中科微点-全球专利检索

  1. Login
  2. Sign Up

Search Results

88 records (took 0.046 seconds)

    Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator
    48.
    发明授权
    Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator 有权
    用于减少内部产生的摩擦和惯性阻力的控制系统，以手动定位外科手术器械

    公开(公告)号：US09198730B2

    公开(公告)日：2015-12-01

    申请号：US14490090

    申请日：2014-09-18

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin

    IPC: A61B17/00 ,  A61B19/00 ,  B25J9/16

    CPC classification number: A61B34/30 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/75 ,  A61B90/361 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1689 ,  G05B2219/41213 ,  G05B2219/41426 ,  Y10S901/02 ,  Y10S901/15 ,  Y10S901/28 ,  Y10S901/30

    Abstract: A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.

    Abstract translation: 机器人控制系统被置于离合器模式中，使得保持手术器械的从操作器暂时脱离主操纵器的控制，以允许手术器械在患者体内的手术部位手动定位。 在处理器中实现的控制系统补偿在定位期间经历的内部产生的摩擦和惯性阻力，从而使得移动者更容易移动，并且从控制的角度来看稳定。 每个控制系统使用饱和转矩指令信号来驱动从动操纵器中的联合马达，该饱和转矩指令信号使用估计的关节角速度产生以补偿非线性粘滞力，库伦摩擦，齿槽效应和经受关节的惯性力， 通过从与关节相关联的传感器接收到的采样位移测量，由控制系统中的观察者产生的加速度和外部施加的扭矩。

    Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument
    49.
    发明授权
    Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument 有权
    用于远程操作的微创外科手术器械的对准的棘轮

    公开(公告)号：US08903549B2

    公开(公告)日：2014-12-02

    申请号：US13839438

    申请日：2013-03-15

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Günter D. Niemeyer ,  David S. Mintz

    IPC: G05B19/18 ,  B25J9/16 ,  A61B19/00

    CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

    Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.

    Abstract translation: 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。

    Cooperative minimally invasive telesurgical system
    50.
    发明授权
    Cooperative minimally invasive telesurgical system 有权
    合作微创远程手术系统

    公开(公告)号：US08666544B2

    公开(公告)日：2014-03-04

    申请号：US13938933

    申请日：2013-07-10

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, Jr. ,  Michael J. Tierney

    IPC: G06F19/00 ,  G05B19/04

    CPC classification number: A61B19/2203 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506 ,  G06F19/00 ,  G09B23/285

    Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

    Abstract translation: 改进的机器人手术系统，装置和方法包括可选择地可关联的主/从对，通常具有比外科医生的两只手同时移动的更多的操纵臂。 四个操纵臂可以支撑图像捕获装置，左手组织操作工具，右手组织操作工具和第四手术器械，特别是用于稳定，缩回，换刀或受益于间歇运动的其他功能。 四个或更多个臂可以顺序地由左和右主输入控制装置控制。 第四臂可以用于支持另一图像捕获装置，并且可以在操作者和助手之间来回传送一些或所有臂的控制。 可以耦合两个或更多个具有主控制器和从动操纵器的机器人系统，以实现两个或多个操作者之间的协作手术。

Patent Agency Ranking