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    Control input accuracy for teleoperated surgical instrument
    591.
    发明授权
    Control input accuracy for teleoperated surgical instrument 有权

    公开(公告)号：US10098705B2

    公开(公告)日：2018-10-16

    申请号：US15128234

    申请日：2015-03-31

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Gabriel F. Brisson ,  Niels Smaby ,  Melody Wu

    IPC: A61B34/37 ,  A61B90/00

    Abstract: A surgical system having a patient side cart having at least one telesurgically operated instrument, the at least one telesurgically operated instrument comprising a surgical end effector having a plurality of effector components. A transmission is coupled to a motor. The drive train includes at least a first effector drive train and a second effector drivetrain. A controller comprises at least one processor for controlling the transmission. The controller is performs a method by locking an output gear of the second effector drivetrain rotating a camshaft to shift coupling of the motor from the first effector drivetrain to the second effector drivetrain; determining that the output gear is aligned by driving the locked output gear using a first torque; determining that the output gear is properly braked by driving the locked output gear using a second torque; disengaging the lock from the output gear; and driving the second effector drivetrain using the motor.

    End effector with redundant closing mechanisms
    592.
    发明授权
    End effector with redundant closing mechanisms 有权

    公开(公告)号：US10098635B2

    公开(公告)日：2018-10-16

    申请号：US14980233

    申请日：2015-12-28

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： William A. Burbank

    IPC: A61B17/072 ,  A61B17/285 ,  A61B34/00 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/15 ,  A61B34/37 ,  A61B17/00 ,  A61B17/29 ,  A61B17/32

    Abstract: End effectors with redundant closing mechanisms, and related tools and methods are disclosed. The disclosed end effectors may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises an elongate shaft having a proximal end and a distal end, a tool body disposed at the distal end of the shaft, a jaw movable relative to the tool body between a clamped configuration and an open configuration, a first actuation mechanism coupled with the jaw and operable to vary the position of the jaw relative to the tool body between the clamped configuration and the open configuration, and a second actuation mechanism coupled with the jaw. The second actuation mechanism has a first configuration where the jaw is held in the clamped configuration and a second configuration where the position of the jaw relative to the tool body is unconstrained by the second actuation mechanism.

    SYSTEM AND METHOD FOR REGISTERING TO A SURGICAL TABLE
    593.
    发明申请
    SYSTEM AND METHOD FOR REGISTERING TO A SURGICAL TABLE 审中-公开

    公开(公告)号：US20180289427A1

    公开(公告)日：2018-10-11

    申请号：US15522180

    申请日：2015-10-27

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ

    IPC: A61B34/20 ,  A61B34/32 ,  A61G13/10 ,  A61G13/04

    Abstract: A system and method of registering a surgical table and a computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. The articulated arm has a distally mounted instrument configured to be inserted into a patient at a body opening. The control unit is configured to detect a first motion of a surgical table coupled to the control unit via a communications connection. The first motion of the surgical table causes a corresponding second motion of a control point of the articulated arm. The control unit is further configured to determine a first angular direction of the first motion in a surgical table coordinate frame, determine a second angular direction of the second motion in a computer-assisted medical device coordinate frame, and determine a third angular relationship between the surgical table and the computer-assisted medical device based on the first and second angular directions.

    System and method for multi-resolution sharpness transport across color channels
    596.
    发明授权
    System and method for multi-resolution sharpness transport across color channels 有权

    公开(公告)号：US10089724B2

    公开(公告)日：2018-10-02

    申请号：US15595656

    申请日：2017-05-15

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Wenyi Zhao ,  Simon P. DiMaio ,  David D. Scott

    IPC: G06T5/00 ,  G06T5/10

    Abstract: Provided are a system and method for image sharpening is provided that involves capturing an image, and then decomposing the image into a plurality of image-representation components, such as RGB components for example. Each image-representation component is transformed to obtain an unsharpened multi-resolution representation for each image-representation component. A multi-resolution representation includes a plurality of transformation level representations. Sharpness information is transported from an unsharpened transformation level representation of a first one of the image-representation components to a transformation level representation of an unsharpened multi-resolution representation of a second one of the image-representation components to create a sharpened multi-resolution representation of the second one of the image-representation components. The sharpened multi-resolution representation of the second one of the image-representation components is then transformed to obtain a sharpened image. The improved and sharpened image may then be displayed.

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