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公开(公告)号：US20220296318A1
公开(公告)日：2022-09-22
申请号：US17834651
申请日：2022-06-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. ITKOWITZ , Paul G. GRIFFITHS , Nitish SWARUP , Kamyar ZIAEI
Abstract: A computer-assisted device includes a first articulated arm and a control unit coupled to the first articulated arm. The first articulated arm is configured to support an end effector. The control unit is configured to determine a virtual coordinate frame, the virtual coordinate frame being of an imaging device for capturing images of a workspace of the end effector, and the virtual coordinate frame being detached from an actual imaging coordinate frame of the imaging device; receive, from an input control configured to be manipulated by a user, a first instrument motion command to move the end effector; and drive the first articulated arm to move the end effector relative to the virtual coordinate frame based on the first instrument motion command.
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公开(公告)号：US20210015568A1
公开(公告)日：2021-01-21
申请号：US17065483
申请日：2020-10-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Hsien-Hsin LIAO , Brandon D. ITKOWITZ , Julie L. BERRY , Pushkar HINGWE
Abstract: Systems and methods for instrument control include first and second actuators and a controller configured to command the first actuator to maintain a first degree of freedom (DOF) of an instrument at a first position; command the second actuator to maintain a second DOF of the instrument at a second position; detect, while the first actuator is maintaining the first DOF at the first position, a first manual actuation of the first actuator that exceeds a first threshold; detect, while the second actuator is maintaining the second DOF at the second position, a second manual actuation of the second actuator that does not exceed a second threshold; and in response to detecting that the first manual actuation exceeds the first threshold and the second manual actuation does not exceed the second threshold, terminate the command to the first actuator to maintain the first DOF at the first position.
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公开(公告)号：US20170333145A1
公开(公告)日：2017-11-23
申请号：US15522155
申请日：2015-10-27
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul G. GRIFFITHS , Brandon D. ITKOWITZ , Goran A. LYNCH
Abstract: A system and method of monitoring control points during reactive motion includes a computer-assisted medical device. The computer-assisted medical device includes one or more articulated arms each having a control point and a control unit coupled to the one or more articulated arms. The one or more articulated arms and corresponding control points are configured to track movement of a surgical table. The control unit monitors a spatial configuration of the one or more control points by determining an expected spatial configuration of the one or more control points during the movement of the surgical table, determining an actual spatial configuration of the one or more control points during the movement of the surgical table, and determining a difference between the expected spatial configuration and the actual spatial configuration.
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44.发明申请公开(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
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.
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