公开(公告)号：US20230255704A1

公开(公告)日：2023-08-17

申请号：US18306046

申请日：2023-04-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/30 ,  B25J9/16 ,  B25J13/08

CPC classification number: A61B34/30 ,  B25J9/1689 ,  B25J9/1694 ,  B25J13/085 ,  B25J13/088 ,  A61B2018/00666

Abstract: A system and method of breakaway clutching in a device includes an arm having a first joint and a control unit coupled to the arm. 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 an external stimulus applied to the arm exceeding a first threshold. Movement of the first joint is more restricted in the first state than in the second state. The control unit further switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. The first threshold is based on at least one first property of the arm. The speed threshold is based on at least one second property of the arm.

公开(公告)号：US20190159857A1

公开(公告)日：2019-05-30

申请号：US16196610

申请日：2018-11-20

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: A61B50/10 ,  G05D1/00 ,  A61B50/13 ,  B25J5/00 ,  A61B50/18

Abstract: A cart for supporting one or more instruments during a computer-assisted remote procedure can comprise a base; a steering interface having a portion configured to be grasped by a user; a sensor mechanism configured to detect a force applied to the steering interface by a user; and a switch operable between an engaged position and a disengaged position. The cart may further include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and, on the condition that the switch is in the engaged position, to output a movement command based on the received input from the sensor mechanism. A driven wheel mounted to the base of the cart may be configured to impart motion to the cart in response to the movement command.

公开(公告)号：US20190159856A1

公开(公告)日：2019-05-30

申请号：US16195095

申请日：2018-11-19

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: A61B50/10 ,  G05D1/00 ,  A61B50/13 ,  B25J5/00 ,  A61B50/18

Abstract: A cart for supporting one or more instruments for a computer-assisted, remote procedure can include a base and a support structure extending from the base and adjustable to different configurations, the support structure being configured to support one or more instruments to perform a remote procedure. The cart can further include a steering interface configured to be grasped by a user and a sensor mechanism configured to detect a force applied to the steering interface. The cart also can include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and information about a configuration of the support structure, the control module operably coupled to output a movement command based on the received input from the sensor mechanism and the information about the configuration of the support structure. A driven wheel may be mounted to the base and configured to impart wheeled motion to the cart in response to the movement command.

公开(公告)号：US20170165013A1

公开(公告)日：2017-06-15

申请号：US15262867

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Brian D. HOFFMAN ,  Paul W. MOHR

IPC: A61B34/35 ,  A61B90/00 ,  A61B34/37

Abstract: A medical imaging system comprises a teleoperational assembly configured to control the movement of a medical instrument including an instrument tip and a processing unit including one or more processors. The processing unit is configured to determine an instrument tip position and determine a position error associated with the instrument tip position. The processing unit is also configured to determine at least one instrument tip bounding volume based upon the position error and determine if the instrument tip is within a field of view of an imaging instrument.

公开(公告)号：US20160192998A1

公开(公告)日：2016-07-07

申请号：US15072303

申请日：2016-03-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randal P. GOLDBERG ,  Michael HANUSCHIK ,  Paul MILLMAN ,  Paul W. MOHR ,  Thomas R. NIXON ,  David ROBINSON

IPC: A61B34/35 ,  A61B18/00 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B18/00 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/98 ,  A61B2017/00225 ,  A61B2017/00973 ,  A61B2034/254 ,  G05B2219/40195

Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system may include detecting a first surgical instrument coupled to a first manipulator interface assembly of a teleoperated surgical system, the manipulator interface assembly being controlled by a first input device; detecting which one of a user's left and right hands operates the first input device; and assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the user's left hand is detected to operate the first input device, or assigning control of an auxiliary function of the first surgical instrument to a second auxiliary input device disposed in a right position relative to the first auxiliary input device if the user's right hand is detected to operate the first input device. A frame of reference of the left position and right position is relative to a user operating the first input device.

