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：US20220361970A1

公开(公告)日：2022-11-17

申请号：US17875266

申请日：2022-07-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul GRIFFITHS ,  Paul MOHR ,  Nitish SWARUP ,  Michael HANUSCHIK

IPC: A61B34/30 ,  B25J9/16 ,  A61B34/00 ,  A61B90/00 ,  A61B90/50

Abstract: User-initiated break-away clutching includes a robotic system having a joint, a brake or drive unit coupled to the joint, and a control system coupled with the brake or drive unit. The control system is configured to determine a first manual effort applied to the joint; inhibit, using the brake or drive unit, manual articulation of the joint in response to the first manual effort being below an articulation threshold; facilitate, using the brake or drive unit, the manual articulation of the joint in response to the first manual effort exceeding the articulation threshold; and inhibit, using the brake or drive unit, further manual articulation of the joint in response to a determination that a speed of the manual articulation of the joint is below a speed threshold.

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

IPC: A61B34/30 ,  A61G13/02

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.

公开(公告)号：US20200229883A1

公开(公告)日：2020-07-23

申请号：US16842592

申请日：2020-04-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul GRIFFITHS ,  Paul MOHR ,  Nitish SWARUP ,  Michael COSTA ,  David LARKIN ,  Thomas COOPER ,  Michael HANUSCHIK

IPC: A61B34/00 ,  A61B34/30

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.

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：US20170340397A1

公开(公告)日：2017-11-30

申请号：US15677964

申请日：2017-08-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Niels SMABY ,  Gregory W. DACHS, II ,  Nicola DIOLAITI ,  Pushkar HINGWE ,  Thomas R. NIXON ,  Bruce M. SCHENA ,  Nitish SWARUP

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  A61B90/00 ,  A61B34/30

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.