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    System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
    33.
    发明授权
    System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement 有权

    公开(公告)号：US10687908B2

    公开(公告)日：2020-06-23

    申请号：US16284815

    申请日：2019-02-25

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Nitish Swarup

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

    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.

    Software configurable manipulator degrees of freedom
    35.
    发明授权
    Software configurable manipulator degrees of freedom 有权

    公开(公告)号：US10561470B2

    公开(公告)日：2020-02-18

    申请号：US14218318

    申请日：2014-03-18

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Niels Smaby ,  Nitish Swarup

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

    Abstract: Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.

    System and method for breakaway clutching in an articulated arm
    36.
    发明授权
    System and method for breakaway clutching in an articulated arm 有权

    公开(公告)号：US10449008B2

    公开(公告)日：2019-10-22

    申请号：US16014619

    申请日：2018-06-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Daniel Miller ,  Nitish Swarup ,  Michael Turner ,  Arjang M. Hourtash ,  Paul G. Griffiths ,  Paul W. Mohr

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

    Abstract: A system and method of breakaway clutching in a computer-assisted medical device includes an articulated arm having one or more first joints and a control unit coupled to the articulated arm and having one or more processors. The control unit operates each of the first joints in multiple states. The multiple states include a locked state, wherein movement of respective first joints is restricted, and a float state, wherein movement of the respective first joints is permitted. The control unit further switches one or more second joints selected from the first joints from the locked state to the float state when a stimulus on the second joints exceeds one or more unlock thresholds and switches the second joints from the float state to the locked state when a velocity of each of the second joints is below one or more lock thresholds.

    SYSTEM AND METHOD FOR INSTRUMENT DISTURBANCE COMPENSATION
    37.
    发明申请
    SYSTEM AND METHOD FOR INSTRUMENT DISTURBANCE COMPENSATION 审中-公开

    公开(公告)号：US20190176327A1

    公开(公告)日：2019-06-13

    申请号：US16275232

    申请日：2019-02-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Goran A. Lynch ,  Daniel N. Miller

    IPC: B25J9/16 ,  B25J9/06 ,  B25J19/02 ,  B25J19/00 ,  A61B34/30

    Abstract: Systems and methods for instrument disturbance compensation include a computer-assisted device. The computer-assisted device includes an articulated arm having a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to detect a disturbance to the articulated arm caused by a release of one or more brakes of the plurality of joints and maintain a position of a point of interest associated with the articulated arm by compensating for the disturbance using one or more joints of the plurality of joints. In some embodiments, the point of interest is a tip of an end effector of the articulated arm. In some embodiments, the control unit is configured to determine a predicted motion for the point of interest based on the disturbance and send a drive command to move the point of interest in a direction opposite to the predicted motion.

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