Abstract translation: 分配辅助输入装置以控制机器人手术系统中的外科器械的方法可以包括检测耦合到远程手术外科系统的第一操纵器接口组件的第一外科器械，所述操纵器接口组件由第一输入装置控制; 检测用户的左手和右手中的哪一个操作第一输入装置; 以及如果检测到所述用户的左手来操作所述第一输入装置，则将所述第一外科器械的辅助功能的控制分配给设置在相对于所述第二辅助输入装置的左侧位置的第一辅助输入装置，或者分配辅助 如果检测到用户的右手来操作第一输入设备，则第一外科器械的功能被设置在相对于第一辅助输入装置的右侧位置的第二辅助输入装置。 左位置和右位置的参考系相对于操作第一输入设备的用户。

公开(公告)号：US20140180272A1

公开(公告)日：2014-06-26

申请号：US14070166

申请日：2013-11-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gregory W. DACHS, II ,  Paul MILLMAN ,  Paul W. MOHR ,  Bruce M. SCHENA

IPC: A61B18/00

CPC classification number: A61B18/14 ,  A61B34/30 ,  A61B2017/00482 ,  A61B2018/00178 ,  A61B2018/00988

Abstract: A surgical flux transmission conduit for operationally coupling a surgical flux supply pathway with a surgical flux delivery instrument may include a data signal transmission pathway, a surgical flux transmission pathway, and a connector interface. The connector interface can include a data signal transmission connector feature in communication with the data signal transmission pathway, and a surgical flux transmission connector feature in communication with the surgical flux transmission pathway. A surgical flux delivery instrument may include an electronic circuit encoded with identification data corresponding to the instrument and a connector interface configured to mate with the connector interface of the conduit. A surgical flux supply source may include a connector interface including a data signal transmission connector to receive a data signal from the instrument and a surgical flux transmission connector feature.

Abstract translation: 用于将外科助焊剂供给路径与手术通量输送器械可操作地连接的手术通量传输导管可以包括数据信号传输通路，手术通量传递路径和连接器接口。 连接器接口可以包括与数据信号传输路径通信的数据信号传输连接器特征，以及与手术通量传输路径通信的手术通量传输连接器特征。 手术通量输送仪器可以包括编码有对应于仪器的识别数据的电子电路和被配置为与导管的连接器接口配合的连接器接口。 手术通量供应源可以包括连接器接口，该连接器接口包括用于从仪器接收数据信号的数据信号传输连接器和手术通量传输连接器特征。

公开(公告)号：US20140081455A1

公开(公告)日：2014-03-20

申请号：US14028006

申请日：2013-09-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randal P. GOLDBERG ,  Michael HANUSCHIK ,  Paul MILLMAN ,  Paul W. MOHR ,  Thomas R. NIXON ,  David ROBINSON

IPC: A61B19/00

CPC classification number: A61B34/35 ,  A61B18/00 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/98 ,  A61B2017/00225 ,  A61B2017/00973 ,  A61B2034/254 ,  G05B2219/40195

Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system can include automatically assigning an auxiliary input device to control an auxiliary function of a surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating another input device operably coupled to control movement of the surgical instrument. A system for controlling a surgical instrument may include an input device of a surgical system that is operably coupled to generate and transmit an input control signal to control movement of a surgical instrument operably coupled to the surgical system. The system may further include an auxiliary input device, and a control system operably coupling the auxiliary input device to control an auxiliary function of the surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating the input device.

Abstract translation: 分配辅助输入装置以控制机器人手术系统中的外科器械的方法可以包括：根据辅助输入装置的位置和用户的手中的哪一个自动分配辅助输入装置来控制外科器械的辅助功能 正在操作另一输入装置，其可操作地联接以控制手术器械的运动。 用于控制外科器械的系统可以包括外科系统的输入装置，其可操作地联接以产生和传送输入控制信号，以控制可操作地联接到手术系统的手术器械的运动。 该系统还可以包括辅助输入装置和控制系统，该控制系统可操作地联接辅助输入装置以基于辅助输入装置的位置和用户的手操作输入装置来控制外科器械的辅助功能。