公开(公告)号：US10779899B2

公开(公告)日：2020-09-22

申请号：US16016436

申请日：2018-06-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz ,  Thomas R. Nixon ,  Roman Devengenzo

IPC: A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  A61B90/50 ,  F16M13/02 ,  B25J9/00 ,  B25J9/16 ,  B25J19/00 ,  A61B90/00

Abstract: Devices, systems, and methods include a teleoperated system including a kinematic structure having a joint, a drive or brake system for controlling the joint, and a computing unit coupled with the drive or brake system. The computing unit is configured to detect that the joint is between a software defined range of motion limit for the joint and a physical range of motion limit for the joint, the software defined range of motion limit being spaced a distance apart from the physical range of motion limit and delay for a duration of time, in response to detecting the joint between the software defined range of motion limit and the physical range of motion limit, applying the drive or brake system to stop motion of the joint.

公开(公告)号：US10751135B2

公开(公告)日：2020-08-25

申请号：US15558525

申请日：2016-03-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths

IPC: B25J1/00 ,  A61B34/30 ,  B25J9/16 ,  B25J13/02 ,  B25J19/00 ,  A61B34/00 ,  B25J1/02 ,  B25J3/04 ,  A61B90/50 ,  A61B34/35 ,  A61B34/37 ,  B25J9/06

Abstract: A system and method of providing feedback during manual joint positioning includes a computer-assisted medical device. The computer-assisted medical device includes an articulated arm comprising a joint and a control unit coupled to the articulated arm. The control unit is configured to provide feedback during manual positioning of the joint by determining a target position for the joint, determining kinematics of the joint relative to the target position, and providing feedback based on the kinematics of the joint.

公开(公告)号：US20190328484A1

公开(公告)日：2019-10-31

申请号：US16506867

申请日：2019-07-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Goran A. Lynch ,  Daniel N. Miller

IPC: A61B90/50 ,  A61B34/35 ,  B25J19/00 ,  B25J9/16 ,  A61B34/30 ,  B25J9/06 ,  B25J9/00

Abstract: A computer-assisted device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send one or more first commands to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner, detect a disturbance in a point of interest of the computer-assisted device caused by each brake of the plurality of brakes as the brake is released, and send one or more second commands to the plurality of joints to compensate for the disturbance. In some embodiments, the one or more first commands prevent simultaneous release of two or more brakes of the plurality of brakes. In some embodiments, the one or more first commands cause brakes of the plurality of brakes to release within a predetermined time of each other.

公开(公告)号：US10405944B2

公开(公告)日：2019-09-10

申请号：US15522015

申请日：2015-10-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Goran A. Lynch ,  Daniel N. Miller

IPC: G06F19/00 ,  A61B90/50 ,  A61B34/30 ,  B25J9/00 ,  B25J9/06 ,  B25J9/16 ,  B25J19/00 ,  A61B34/35 ,  A61B34/37

Abstract: A computer-assisted medical device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send a command to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner. In some embodiments the predetermined staggered manner prevents the simultaneous release of the plurality of breaks. In some examples, the predetermined staggered manner causes each brake in the plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to begin a gradual release within a predetermined time of each other.

公开(公告)号：US20190142533A1

公开(公告)日：2019-05-16

申请号：US16242750

申请日：2019-01-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul G. Griffiths ,  Jason Hemphill ,  Goran A. Lynch ,  Daniel N. Miller ,  Patrick O'Grady ,  Nitish Swarup ,  Kamyar Ziaei

IPC: A61B34/30 ,  A61G13/02 ,  A61B34/00

Abstract: A system and method for integrated table motion includes a device. The device includes an articulated arm having joints and a distal portion distal to the joints and a control unit. To support integrated motion with a separate table, the control unit is configured to receive a table movement request from the table, determine whether allowing the table movement request would result in a first joint of the joints being at a range of motion limit, allow the table to perform the table movement request based on determining that allowing the table to perform the table movement request would not result in the first joint being at the range of motion limit, track movement of the table due to performing the table movement request, and maintain, using the joints and based on the tracked movement, a position and/or an orientation of the distal portion relative to the table.

公开(公告)号：US10285764B2

公开(公告)日：2019-05-14

申请号：US15118305

申请日：2015-02-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Nitish Swarup ,  Michael Costa ,  David Q. Larkin ,  Thomas G. Cooper

IPC: A61B34/30 ,  A61B34/35 ,  A61B50/10 ,  A61B50/18 ,  A61B17/00

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.

公开(公告)号：US10226306B2

公开(公告)日：2019-03-12

申请号：US15522169

申请日：2015-10-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul G. Griffiths ,  Jason Hemphill ,  Goran A. Lynch ,  Daniel N. Miller ,  Patrick O'Grady ,  Nitish Swarup ,  Kamyar Ziaei

IPC: G06F19/00 ,  A61B34/30 ,  A61G13/02 ,  A61B34/00

Abstract: A system and method for an integrated surgical table includes a medical device including an articulated arm having one or more first and second joints and a control unit. The articulated arm has at least a cannula, an endoscope, or an instrument mounted distal to the first and second joints, which is inserted into a patient at a body opening. The control unit unlocks the first joints, receives a surgical table movement request, determines whether the surgical table movement request should be granted, allows the surgical table to perform the requested movement based on the determining, uses the first joints to allow the articulated arm to track movement of the body opening based on forces applied by a body wall at the body opening, and compensates for changes in a pose of the cannula, endoscope, or instrument due to the tracked movement by performing compensating motions in the second joints.

公开(公告)号：US10136947B2

公开(公告)日：2018-11-27

申请号：US14808639

申请日：2015-07-24

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: A61B19/02 ,  G05D1/00 ,  B25J5/00 ,  A61B50/18 ,  A61B50/10 ,  A61B50/13 ,  A61B34/30

Abstract: A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.

公开(公告)号：US20180296284A1

公开(公告)日：2018-10-18

申请号：US16014619

申请日：2018-06-21

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 ,  A61B90/00 ,  A61B18/00

CPC classification number: A61B34/30 ,  A61B2018/00666 ,  A61B2018/00672 ,  A61B2018/00678 ,  A61B2034/305 ,  A61B2090/035 ,  B25J9/1689 ,  B25J9/1694 ,  B25J13/085 ,  B25J13/088

Abstract: A system and method of breakaway clutching in a computer-assisted medical device includes an articulated arm having one or more first joints and a control unit coupled to the articulated arm and having one or more processors. The control unit operates each of the first joints in multiple states. The multiple states include a locked state, wherein movement of respective first joints is restricted, and a float state, wherein movement of the respective first joints is permitted. The control unit further switches one or more second joints selected from the first joints from the locked state to the float state when a stimulus on the second joints exceeds one or more unlock thresholds and switches the second joints from the float state to the locked state when a velocity of each of the second joints is below one or more lock thresholds.

公开(公告)号：US20180078320A1

公开(公告)日：2018-03-22

申请号：US15558525

申请日：2016-03-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths

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

CPC classification number: A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B34/77 ,  A61B2090/508 ,  B25J1/02 ,  B25J3/04 ,  B25J9/06 ,  B25J9/1689 ,  B25J13/025 ,  B25J19/0004

Abstract: A system and method of providing feedback during manual joint positioning includes a computer-assisted medical device. The computer-assisted medical device includes an articulated arm comprising a joint and a control unit coupled to the articulated arm. The control unit is configured to provide feedback during manual positioning of the joint by determining a target position for the joint, determining kinematics of the joint relative to the target position, and providing feedback based on the kinematics of the joint.