-
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
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：US20170056117A1
公开(公告)日：2017-03-02
申请号：US15351254
申请日：2016-11-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Pushkar Hingwe , Bruce Michael Schena , Roman L. Devengenzo
CPC classification number: A61B34/30 , A61B34/37 , A61B2034/305 , B25J9/1607 , B25J9/1676 , G05B2219/39135 , G05B2219/40202 , G05B2219/40371 , G05B2219/40471 , G05B2219/40492 , G05B2219/45117
Abstract: Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.
Abstract translation: 用于通过在零空间内移动操纵器来避免操纵器臂和外部患者表面之间的碰撞的装置，系统和方法。 响应于确定避免几何和障碍物表面之间的距离对应于机械手对病人的距离小于期望的距离，系统计算操纵器的一个或多个关节或连杆的运动在该空间内 雅各布增加这个距离。 根据重新配置命令和计算的运动来驱动关节，以保持末端执行器的期望状态。 在一个方面，接头还根据在雅可比的空垂直空间内的计算的末端执行器移位运动来驱动，以实现末端执行器或远程中心的期望运动，同时通过移动来避免与患者之间的碰撞 零空间内的关节。
-
43.发明申请Detection Pins to Determine Presence of Surgical Instrument and Adapter on Manipulator 审中-公开检测引脚用于确定手术器械和适配器在机械手上的存在公开(公告)号：US20160361127A1
公开(公告)日：2016-12-15
申请号：US15121723
申请日：2015-03-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gregory W. Dachs, II , Bruce Michael Schena , Amir Chaghajerdi , Niels Smaby , Tyler Morrissette
CPC classification number: A61B46/10 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/40 , A61B90/08 , A61B90/361 , A61B90/98 , A61B2017/00477 , A61B2090/0813 , F16H1/20 , Y10T29/49817 , Y10T403/59
Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first proximal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a distal end of the detection pin. A carriage controller provides an indication that the surgical instrument is coupled to the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than an instrument removal threshold value of less than the instrument threshold value.
Abstract translation: 仪器托架提供耦合到仪器托架的外科器械的控制。 仪器托架包括耦合到外科器械以提供控制的控制表面。 具有从控制表面延伸的第一近端的检测销联接到仪器托架。 磁体固定在检测销的末端。 托架控制器提供指示，当外科手术器械的运动引起来自霍尔效应传感器的输出信号超过存储在托架控制器中的阈值作为校准过程的一部分时，手术器械耦合到仪器托架 仪表托架的组装。 当检测针运动导致输出信号小于仪器阈值以下的仪器去除阈值时，可能会显示手术仪器取出。
-
公开(公告)号：US20160346050A1
公开(公告)日：2016-12-01
申请号：US15139224
申请日：2016-08-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger
CPC classification number: A61B34/30 , A61B34/37 , A61B2017/00477 , A61B2090/506
Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.
Abstract translation: 用于微创机器人手术的远程中心操纵器包括相对于患者保持固定的基座连接件，仪器夹持器和将仪器夹持器连接到基座连杆的连杆。 联动装置的第一和第二连杆被联接以限制第二连杆围绕与远程操纵中心相交的第一轴线的转动。 连杆的平行四边形连杆部分将仪器夹持器围绕与远程操纵中心相交的第二轴线。 第二轴与第一轴成90度角以外的非零角度偏移。
-
公开(公告)号：US09492235B2
公开(公告)日：2016-11-15
申请号：US13906713
申请日：2013-05-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Pushkar Hingwe , Bruce Michael Schena , Roman L. Devengenzo
CPC classification number: A61B34/30 , A61B34/37 , A61B2034/305 , B25J9/1607 , B25J9/1676 , G05B2219/39135 , G05B2219/40202 , G05B2219/40371 , G05B2219/40471 , G05B2219/40492 , G05B2219/45117
Abstract: Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.
Abstract translation: 用于通过在零空间内移动操纵器来避免操纵器臂和外部患者表面之间的碰撞的装置，系统和方法。 响应于确定避免几何和障碍物表面之间的距离对应于机械手对病人的距离小于期望的距离，系统计算操纵器的一个或多个关节或连杆的运动在该空间内 雅各布增加这个距离。 根据重新配置命令和计算的运动来驱动关节，以保持末端执行器的期望状态。 在一个方面，接头还根据在雅可比的空垂直空间内的计算的末端执行器移位运动来驱动，以实现末端执行器或远程中心的期望运动，同时通过移动来避免与患者之间的碰撞 零空间内的关节。
-
Patent Agency Ranking
46.发明授权Systems and methods for avoiding collisions between manipulator arms using a null-space 有权使用零空间避免操纵臂之间碰撞的系统和方法公开(公告)号：US09345544B2
公开(公告)日：2016-05-24
申请号：US13906819
申请日：2013-05-31
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.
