公开(公告)号：US11129684B2

公开(公告)日：2021-09-28

申请号：US16743218

申请日：2020-01-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Nitish Swarup ,  Paul G. Griffiths ,  Goran Lynch

IPC: G01B21/04 ,  A61B34/00 ,  A61B34/30 ,  A61B1/00 ,  B25J9/16 ,  A61B17/00 ,  A61B34/20

Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted device include an articulated structure including a plurality of joints and a control unit coupled to the articulated structure. The control unit is configured to determine whether a cannula or an instrument is coupled to a distal end of the articulated structure and in response to determining that the cannula or the instrument is coupled to the distal end of the articulated structure: determine an initial position and orientation of the instrument prior to detection of a disturbance in a first joint of the plurality of joints; determine, during the disturbance in the first joint, a current position and orientation of the instrument; determine a difference between the current position and orientation and the initial position and orientation; and drive at least a second joint of the plurality of joints based on the difference.

公开(公告)号：US11109924B2

公开(公告)日：2021-09-07

申请号：US16859892

申请日：2020-04-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nitish Swarup ,  Arjang M. Hourtash

IPC: A61B34/30 ,  B25J9/16 ,  B25J18/00 ,  A61B34/37

Abstract: 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.

公开(公告)号：US10993772B2

公开(公告)日：2021-05-04

申请号：US16242750

申请日：2019-01-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul G. Griffiths ,  Jason Hemphill ,  Goran A. Lynch ,  Daniel N. Miller ,  Patrick O'Grady ,  Nitish Swarup ,  Kamyar Ziaei

IPC: G06F17/00 ,  A61B34/30 ,  A61G13/02 ,  A61B34/00

Abstract: 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.

公开(公告)号：US20200289213A1

公开(公告)日：2020-09-17

申请号：US16859892

申请日：2020-04-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nitish Swarup ,  Arjang M. Hourtash

IPC: A61B34/30 ,  B25J9/16 ,  B25J18/00 ,  A61B34/37

Abstract: 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.

公开(公告)号：US20190328484A1

公开(公告)日：2019-10-31

申请号：US16506867

申请日：2019-07-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B90/50 ,  A61B34/35 ,  B25J19/00 ,  B25J9/16 ,  A61B34/30 ,  B25J9/06 ,  B25J9/00

Abstract: 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.

公开(公告)号：US10405944B2

公开(公告)日：2019-09-10

申请号：US15522015

申请日：2015-10-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06F19/00 ,  A61B90/50 ,  A61B34/30 ,  B25J9/00 ,  B25J9/06 ,  B25J9/16 ,  B25J19/00 ,  A61B34/35 ,  A61B34/37

Abstract: 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.

公开(公告)号：US20190262085A1

公开(公告)日：2019-08-29

申请号：US16407005

申请日：2019-05-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Nitish Swarup ,  Pushkar Hingwe

IPC: A61B34/30 ,  A61B34/00 ,  B25J9/16

Abstract: 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.

公开(公告)号：US20190183593A1

公开(公告)日：2019-06-20

申请号：US16284815

申请日：2019-02-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Nitish Swarup

IPC: A61B34/30 ,  B25J9/16 ,  A61B34/37 ,  B25J18/00

Abstract: 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.

公开(公告)号：US20190142533A1

公开(公告)日：2019-05-16

申请号：US16242750

申请日：2019-01-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul G. Griffiths ,  Jason Hemphill ,  Goran A. Lynch ,  Daniel N. Miller ,  Patrick O'Grady ,  Nitish Swarup ,  Kamyar Ziaei

IPC: A61B34/30 ,  A61G13/02 ,  A61B34/00

Abstract: 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.

公开(公告)号：US10285764B2

公开(公告)日：2019-05-14

申请号：US15118305

申请日：2015-02-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Nitish Swarup ,  Michael Costa ,  David Q. Larkin ,  Thomas G. Cooper

IPC: A61B34/30 ,  A61B34/35 ,  A61B50/10 ,  A61B50/18 ,  A61B17/00

Abstract: 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.