a coupled state with the patient side cart.

Abstract translation: 用于远程手术的外科系统的患者侧车包括至少一个用于保持手术器械和操纵界面的操纵器部分。 转向界面可以包括至少一个传感器，其被定位成感测用户施加的转动，前后力以移动推车。 转向接口还可以包括联接机构，用于可拆卸地将转向接口与患者侧车辆联接。 当转向接口处于与患者侧车的联接状态时，至少一个传感器可被放置成与患者侧车的驱动控制系统进行信号通信。

公开(公告)号：US20160022360A1

公开(公告)日：2016-01-28

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

IPC: A61B19/02 ,  G05D1/00

CPC classification number: G05D1/0011 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2050/185 ,  B25J5/007

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.

Abstract translation: 用于远程手术的外科系统的患者侧车可以包括用于保持外科器械，转向接口和驱动系统的至少一个操纵臂部分。 转向接口可以被配置为检测用户对转向接口施加的力，指示远程手术系统的期望运动。 驱动系统可以包括至少一个从动轮，控制模块和模型部分。 控制模块可以接收来自转向接口的信号作为输入，该信号对应于由用户施加到转向接口的力。 控制模块可以被配置为输出对应于从转向接口接收到的信号的期望运动信号。 模型部分可以包括患者侧车的运动行为的模型，模型部分输出运动指令输出以驱动从动轮。

公开(公告)号：US20140297130A1

公开(公告)日：2014-10-02

申请号：US14209239

申请日：2014-03-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Arjang M. HOURTASH ,  Paul W. MOHR ,  David ROBINSON ,  Nitish SWARUP ,  John ZABINSKI ,  Mark ZIMMER

IPC: B62D6/00

CPC classification number: A61B19/0248 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2050/185 ,  B25J5/007 ,  G05D1/0011

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.

Abstract translation: 用于远程手术的外科系统的患者侧车可以包括用于保持外科器械，转向接口和驱动系统的至少一个操纵臂部分。 转向接口可以被配置为检测用户对转向接口施加的力，指示远程手术系统的期望运动。 驱动系统可以包括至少一个从动轮，控制模块和模型部分。 控制模块可以接收来自转向接口的信号作为输入，该信号对应于由用户施加到转向接口的力。 控制模块可以被配置为输出对应于从转向接口接收到的信号的期望运动信号。 模型部分可以包括患者侧车的运动行为的模型，模型部分输出运动指令输出以驱动从动轮。

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：US20250064538A1

公开(公告)日：2025-02-27

申请号：US18946712

申请日：2024-11-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Niels SMABY ,  Gregory W. DACHS, II ,  Nicola DIOLAITI ,  Pushkar HINGWE ,  Thomas R. NIXON ,  Bruce M. SCHENA ,  Nitish SWARUP

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J19/02 ,  B25J19/04

Abstract: Teleoperated control includes commanding, in response to a first input to move a tool while an imaging device is mounted to a first manipulator and a tool is mounted to a second manipulator, actuator(s) of the second manipulator to move the tool with a first motion relative to a first reference frame that corresponds with a first movement of an input device relative to a display, the first reference frame defined based on the imaging device mounted to the first manipulator; and commanding, in response to receiving a second input to move the tool while the imaging device is mounted to the third manipulator, the actuator(s) to move the tool with a second motion relative to a second reference frame that corresponds with a second movement of the input device relative to the display, the second reference frame defined based on the imaging device being mounted to the third manipulator.

公开(公告)号：US20240358456A1

公开(公告)日：2024-10-31

申请号：US18765417

申请日：2024-07-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel MILLER ,  Nitish SWARUP ,  Michael TURNER ,  Arjang M. HOURTASH ,  Paul G. GRIFFITHS ,  Paul W. MOHR

IPC: A61B34/30 ,  A61B18/00 ,  A61B90/00 ,  B25J9/16 ,  B25J13/08

CPC classification number: A61B34/30 ,  B25J9/1689 ,  B25J9/1694 ,  B25J13/085 ,  B25J13/088 ,  A61B2018/00666 ,  A61B2018/00672 ,  A61B2018/00678 ,  A61B2034/305 ,  A61B2090/035

Abstract: A system and method of breakaway clutching in a device includes a plurality of links coupled by a plurality of joints, a brake coupled to brake a first joint of the plurality of joints, and a control unit operatively coupled to the brake. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to a determination that an external stimulus applied to the plurality of links or the plurality of joints meets at least a first criterion and switches the first joint from the second state to the first state in response to a speed associated with the first joint meeting at least a second criterion. The control unit causes more braking with the first brake in the first state than in the second state.

公开(公告)号：US20240245479A1

公开(公告)日：2024-07-25

申请号：US18626050

申请日：2024-04-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul GRIFFITHS ,  Paul MOHR ,  Nitish SWARUP ,  Michael COSTA ,  David LARKIN ,  Thomas COOPER ,  Michael HANUSCHIK

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/32 ,  A61B90/50

CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B2034/304 ,  A61B34/32 ,  A61B90/50 ,  A61B2090/508 ,  Y10S901/02

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system comprising a first manipulating means and processing means. The processing means is for detecting whether a first means for accessing an internal worksite is mounted to the first manipulating means; detecting an input indicating the system is to be in a set-up mode; and inhibiting, in response to detecting that the first means is mounted to the first manipulating means, transition of the system to the set-up mode.

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：US20230329815A1

公开(公告)日：2023-10-19

申请号：US18340943

申请日：2023-06-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Paul W. MOHR ,  Nitish SWARUP ,  Michael COSTA ,  David Q. LARKIN ,  Thomas G. COOPER

IPC: A61B34/35 ,  A61B50/10 ,  A61B34/30 ,  A61B50/18 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B50/10 ,  A61B34/30 ,  A61B50/18 ,  A61B2050/105 ,  A61B2034/304 ,  A61B2017/00017

Abstract: Techniques for controlling a system include a first structural means supporting a manipulating means, a second structural means supporting the first structural means, and a processing means. The processing means is configured to determine, relative to the first structural means, a first position of a reference location on the system entering into the first mode, the reference location being associated with a linking means of the manipulating means; and while the system in the first mode: detect a manual movement of the reference location that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location from the first position in a second direction,; and, in response, command the second structural means to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

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.