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51.发明申请公开(公告)号：US20200289213A1
公开(公告)日：2020-09-17
申请号：US16859892
申请日：2020-04-27
发明人： Nitish Swarup , Arjang M. Hourtash
摘要： A method of operating a robotic system involves servoing a multitude of joints of the robotic system in a first joint velocity space. The movement of the multitude of joints in the first velocity space moves a remote center or an end effector of the robotic system. The method further involves floating the multitude of joints in a second velocity space. The movement of the multitude of joints in the second velocity space moves the end effector or the remote center, respectively. The method further involves controlling motion of the multitude of joints in a third velocity space. The movement of the multitude of joints in the third velocity space does not move the end effector and does not move the remote center.
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公开(公告)号：US20190328484A1
公开(公告)日：2019-10-31
申请号：US16506867
申请日：2019-07-09
摘要： 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.
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公开(公告)号：US10405944B2
公开(公告)日：2019-09-10
申请号：US15522015
申请日：2015-10-27
IPC分类号： G06F19/00 , A61B90/50 , A61B34/30 , B25J9/00 , B25J9/06 , B25J9/16 , B25J19/00 , A61B34/35 , A61B34/37
摘要： 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.
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54.发明申请公开(公告)号：US20190262085A1
公开(公告)日：2019-08-29
申请号：US16407005
申请日：2019-05-08
摘要： 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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55.发明申请公开(公告)号：US20190183593A1
公开(公告)日：2019-06-20
申请号：US16284815
申请日：2019-02-25
发明人： Arjang M. Hourtash , Nitish Swarup
摘要： 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.
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公开(公告)号：US20190142533A1
公开(公告)日：2019-05-16
申请号：US16242750
申请日：2019-01-08
发明人： Brandon D. Itkowitz , Paul G. Griffiths , Jason Hemphill , Goran A. Lynch , Daniel N. Miller , Patrick O'Grady , Nitish Swarup , Kamyar Ziaei
摘要： 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.
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57.发明授权公开(公告)号：US10285764B2
公开(公告)日：2019-05-14
申请号：US15118305
申请日：2015-02-19
发明人： Paul G. Griffiths , Paul W. Mohr , Nitish Swarup , Michael Costa , David Q. Larkin , Thomas G. Cooper
摘要： 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.
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公开(公告)号：US20190090968A1
公开(公告)日：2019-03-28
申请号：US16204449
申请日：2018-11-29
发明人： Nitish Swarup , David W. Robinson
摘要： Systems and methods are provided for the elimination/mitigation of vibration arising from a mode transition during robotic operation include a moveable robotic mechanism and a processor configured to control the robotic mechanism. The processor is configured to detect a request for a mode transition, wherein the request for the mode transition designates a new mode that is different than a current mode, determine initial parameters of the robotic mechanism, calculate a smoothing curve, and move the robotic mechanism according to the smoothing curve. The initial parameters include a position and a velocity of the robotic mechanism. The smoothing curve transitions between the current mode and the new mode and is C3 continuous. In some embodiments, to calculate the smoothing curve, the processor is configured to establish a first command position, calculate a step value, and set a second command position based on the first command position and the step value.
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公开(公告)号：US10226306B2
公开(公告)日：2019-03-12
申请号：US15522169
申请日：2015-10-27
发明人： Brandon D. Itkowitz , Paul G. Griffiths , Jason Hemphill , Goran A. Lynch , Daniel N. Miller , Patrick O'Grady , Nitish Swarup , Kamyar Ziaei
摘要： 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.
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公开(公告)号：US10136947B2
公开(公告)日：2018-11-27
申请号：US14808639
申请日：2015-07-24
发明人： Paul G. Griffiths , Arjang M. Hourtash , Paul W. Mohr , David W. Robinson , Nitish Swarup , John W. Zabinski , Mark W. Zimmer
摘要： 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.
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