Abstract translation: 提供了用于避免使用零空间的操纵臂之间的碰撞的装置，系统和方法。 在一个方面，系统使用多个操纵器的参考几何之间的关系来计算回避运动，以保持参考几何之间的间隔。 在某些实施例中，系统确定相邻参考几何之间的相对状态，确定参考几何之间的回避矢量，并且基于相对状态和回避矢量来计算雅可比的零空间内的一个或多个操纵器的回避运动。 可以根据计算的避免运动来驱动关节，同时保持末端执行器的期望状态或仪器轴枢转的远程中心位置，并且可以根据在零垂直空间内的末端执行器移位运动同时驱动关节 的雅可比人，以便实现末端执行器或远程中心的期望运动。
-
公开(公告)号：US20130325029A1
公开(公告)日：2013-12-05
申请号：US13906713
申请日：2013-05-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Pushkar Hingwe , Bruce Michael Schena , Roman L. Devengenzo
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/37 , A61B2034/305 , B25J9/1607 , B25J9/1676 , G05B2219/39135 , G05B2219/40202 , G05B2219/40371 , G05B2219/40471 , G05B2219/40492 , G05B2219/45117
Abstract: Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.
Abstract translation: 用于通过在零空间内移动操纵器来避免操纵器臂和外部患者表面之间的碰撞的装置，系统和方法。 响应于确定避免几何和障碍物表面之间的距离对应于机械手对病人的距离小于期望的距离，系统计算操纵器的一个或多个关节或连杆的运动在该空间内 雅各布增加这个距离。 根据重新配置命令和计算的运动来驱动关节，以保持末端执行器的期望状态。 在一个方面，接头还根据在雅可比的空垂直空间内的计算的末端执行器移位运动来驱动，以实现末端执行器或远程中心的期望运动，同时通过移动来避免与患者之间的碰撞 零空间内的关节。
-
48.发明公开公开(公告)号：US20240024054A1
公开(公告)日：2024-01-25
申请号：US18481430
申请日：2023-10-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger , Eugene F. Duval , Nicola Diolaiti , Daniel H. Gomez
CPC classification number: A61B34/37 , A61B34/30 , A61B34/70 , A61B2017/00477
Abstract: Robotic surgery systems include a floor supported surgical robot with offset links. A robotic surgery system includes a surgical robot and a control system. The surgical robot includes a manipulator and a floor/pedestal mount. The manipulator includes a mounting base, a yaw joint, an offset extension link, a parallelogram linkage assembly, and an instrument holder. The floor/pedestal mount is configured for supporting the mounting base in a fixed position and orientation relative to a patient and includes set-up joints operable to reposition and reorient the mounting base to reposition a remote center of manipulation relative to the patient prior to conducting surgery on the patient via the manipulator. The manipulator includes offset links. The control system is configured to electronically communicate with and control operation of the manipulator to articulate a surgical instrument during surgery.
-
公开(公告)号：US20200382921A1
公开(公告)日：2020-12-03
申请号：US16998838
申请日：2020-08-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory W. Dachs, II , Todd E. Murphy , William A. Burbank , William A. McDonald, II , Bruce Michael Schena
Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.
-
公开(公告)号：US20200229886A1
公开(公告)日：2020-07-23
申请号：US16840730
申请日：2020-04-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory W. Dachs, II , Bruce Michael Schena
Abstract: An instrument sterile adapter for coupling a surgical instrument and an instrument carriage includes an adapter control surface that extends control features of a control surface of the instrument carriage and receives an instrument control surface of the surgical instrument. A shaft receiving slot is positioned in the adapter control surface to receive an elongate tube of the surgical instrument when the adapter control surface receives the instrument control surface of the surgical instrument. The elongate tube may couple a proximal control mechanism of the surgical instrument to an end effector. The instrument sterile adapter may include a convex curved surface substantially perpendicular to and facing the adapter control surface to receive a corresponding concave curved surface on the instrument control surface. A bullet portion on the convex curved surface may engage a bullet receiving feature in the corresponding concave curved surface on the instrument control surface.
-
-
-
-
-
-
-
-
-
Search Results
89
records
(took 0.027 seconds)
