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公开(公告)号：US10117714B2
公开(公告)日：2018-11-06
申请号：US15488173
申请日：2017-04-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
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62.发明申请
公开(公告)号：US20180214225A1
公开(公告)日：2018-08-02
申请号：US15927978
申请日：2018-03-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Paul W. Mohr , Pushkar Hingwe , Paul Millman , Bruce M. Schena , Roman L. Devengenzo , Scott Luke
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.
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公开(公告)号：US20180028268A1
公开(公告)日：2018-02-01
申请号：US15726733
申请日：2017-10-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
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公开(公告)号：US20170188792A1
公开(公告)日：2017-07-06
申请号：US15262932
申请日：2015-03-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC
Inventor： Brandon D. Itkowitz , Ian E. McDowall , Thomas R. Nixon , Bruce M. Schena , Niels Samby
Abstract: A medical imaging system comprises a teleoperational assembly and a processing unit including one or more processors. The processing unit is configured for receiving a roll position indicator for an imaging instrument coupled to the teleoperational assembly. The imaging instrument has a view angle greater than 0° relative (e.g., 30 degrees) to an optical axis of the imaging instrument. The processing unit is further configured for obtaining first image data from the imaging instrument coupled to the teleoperational assembly at a first roll position and for obtaining subsequent image data from the imaging instrument coupled to the teleoperational assembly at a second roll position. The processing unit is further configured for coordinating a roll movement of the imaging instrument between the first and second roll positions with a transition between presentation of the first image data and the subsequent image data.
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公开(公告)号：US20150051733A1
公开(公告)日：2015-02-19
申请号：US14462507
申请日：2014-08-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
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公开(公告)号：US08912746B2
公开(公告)日：2014-12-16
申请号：US13662390
申请日：2012-10-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Robert Cyrus Reid , John W. Zabinski , Alan Eton Loh , Bruce M. Schena , David W. Weir , Gregory W. Dachs, II , David W. Bailey , Melody Wu
CPC classification number: A61B19/2203 , A61B17/29 , A61B34/30 , A61B34/37 , A61B2017/00477 , A61B2034/302 , Y10T403/60
Abstract: A latch mechanism selectively retains a first assembly to a second assembly. The first and second assemblies are configured for sliding engagement along an engagement axis. The latch mechanism includes a latch shaft mounted to the first assembly to rotate about a latch shaft axis, a torsion spring to bias the latch shaft relative to the first assembly, and a transverse latch member coupled with the second assembly. The latch mechanism is configured to automatically latch in response to the first assembly being pushed toward the second assembly. The transverse latch member interacts with the latch shaft to rotate the latch shaft in a first direction in response to movement of the first assembly toward the second assembly. Further motion of the first assembly toward the second assembly results in rotation of the latch shaft opposite to the first direction into a retention configuration that retains the transverse latch member.
Abstract translation: 闩锁机构选择性地将第一组件保持在第二组件上。 第一和第二组件被构造成沿着接合轴线滑动接合。 闩锁机构包括安装到第一组件以围绕闩锁轴线旋转的闩锁轴，相对于第一组件偏压闩锁轴的扭转弹簧以及与第二组件联接的横向闩锁构件。 闩锁机构构造成响应于第一组件被推向第二组件而自动锁定。 横向闩锁构件与闩锁轴相互作用以响应于第一组件朝向第二组件的移动而沿第一方向旋转闩锁轴。 第一组件朝向第二组件的进一步运动导致闩锁轴与第一方向相反的旋转成保持横向闩锁构件的保持构造。
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公开(公告)号：US20140276950A1
公开(公告)日：2014-09-18
申请号：US14218300
申请日：2014-03-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Niels Smaby , Gregory Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
IPC: A61B19/00
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361
Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.
Abstract translation: 公开了用于控制远程外科手术系统的方法，装置和系统。 根据一种方法，控制连接到系统的第一操纵器的第一工具和连接到系统的第二操纵器的第二工具。 然后检测工具的交换，使得第一工具连接到第二操纵器并且第二工具连接到第一操纵器。 然后控制连接到第二操纵器的第一工具和连接到第一操纵器的第二工具。
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公开(公告)号：US20130226197A1
公开(公告)日：2013-08-29
申请号：US13761439
申请日：2013-02-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola Diolaiti , David Q. Larkin , Thomas G. Cooper , Bruce M. Schena
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/361 , A61B2034/2046 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2063 , A61B2034/2072 , A61B2034/305 , A61B2090/371 , A61B2090/374 , A61B2090/376 , G05B19/19 , G05B2219/45117 , Y10S901/30
Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.
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公开(公告)号：US20130110129A1
公开(公告)日：2013-05-02
申请号：US13662390
申请日：2012-10-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Robert Cyrus Reid , John W. Zabinski , Alan Eton Loh , Bruce M. Schena , David W. Weir , Gregory W. Dachs, II , David W. Bailey , Melody Wu
CPC classification number: A61B19/2203 , A61B17/29 , A61B34/30 , A61B34/37 , A61B2017/00477 , A61B2034/302 , Y10T403/60
Abstract: A latch mechanism selectively retains a first assembly to a second assembly. The first and second assemblies are configured for sliding engagement along an engagement axis. The latch mechanism includes a latch shaft mounted to the first assembly to rotate about a latch shaft axis, a torsion spring to bias the latch shaft relative to the first assembly, and a transverse latch member coupled with the second assembly. The latch mechanism is configured to automatically latch in response to the first assembly being pushed toward the second assembly. The transverse latch member interacts with the latch shaft to rotate the latch shaft in a first direction in response to movement of the first assembly toward the second assembly. Further motion of the first assembly toward the second assembly results in rotation of the latch shaft opposite to the first direction into a retention configuration that retains the transverse latch member.
Abstract translation: 闩锁机构选择性地将第一组件保持在第二组件上。 第一和第二组件被构造成沿着接合轴线滑动接合。 闩锁机构包括安装到第一组件以围绕闩锁轴线旋转的闩锁轴，相对于第一组件偏压闩锁轴的扭转弹簧以及与第二组件联接的横向闩锁构件。 闩锁机构构造成响应于第一组件被推向第二组件而自动锁定。 横向闩锁构件与闩锁轴相互作用以响应于第一组件朝向第二组件的移动而沿第一方向旋转闩锁轴。 第一组件朝向第二组件的进一步运动导致闩锁轴与第一方向相反的旋转成保持横向闩锁构件的保持构造。
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公开(公告)号：US20250047824A1
公开(公告)日：2025-02-06
申请号：US18924370
申请日：2024-10-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Derek C. Liou , Ian E. McDowall , Jonathan D. Halderman , Doris Lin , John A. Barton , Bruce M. Schena , Kierstin Gray Parrish
Abstract: An illustrative apparatus includes an objective lens system mounted in a distal end of the apparatus, the objective lens system having a lengthwise axis; and a window mounted in a distal face of the apparatus, the window having a surface oriented at an angle to the lengthwise axis of the objective lens system.
