公开(公告)号：US10064689B2

公开(公告)日：2018-09-04

申请号：US15126983

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Michael Hanuschik ,  Thomas R. Nixon

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

Abstract: A system and method of aligning with a reference target includes a computer-assisted medical device. The computer-assisted medical device includes an orientation platform, one or more first joints proximal to the orientation platform, one or more second joints distal to the orientation platform, one or more links distal to the orientation platform, a reference instrument coupled to the orientation platform by the second joints and the links; and a control unit coupled to the first joints and the second joints. The control unit determines a pose of the reference instrument. The pose includes a reference point and a reference orientation. The control unit further positions the orientation platform over the reference point using the first joints, rotates the orientation platform to align the orientation platform with the reference orientation using the first joints, and maintains the pose of the reference instrument using the second joints.

公开(公告)号：US09615883B2

公开(公告)日：2017-04-11

申请号：US14276996

申请日：2014-05-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bruce Michael Schena ,  John Zabinski ,  David Robinson ,  Paul G. Griffiths

IPC: B62B3/04 ,  A61B19/00 ,  A61B34/30 ,  A61B50/13 ,  A61B34/37

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B50/13

Abstract: A patient side cart for a teleoperated surgical system comprises a base, a manipulator portion extending from the base and configured to hold one or more surgical instruments, four wheels mounted to the base to permit movement of the cart, and a suspension system. The suspension system may be configured to transition the cart between a first state in which the cart behaves as a three-wheeled cart and a second state in which the cart behaves as a four-wheeled cart.

公开(公告)号：US09101348B2

公开(公告)日：2015-08-11

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 ,  A61B19/02 ,  B25J5/00 ,  A61B19/00

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：US12179359B2

公开(公告)日：2024-12-31

申请号：US18474388

申请日：2023-09-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06F17/00 ,  A61B34/30 ,  B25J9/06 ,  B25J9/16 ,  B25J19/00 ,  B25J19/02 ,  A61B34/20 ,  A61B34/35 ,  A61B90/00 ,  A61B90/50

Abstract: Disturbance compensation in computer-assisted devices include an articulated arm comprising one or more first joints and one or more second joints and one or more processors coupled to the articulated arm. The articulated arm is configured to support an end effector. The one or more processors when executing instructions are configured to: detect a disturbance to the one or more first joints, the disturbance causing a point of interest associated with the end effector to move; determine a predicted motion of the point of interest based on the detected disturbance; and drive the one or more second joints to move the point of interest based on an error in a position of the point of interest indicated by the predicted motion.

公开(公告)号：US11877816B2

公开(公告)日：2024-01-23

申请号：US16763552

申请日：2018-11-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Ambarish G. Goswami ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Tao Zhao

IPC: A61B34/35 ,  A61B34/00 ,  A61B90/00 ,  A61B34/30

CPC classification number: A61B34/35 ,  A61B34/70 ,  A61B90/37 ,  A61B90/39 ,  A61B2034/301

Abstract: A robotic system comprises a display that is viewable by an operator. An operator reference frame is defined relative to the display or the operator viewing the display. The robotic system also includes an input device movable by the operator and a processing unit. The processing unit is configured to present, in the display, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

公开(公告)号：US11759265B2

公开(公告)日：2023-09-19

申请号：US17133890

申请日：2020-12-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz

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

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61G13/02 ,  A61G13/04 ,  A61G13/06 ,  A61G13/10 ,  A61B2034/2059 ,  A61G2203/36

Abstract: Techniques for registering a computer-assisted device to a table include a computer-assisted device having an articulated arm and a control unit coupled to the articulated arm. The control unit is configured to receive information of a first motion of a table. The first motion of the table caused a corresponding second motion of a point associated with the articulated arm. The control unit further configured to receive information of the second motion and determine a first angular relationship between the table and the computer-assisted device based on the first motion and the second motion.

公开(公告)号：US11737842B2

公开(公告)日：2023-08-29

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: G06F17/00 ,  A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B18/00 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B17/00234 ,  A61B2018/00898 ,  A61B2034/2059

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.

公开(公告)号：US11154374B2

公开(公告)日：2021-10-26

申请号：US16661649

申请日：2019-10-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Michael Hanuschik ,  Joseph Arsanious ,  Julie L. Berry ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B46/10 ,  A61B34/30 ,  A61B50/13 ,  A61B90/13 ,  A61B34/37 ,  A61B50/10 ,  A61B50/18 ,  A61B1/00 ,  A61B17/00

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.

公开(公告)号：US11129684B2

公开(公告)日：2021-09-28

申请号：US16743218

申请日：2020-01-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Nitish Swarup ,  Paul G. Griffiths ,  Goran Lynch

IPC: G01B21/04 ,  A61B34/00 ,  A61B34/30 ,  A61B1/00 ,  B25J9/16 ,  A61B17/00 ,  A61B34/20

Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted device include an articulated structure including a plurality of joints and a control unit coupled to the articulated structure. The control unit is configured to determine whether a cannula or an instrument is coupled to a distal end of the articulated structure and in response to determining that the cannula or the instrument is coupled to the distal end of the articulated structure: determine an initial position and orientation of the instrument prior to detection of a disturbance in a first joint of the plurality of joints; determine, during the disturbance in the first joint, a current position and orientation of the instrument; determine a difference between the current position and orientation and the initial position and orientation; and drive at least a second joint of the plurality of joints based on the difference.

公开(公告)号：US10993772B2

公开(公告)日：2021-05-04

申请号：US16242750

申请日：2019-01-08

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: G06F17/00 ,  A61B34/30 ,  A61G13/02 ,  A61B34/00

Abstract: A system and method for integrated table motion includes a device. The device includes an articulated arm having joints and a distal portion distal to the joints and a control unit. To support integrated motion with a separate table, the control unit is configured to receive a table movement request from the table, determine whether allowing the table movement request would result in a first joint of the joints being at a range of motion limit, allow the table to perform the table movement request based on determining that allowing the table to perform the table movement request would not result in the first joint being at the range of motion limit, track movement of the table due to performing the table movement request, and maintain, using the joints and based on the tracked movement, a position and/or an orientation of the distal portion relative to the table.