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    Teleoperated surgical system with surgical instrument wear tracking
    51.
    发明授权
    Teleoperated surgical system with surgical instrument wear tracking 有权

    公开(公告)号：US11311347B2

    公开(公告)日：2022-04-26

    申请号：US16349208

    申请日：2017-11-10

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Pushkar Hingwe ,  Amy E. Kerdok ,  William C. Nowlin ,  David W. Robinson

    IPC: A61B34/35 ,  A61B34/00 ,  A61B90/98 ,  A61B34/20 ,  A61B90/00

    Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.

    System for moveable element position indication
    54.
    发明授权
    System for moveable element position indication 有权

    公开(公告)号：US10881469B2

    公开(公告)日：2021-01-05

    申请号：US16253612

    申请日：2019-01-22

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Robinson

    IPC: A61B34/20 ,  A61B34/30 ,  A61B18/14 ,  A61B17/00 ,  A61B17/072 ,  A61B90/98 ,  A61B90/00

    Abstract: A system for moveable element position indication includes an end effector having a jaw for clamping a material, a moveable element within the end effector, a drive element drivingly coupled with the moveable element via a mechanism, and a processor. The processor is configured to track a kinematic chain of the moveable element by determining a displacement of the drive element and determining a displacement of the mechanism, determine a position of the moveable element relative to the end effector using the tracked kinematic chain, and display an indicator of the position of the moveable element relative to the end effector. The position is determined from among a pre-cut position, a cut-complete position, and any position between the pre-cut position and the cut-complete position. In some embodiments, the moveable element includes a cutting blade. In some embodiments, the indicator is superimposed over an image of the end effector.

    Active and semi-active damping in a telesurgical system
    55.
    发明授权
    Active and semi-active damping in a telesurgical system 有权

    公开(公告)号：US10779902B2

    公开(公告)日：2020-09-22

    申请号：US16102614

    申请日：2018-08-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Roman L. Devengenzo ,  Bruce M. Schena ,  David W. Robinson

    IPC: A61B34/37 ,  A61B17/00 ,  A61B90/00

    Abstract: A surgical system includes methods and systems for damping vibrations. The surgical system can include one or several moveable set-up linkages. A passive, active, or semi-active damper can be connected with one or several of the set-up linkages. The damper can mitigate a vibration arising in one of the set-up linkages and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback or a feed-forward model. In some embodiments, the system includes a first link supported by a base, a second link, a damper having a variable portion coupling the first link to the second link, and a processor. The processor is configured to detect a movement or a vibration of the second link and adjust the variable portion of the damper based on the detected movement or vibration.

    COMMAND SHAPING TO DAMPEN VIBRATIONS IN MODE TRANSITIONS
    58.
    发明申请
    COMMAND SHAPING TO DAMPEN VIBRATIONS IN MODE TRANSITIONS 审中-公开

    公开(公告)号：US20190090968A1

    公开(公告)日：2019-03-28

    申请号：US16204449

    申请日：2018-11-29

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Nitish Swarup ,  David W. Robinson

    IPC: A61B34/30 ,  A61B34/00 ,  A61B34/37 ,  A61B34/35

    Abstract: 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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