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    CATHETERS WITH CONTROL MODES FOR INTERCHANGEABLE PROBES
    552.
    发明申请
    CATHETERS WITH CONTROL MODES FOR INTERCHANGEABLE PROBES 审中-公开

    公开(公告)号：US20190192819A1

    公开(公告)日：2019-06-27

    申请号：US16283039

    申请日：2019-02-22

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Vincent Duindam ,  Giuseppe Maria Prisco

    IPC: A61M25/01 ,  A61B34/30

    CPC classification number: A61M25/0133 ,  A61B18/24 ,  A61B34/30 ,  A61B2034/2061 ,  A61B2034/301 ,  A61M25/0113 ,  A61M25/0147 ,  A61M25/0158 ,  A61M2025/0166

    Abstract: A medical system comprises a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter. The medical system also comprises a sensor configured to at least partly measure a pose of the distal tip and a control system coupled to the mechanical system. The control system includes a memory operable to store parameters of a working configuration of the distal tip of the catheter and a plurality of operating modes including a holding mode in which the control system operates the mechanical system to actively maintain the working configuration of the distal tip based on feedback from the sensor. The control system also includes a plurality of modules. During activation of the holding mode, the plurality of modules is configured to sense a current pose of the distal tip and determine a difference between the current pose and the working configuration. The difference is due to an external disturbance. Without user input, the plurality of modules is also configured to operate the mechanical system to move the catheter to minimize the difference between the current pose and the working configuration.

    SYSTEM AND METHOD FOR INSTRUMENT DISTURBANCE COMPENSATION
    556.
    发明申请
    SYSTEM AND METHOD FOR INSTRUMENT DISTURBANCE COMPENSATION 审中-公开

    公开(公告)号：US20190176327A1

    公开(公告)日：2019-06-13

    申请号：US16275232

    申请日：2019-02-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

    IPC: B25J9/16 ,  B25J9/06 ,  B25J19/02 ,  B25J19/00 ,  A61B34/30

    Abstract: Systems and methods for instrument disturbance compensation include a computer-assisted device. The computer-assisted device includes an articulated arm having a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to detect a disturbance to the articulated arm caused by a release of one or more brakes of the plurality of joints and maintain a position of a point of interest associated with the articulated arm by compensating for the disturbance using one or more joints of the plurality of joints. In some embodiments, the point of interest is a tip of an end effector of the articulated arm. In some embodiments, the control unit is configured to determine a predicted motion for the point of interest based on the disturbance and send a drive command to move the point of interest in a direction opposite to the predicted motion.

    Cut and seal instrument
    558.
    发明授权
    Cut and seal instrument 有权

    公开(公告)号：US10314644B2

    公开(公告)日：2019-06-11

    申请号：US14492763

    申请日：2014-09-22

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Salvatore Brogna

    IPC: A61B18/14 ,  A61B17/00 ,  A61B18/00 ,  A61B90/00

    Abstract: A surgical system including a cartridge having a first tissue sealing electrode and a surgical instrument including a first jaw and a second jaw, wherein the first jaw comprises a second tissue sealing electrode facing the second jaw, and wherein the second jaw is configured to removably receive the cartridge in a position where the first tissue sealing electrode is opposite the second tissue sealing electrode. The surgical system further includes a cut and seal controller, wherein the cut and seal controller automatically generates a command to the surgical instrument to reduce a clamping force between the first and the second jaws after sensing that tissue sealing is complete.

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