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41.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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42.发明申请SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT 审中-公开通过空间运动的空间空间中的离散化来定位操纵臂的系统和方法公开(公告)号：US20170035518A1
公开(公告)日：2017-02-09
申请号：US15235103
申请日：2016-08-12
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Nitish Swarup
CPC classification number: A61B34/30 , A61B34/37 , B25J9/1607 , B25J9/1638 , B25J9/1666 , B25J18/007
Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.
Abstract translation: 用于通过在零垂直接合速度子空间内漂浮第一组接头并提供操纵臂的近端部分的期望状态或运动来定位操纵臂的末端执行器或远程中心的装置，系统和方法 通过在垂直于零垂直空间的零空间内驱动第二组关节而与末端执行器定位同时进行。 方法包括在空 - 垂直空间内漂浮第一组关节，以允许在工作空间内手动定位远程中心或末端执行器位置中的一个或两个，并根据在空值内计算的辅助运动来驱动第二组关节 - 在关节浮动期间根据所需状态或操纵臂的移动。 本文提供了利用这种方法的装置和系统的各种配置。
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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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公开(公告)号：US09452020B2
公开(公告)日：2016-09-27
申请号：US13967594
申请日：2013-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Hanuschik
CPC classification number: A61B34/30 , A61B34/35 , A61B34/37 , A61B34/77 , A61B90/06 , A61B90/50 , A61B2034/301 , A61B2034/304 , A61B2090/066 , A61B2090/508 , B25J9/1633 , B25J9/1669 , G05B2219/40414 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system or the like without having to add additional input devices.
Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括被主动驱动的，被动的或两者的混合的关节。 安装模式采用直观的用户界面，其中一个或多个关节最初由制动器或联合驱动系统保持静止。 用户可以通过用超过手动关节阈值的力，扭矩等手动地推动联动装置来铰接关节。 通过改变传输到制动器或驱动系统的信号来促进移动接头的铰接。 该系统可以根据从低于阈值的关节的速度来完成重新配置，可选地为期望的停留时间。 系统可以提供类似于止动器的手动关节，其不限于机械预定义的止动器接头构造。 本发明的实施例提供并且可以特别适合于在机器人手术系统等中支撑多个外科手术操纵器的平台的手动移动，而不必增加额外的输入装置。
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45.发明申请Movable Surgical Mounting Platform Controlled By Manual Motion of Robotic Arms 审中-公开可移动手术安装平台由机器人手动运动控制公开(公告)号：US20160199142A1
公开(公告)日：2016-07-14
申请号：US14995523
申请日：2016-01-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
CPC classification number: A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动的关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为一个单元的那些多个操纵器移动到与工作空间对准来促进和加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。
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Patent Agency Ranking
46.发明授权Movable surgical mounting platform controlled by manual motion of robotic arms 有权通过机械臂的手动运动控制的可移动手术安装平台公开(公告)号：US09259281B2
公开(公告)日：2016-02-16
申请号：US13967573
申请日：2013-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
IPC: A61B19/00
CPC classification number: A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动的关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为一个单元的那些多个操纵器移动到与工作空间对准来促进和加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。
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公开(公告)号：US20140188131A1
公开(公告)日：2014-07-03
申请号：US14145406
申请日：2013-12-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory K. Toth , Nitish Swarup , Thomas R. Nixon , David Q. Larkin , Steven J. Colton
IPC: A61B19/00
CPC classification number: A61B34/32 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/305 , G05B2219/45123 , G05B2219/49305 , G06F19/00 , G16H40/40 , Y10S901/02 , Y10S901/41
Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.
Abstract translation: 用于机器人手术和其他机器人应用的机器人设备，系统和方法，和/或医疗仪器装置，系统和方法包括可重复使用的处理器和有限使用的机器人工具或医疗处理探针。 存储器的有限使用组件包括具有由处理器实现的数据和/或编程指令的机器可读代码。 处理器的编程可以通过由处理器从组件下载而运送新数据来更新，后续组件可以利用更新的处理器而不重复下载。
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48.发明申请公开(公告)号：US20140052153A1
公开(公告)日：2014-02-20
申请号：US13967573
申请日：2013-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper
IPC: A61B19/00
CPC classification number: A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为单元的那些多个操纵器移动到与工作空间对准来促进并加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。
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公开(公告)号：US12179359B2
公开(公告)日：2024-12-31
申请号：US18474388
申请日：2023-09-26
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish Swarup , Paul G. Griffiths , Goran A. Lynch , Daniel N. Miller
IPC: G06F17/00 , A61B34/30 , B25J9/06 , B25J9/16 , B25J19/00 , B25J19/02 , A61B34/20 , A61B34/35 , A61B90/00 , A61B90/50
Abstract: Disturbance compensation in computer-assisted devices include an articulated arm comprising one or more first joints and one or more second joints and one or more processors coupled to the articulated arm. The articulated arm is configured to support an end effector. The one or more processors when executing instructions are configured to: detect a disturbance to the one or more first joints, the disturbance causing a point of interest associated with the end effector to move; determine a predicted motion of the point of interest based on the detected disturbance; and drive the one or more second joints to move the point of interest based on an error in a position of the point of interest indicated by the predicted motion.
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公开(公告)号：US11432886B2
公开(公告)日：2022-09-06
申请号：US16022602
申请日：2018-06-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Hanuschik
Abstract: Robotic and/or surgical devices, systems, and methods include a robotic device. The robotic device includes a manipulator, a drive unit coupled to the manipulator, and a processor coupled with the drive unit. The processor is configured determine that a cannula is mounted to the manipulator and inhibit, using the drive unit, manual articulation of the manipulator in response to determining that the cannula is mounted to the manipulator. In some embodiments, the robotic device further includes a linkage. The processor is further configured to determine a manual effort against the manipulator; inhibit, using the drive unit, the manual articulation of the linkage in response to the manual effort being below an articulation threshold; and facilitate, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the linkage in response to the manual effort exceeding the articulation threshold.
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