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    TENSION CONTROL IN ACTUATION OF MULTI-JOINT MEDICAL INSTRUMENTS
    53.
    发明申请
    TENSION CONTROL IN ACTUATION OF MULTI-JOINT MEDICAL INSTRUMENTS 审中-公开

    公开(公告)号：US20200146761A1

    公开(公告)日：2020-05-14

    申请号：US16745906

    申请日：2020-01-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Samuel Kwok Wai Au ,  Giuseppe Maria Prisco

    IPC: A61B34/30

    Abstract: A medical instrument system includes a plurality of joints, a plurality of actuators, and a plurality of transmission systems. The transmission systems have proximal ends respectively coupled to the actuators. Each of the transmission systems have a distal end attached to an associated one of the joints to allow the transmission of a force for articulation of the medical instrument system. The system also includes a sensor coupled to measure a configuration of the medical instrument; and a control system coupled to receive configuration data, including a current configuration of a tip of the medical instrument from the sensor and a desired configuration of the tip of the medical instrument. Using the difference between the desired configuration and the current configuration of the tip of the medical instrument, the control system generates control signals for the actuators that cause the actuators to apply a set of tensions to the plurality of transmission systems.

    Tension control in actuation of multi-joint medical instruments
    54.
    发明授权
    Tension control in actuation of multi-joint medical instruments 有权

    公开(公告)号：US10568708B2

    公开(公告)日：2020-02-25

    申请号：US15649148

    申请日：2017-07-13

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Samuel Kwok Wai Au ,  Giuseppe Maria Prisco

    IPC: A61B34/30 ,  A61B34/00

    Abstract: A medical instrument system includes a plurality of joints, a plurality of actuators, and a plurality of transmission systems. The transmission systems have proximal ends respectively coupled to the actuators. Each of the transmission systems have a distal end attached to an associated one of the joints to allow the transmission of a force for articulation of the medical instrument system. The system also includes a sensor coupled to measure a configuration of the medical instrument; and a control system coupled to receive configuration data, including a current configuration of a tip of the medical instrument from the sensor and a desired configuration of the tip of the medical instrument. Using the difference between the desired configuration and the current configuration of the tip of the medical instrument, the control system generates control signals for the actuators that cause the actuators to apply a set of tensions to the plurality of transmission systems.

    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS
    57.
    发明申请
    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS 审中-公开
    用于操纵手术系统运动的自由度自由度

    公开(公告)号：US20160175061A1

    公开(公告)日：2016-06-23

    申请号：US15057069

    申请日：2016-02-29

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Pushkar Hingwe ,  Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Arjang M. Hourtash ,  Amy E. Kerdok ,  Michael Turner

    IPC: A61B34/30 ,  A61B34/37

    CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361

    Abstract: Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.

    Abstract translation: 用于通过患者的孔进行微创手术的方法，装置和系统。 根据一种方法，从与外科医生相关联的输入设备接收参数，所述参数指示通过所述孔定向的外科器械的末端执行器的期望状态。 手术器械包括在具有第一组关节的机械组件中。 然后计算指令，以便通过计算用于控制第二组接头的指令来控制机械组件，所述参数包括第一组接头和附加接头，附加接头不在机械组件中。 然后驱动机械组件，以便基于计算出的指令将末端执行器移动到期望状态。

    Flexible Surgical Devices
    58.
    发明申请
    Flexible Surgical Devices 审中-公开
    柔性手术器械

    公开(公告)号：US20150245826A1

    公开(公告)日：2015-09-03

    申请号：US14713793

    申请日：2015-05-15

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Katherine D. Stoy ,  Giuseppe Maria Prisco ,  Samuel Kwok Wai Au ,  Carolyn Fenech

    IPC: A61B17/00

    CPC classification number: A61B17/00234 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/00318 ,  A61B2017/00336

    Abstract: A surgical device comprises a tube including a proximal segment and a distal segment and a plurality of force transmission elements coupled to the tube. The force transmission elements are actuatable to alter the distal segment of the tube between a flexible state and a stiffened state. The device also comprises a plurality of routing members. Each routing member is coupled to a wall of the tube. The routing members are configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. The device also comprises a decoupling structure that generates a reduced force transmitted to the proximal segment when an applied force is applied to the distal segment by the force transmission elements.

    Abstract translation: 手术装置包括管，其包括近端段和远端段以及耦合到管的多个力传递元件。 力传递元件可致动以在柔性状态和加强状态之间改变管的远端段。 该设备还包括多个路由组件。 每个布线构件联接到管的壁。 路由构件被构造成沿着管的长度接收并布置力传递元件，同时允许管的长度弯曲和压缩。 该装置还包括解耦结构，当通过力传递元件将施加的力施加到远侧段时，该解耦结构产生传递到近端段的力。

    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES
    59.
    发明申请
    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES 有权
    用于操纵机械运动的自由度自由度

    公开(公告)号：US20140052298A1

    公开(公告)日：2014-02-20

    申请号：US13966406

    申请日：2013-08-14

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Amy E. Kerdok ,  Michael Turner

    IPC: B25J9/16

    CPC classification number: A61B34/37 ,  A61B34/35 ,  B25J9/16 ,  B25J9/1689 ,  G05B2219/40195 ,  G05B2219/45123 ,  Y10S901/02

    Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.

    Abstract translation: 用于控制机械体运动的方法，装置和系统。 根据一种方法，接收标识机械体的期望运动的期望运动信息，机械体具有第一数量的自由度。 然后通过将接收到的期望运动信息应用于运动学模型来生成多个指令，运动学模型具有大于第一自由度数量的第二数量的自由度，每个指令被配置为控制对应的 第二个自由度之一。 然后传输多个指令的子集用于控制机械体的第一数量的自由度。

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