SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART
    32.
    发明申请
    SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART 审中-公开
    具有驱动系统的手术患者侧车和移动患者侧面的方法

    公开(公告)号:US20160022360A1

    公开(公告)日:2016-01-28

    申请号:US14808639

    申请日:2015-07-24

    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。

    SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART
    33.
    发明申请
    SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART 有权
    具有驱动系统的手术患者侧车和移动患者侧面的方法

    公开(公告)号:US20140297130A1

    公开(公告)日:2014-10-02

    申请号:US14209239

    申请日:2014-03-13

    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。

    SYSTEM AND METHOD FOR MAINTAINING A TOOL POSITION AND ORIENTATION

    公开(公告)号:US20250143823A1

    公开(公告)日:2025-05-08

    申请号:US19018337

    申请日:2025-01-13

    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.

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