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    System and method for breakaway clutching in an articulated arm
    51.
    发明授权
    System and method for breakaway clutching in an articulated arm 有权

    公开(公告)号：US10449008B2

    公开(公告)日：2019-10-22

    申请号：US16014619

    申请日：2018-06-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Daniel Miller ,  Nitish Swarup ,  Michael Turner ,  Arjang M. Hourtash ,  Paul G. Griffiths ,  Paul W. Mohr

    IPC: A61B34/30 ,  B25J13/08 ,  B25J9/16 ,  A61B18/00 ,  A61B90/00

    Abstract: A system and method of breakaway clutching in a computer-assisted medical device includes an articulated arm having one or more first joints and a control unit coupled to the articulated arm and having one or more processors. The control unit operates each of the first joints in multiple states. The multiple states include a locked state, wherein movement of respective first joints is restricted, and a float state, wherein movement of the respective first joints is permitted. The control unit further switches one or more second joints selected from the first joints from the locked state to the float state when a stimulus on the second joints exceeds one or more unlock thresholds and switches the second joints from the float state to the locked state when a velocity of each of the second joints is below one or more lock thresholds.

    Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
    57.
    发明授权
    Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space 有权
    使用零空间命令重新配置外科手术器械的系统和方法

    公开(公告)号：US09517106B2

    公开(公告)日：2016-12-13

    申请号：US13906767

    申请日：2013-05-31

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke

    IPC: G06F19/00 ,  A61B19/00

    CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/74 ,  A61B2034/742 ,  B25J9/1607 ,  Y10S901/15

    Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

    Abstract translation: 通过在操纵臂的运动学雅可比的零空间内移动操纵器来重新配置外科手术器械的装置，系统和方法。 在一个方面，响应于接收到重新配置命令，系统驱动第一组关节并且计算多个关节的速度在零空间内。 根据重新配置命令和计算的运动来驱动关节，以便保持末端执行器或仪器轴枢转的远程中心的期望状态。 在另一方面，接头还根据计算的末端执行器或雅可比的零垂直空间内的远程中心移动速度被驱动，以便与末端执行器或远程中心的所需运动同时实现期望的重新配置。

    SYSTEMS AND METHODS FOR COMMANDED RECONFIGURATION OF A SURGICAL MANIPULATOR USING THE NULL-SPACE
    59.
    发明申请
    SYSTEMS AND METHODS FOR COMMANDED RECONFIGURATION OF A SURGICAL MANIPULATOR USING THE NULL-SPACE 有权
    使用空间空间进行手术操纵手术的指令重建的系统和方法

    公开(公告)号：US20140358161A1

    公开(公告)日：2014-12-04

    申请号：US13906767

    申请日：2013-05-31

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. HOURTASH ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke

    IPC: A61B19/00

    CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/74 ,  A61B2034/742 ,  B25J9/1607 ,  Y10S901/15

    Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

    Abstract translation: 通过在操纵臂的运动学雅可比的零空间内移动操纵器来重新配置外科手术器械的装置，系统和方法。 在一个方面，响应于接收到重新配置命令，系统驱动第一组关节并且计算多个关节的速度在零空间内。 根据重新配置命令和计算的运动来驱动关节，以便保持末端执行器或仪器轴枢转的远程中心的期望状态。 在另一方面，接头还根据计算的末端执行器或雅可比的零垂直空间内的远程中心移动速度被驱动，以便与末端执行器或远程中心的所需运动同时实现期望的重新配置。

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