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公开(公告)号：US20190201022A1
公开(公告)日：2019-07-04
申请号：US16327078
申请日：2017-08-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Benjamin J. Schoettgen , David Robinson , Pushkar Hingwe , Patrick Flanagan
IPC: A61B17/29
CPC classification number: A61B17/29 , A61B17/07207 , A61B17/28 , A61B18/1445 , A61B2017/00115 , A61B2017/00734 , A61B2018/00601 , A61B2018/0063 , A61B2018/1455 , A61B2090/065 , A61B2090/067 , A61B2090/0811
Abstract: Surgical instruments and assemblies for sealing and cutting tissue monitor jaw angle and/or jaw clamping force to provide feedback to an operator of the surgical instrument indicative of whether the tissue is suitable clamped for sealing and/or cutting. A surgical instrument or assembly includes a jaw operable to clamp tissue, a sealing mechanism, a cutting mechanism, an actuation monitoring assembly, and a feedback assembly. The actuation monitoring assembly monitors jaw angle and/or clamping force. The feedback assembly outputs feedback to the operator, based on the jaw angle and/or clamping force, as to whether the current clamping angle and/or jaw angle is suitable for sealing and/or clamping tissue.
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公开(公告)号：US20190083185A1
公开(公告)日：2019-03-21
申请号：US16194149
申请日：2018-11-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361
Abstract: A system includes manipulators and a controller. The controller is configured to detect mounting of an imaging device to a first manipulator of the manipulators, determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator, control a tool relative to the first reference frame by controlling a relative position and orientation of a tip of the tool relative to the imaging device in the first reference frame by correlating movement of a master input control to movement of the tool in the first reference frame, detect mounting of the imaging device to a second manipulator of the manipulators, the second manipulator being different from the first manipulator, determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator, and control the tool relative to the second reference frame.
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公开(公告)号：US20190038371A1
公开(公告)日：2019-02-07
申请号：US16072356
申请日：2017-01-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Matthew A. Wixey , Gabriel F. Brisson , William A. Burbank , Patrick Flanagan , Pushkar Hingwe , David W. Weir , Donald F. Wilson
IPC: A61B34/00 , A61B17/00 , A61B34/35 , A61B34/10 , A61B17/072
Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.
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34.发明申请公开(公告)号：US20170273748A1
公开(公告)日：2017-09-28
申请号：US15512495
申请日：2015-09-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Nitish Swarup , Pushkar Hingwe
CPC classification number: A61B34/30 , A61B34/35 , A61B34/74 , A61B34/77 , B25J9/1607 , G05B2219/45123
Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.
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35.发明申请公开(公告)号：US20170258534A1
公开(公告)日：2017-09-14
申请号：US15605879
申请日：2017-05-25
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Pushkar Hingwe , Bruce Michael Schena , Roman L. Devengenzo
CPC classification number: A61B34/30 , A61B34/37 , B25J9/1607 , B25J9/1643 , B25J9/1676 , G05B2219/39091 , G05B2219/39135 , G05B2219/40202 , G05B2219/40362 , G05B2219/40371 , G05B2219/40476 , G05B2219/40492 , G05B2219/45117
Abstract: Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.
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Patent Agency Ranking
36.发明申请公开(公告)号：US20170095304A1
公开(公告)日：2017-04-06
申请号：US15359405
申请日：2016-11-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Paul W. Mohr , Pushkar Hingwe , Paul Millman , Bruce Michael Schena , Roman L. Devengenzo , Scott Luke
CPC classification number: A61B34/37 , A61B1/00193 , A61B34/25 , A61B34/30 , A61B34/74 , A61B2034/742 , B25J9/1607 , Y10S901/15
Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.
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37.发明授权Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space 有权使用零空间命令重新配置外科手术器械的系统和方法公开(公告)号：US09517106B2
公开(公告)日：2016-12-13
申请号：US13906767
申请日：2013-05-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Paul W. Mohr , Pushkar Hingwe , Paul Millman , Bruce Michael Schena , Roman L. Devengenzo , Scott Luke
CPC classification number: A61B34/37 , A61B1/00193 , A61B34/25 , A61B34/30 , A61B34/74 , A61B2034/742 , B25J9/1607 , Y10S901/15
Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.
Abstract translation: 通过在操纵臂的运动学雅可比的零空间内移动操纵器来重新配置外科手术器械的装置，系统和方法。 在一个方面，响应于接收到重新配置命令，系统驱动第一组关节并且计算多个关节的速度在零空间内。 根据重新配置命令和计算的运动来驱动关节，以便保持末端执行器或仪器轴枢转的远程中心的期望状态。 在另一方面，接头还根据计算的末端执行器或雅可比的零垂直空间内的远程中心移动速度被驱动，以便与末端执行器或远程中心的所需运动同时实现期望的重新配置。
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公开(公告)号：US09504527B2
公开(公告)日：2016-11-29
申请号：US14218300
申请日：2014-03-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Niels Smaby , Gregory Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361
Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.
Abstract translation: 公开了用于控制远程外科手术系统的方法，装置和系统。 根据一种方法，控制连接到系统的第一操纵器的第一工具和连接到系统的第二操纵器的第二工具。 然后检测工具的交换，使得第一工具连接到第二操纵器并且第二工具连接到第一操纵器。 然后控制连接到第二操纵器的第一工具和连接到第一操纵器的第二工具。
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39.发明申请PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS 审中-公开用于操纵手术系统运动的自由度自由度公开(公告)号：US20160175061A1
公开(公告)日：2016-06-23
申请号：US15057069
申请日：2016-02-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Pushkar Hingwe , Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Arjang M. Hourtash , Amy E. Kerdok , Michael Turner
CPC classification number: A61B34/30 , A61B34/37 , A61B90/361
Abstract: Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.
Abstract translation: 用于通过患者的孔进行微创手术的方法，装置和系统。 根据一种方法，从与外科医生相关联的输入设备接收参数，所述参数指示通过所述孔定向的外科器械的末端执行器的期望状态。 手术器械包括在具有第一组关节的机械组件中。 然后计算指令，以便通过计算用于控制第二组接头的指令来控制机械组件，所述参数包括第一组接头和附加接头，附加接头不在机械组件中。 然后驱动机械组件，以便基于计算出的指令将末端执行器移动到期望状态。
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40.发明申请SYSTEMS AND METHODS FOR COMMANDED RECONFIGURATION OF A SURGICAL MANIPULATOR USING THE NULL-SPACE 有权使用空间空间进行手术操纵手术的指令重建的系统和方法公开(公告)号：US20140358161A1
公开(公告)日：2014-12-04
申请号：US13906767
申请日：2013-05-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. HOURTASH , Paul W. Mohr , Pushkar Hingwe , Paul Millman , Bruce Michael Schena , Roman L. Devengenzo , Scott Luke
IPC: A61B19/00
CPC classification number: A61B34/37 , A61B1/00193 , A61B34/25 , A61B34/30 , A61B34/74 , A61B2034/742 , B25J9/1607 , Y10S901/15
Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.
Abstract translation: 通过在操纵臂的运动学雅可比的零空间内移动操纵器来重新配置外科手术器械的装置，系统和方法。 在一个方面，响应于接收到重新配置命令，系统驱动第一组关节并且计算多个关节的速度在零空间内。 根据重新配置命令和计算的运动来驱动关节，以便保持末端执行器或仪器轴枢转的远程中心的期望状态。 在另一方面，接头还根据计算的末端执行器或雅可比的零垂直空间内的远程中心移动速度被驱动，以便与末端执行器或远程中心的所需运动同时实现期望的重新配置。
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