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    SYSTEM FOR MOVEABLE ELEMENT POSITION INDICATION
    41.
    发明申请
    SYSTEM FOR MOVEABLE ELEMENT POSITION INDICATION 审中-公开

    公开(公告)号：US20190151029A1

    公开(公告)日：2019-05-23

    申请号：US16253612

    申请日：2019-01-22

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Robinson

    IPC: A61B34/20 ,  A61B18/14 ,  A61B34/30

    Abstract: A system for moveable element position indication includes an end effector having a jaw for clamping a material, a moveable element within the end effector, a drive element drivingly coupled with the moveable element via a mechanism, and a processor. The processor is configured to track a kinematic chain of the moveable element by determining a displacement of the drive element and determining a displacement of the mechanism, determine a position of the moveable element relative to the end effector using the tracked kinematic chain, and display an indicator of the position of the moveable element relative to the end effector. The position is determined from among a pre-cut position, a cut-complete position, and any position between the pre-cut position and the cut-complete position. In some embodiments, the moveable element includes a cutting blade. In some embodiments, the indicator is superimposed over an image of the end effector.

    Command shaping to dampen vibrations in mode transitions
    42.
    发明授权
    Command shaping to dampen vibrations in mode transitions 有权

    公开(公告)号：US10201390B2

    公开(公告)日：2019-02-12

    申请号：US15125944

    申请日：2015-03-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Nitish Swarup ,  David W. Robinson

    IPC: G01C21/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B34/00

    Abstract: Systems and method are provided for the elimination/mitigation of vibration arising from a mode transition during a robotic surgery. The robotic surgery can be performed with a patient side cart, portions of which can be affected by the mode transition. Initial parameters for the portions of the patient side cart that can be affected by the mode transition are identified and are used to create a smoothing curve. The smoothing curve can direct the movement of the portions of the patient side cart to transition between the modes. The smoothing curve can be continuously generated until a new mode transition is requested.

    Reconfigurable End Effector Architecture
    43.
    发明申请
    Reconfigurable End Effector Architecture 审中-公开

    公开(公告)号：US20180325611A1

    公开(公告)日：2018-11-15

    申请号：US15774848

    申请日：2016-11-04

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： David W. Robinson ,  Gabriel F. Brisson ,  Amir Chaghajerdi ,  Pushkar Hingwe ,  Donald F. Wilson, Jr.

    IPC: A61B34/35 ,  A61B34/37

    Abstract: Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end effector so that at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.

    DAMPING A TELESURGICAL SYSTEM
    45.
    发明申请
    DAMPING A TELESURGICAL SYSTEM 审中-公开
    抑制眼科系统

    公开(公告)号：US20160030118A1

    公开(公告)日：2016-02-04

    申请号：US14814851

    申请日：2015-07-31

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Roman L. Devengenzo ,  Bruce M. Schena ,  David W. Robinson

    IPC: A61B19/00

    CPC classification number: A61B34/37 ,  B25J17/0208 ,  B25J19/0091

    Abstract: Methods and systems for damping vibrations in a surgical system are disclosed herein. The damping of these vibrations can increase the precision of surgery performed using the surgical system. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive damper and can mitigate a vibration arising in one or more of the set-up linkages. The damper can additionally prevent a vibration arising in one of the linkages from affecting another of the set-up linkages.

    Abstract translation: 本文公开了用于减轻手术系统中的振动的方法和系统。 这些振动的阻尼可以提高使用手术系统进行手术的精度。 手术系统可以包括一个或多个可移动的设置连接。 阻尼器可以与一个或多个安装连杆连接。 阻尼器可以是被动阻尼器并且可以减轻在一个或多个设置连杆中产生的振动。 阻尼器还可以防止在其中一个连杆中产生的振动影响另一个安装连杆。

    METHOD FOR GRAPHICALLY PROVIDING CONTINUOUS CHANGE OF STATE DIRECTIONS TO A USER OF A MEDICAL ROBOTIC SYSTEM
    47.
    发明申请
    METHOD FOR GRAPHICALLY PROVIDING CONTINUOUS CHANGE OF STATE DIRECTIONS TO A USER OF A MEDICAL ROBOTIC SYSTEM 有权
    用于向医疗机器人系统用户图形化地呈现状态方向的连续变化的方法

    公开(公告)号：US20140039521A1

    公开(公告)日：2014-02-06

    申请号：US14052835

    申请日：2013-10-14

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Paul W. Mohr ,  David W. Robinson

    IPC: A61B19/00

    CPC classification number: A61B19/5225 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/37 ,  A61B2090/0811 ,  B25J9/1689 ,  B25J9/1692 ,  G05B2219/39024 ,  G05B2219/45123 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/09

    Abstract: Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.

    Abstract translation: 状态方向的连续变化以图形方式提供在显示屏幕上，以帮助用户执行用于在医疗机器人系统中的操作模式之间转换或执行校正动作的必要动作。 医疗机器人系统的元件的目标状态的图形表示显示在用户可以看到的显示屏幕上。 持续确定元件的当前状态和指示用户将元件操纵到目标状态的指示，并且连续确定的当前状态和指示的图形表示与目标状态的显示屏幕一起显示在显示屏幕上。

    Active and semi-active damping
    50.
    发明授权
    Active and semi-active damping 有权

    公开(公告)号：US11547506B2

    公开(公告)日：2023-01-10

    申请号：US17558153

    申请日：2021-12-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Roman L. Devengenzo ,  Bruce M. Schena ,  David W. Robinson

    IPC: A61B34/37 ,  A61B17/00 ,  A61B90/00

    Abstract: Techniques for active and semi-active damping include a system including a base, a first linkage, a second linkage, and a processor. A proximal end of the first linkage is coupled to the base. The first linkage is configured to support a first instrument. The first linkage includes a first link, a second link, and a first damper coupling the second link to the first link. A proximal end of the second linkage is coupled to the base. The second linkage is configured to support a second instrument. The second linkage incudes a third link, a fourth link, and a second damper coupling the fourth link to the third link. The processor is configured to detect a movement or vibration of the first linkage caused by motion of the second linkage and control the second linkage to mitigate the detected movement or vibration of the first linkage.

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