公开(公告)号：US09827059B2

公开(公告)日：2017-11-28

申请号：US15161158

申请日：2016-05-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Robinson ,  Thomas R. Nixon ,  Michael Hanuschik ,  Randal P. Goldberg ,  Jason Hemphill ,  David Q. Larkin ,  Paul Millman

IPC: G06F19/00 ,  A61B34/35 ,  A61B18/12 ,  A61B34/00 ,  A61B34/30 ,  A61B18/14 ,  A61B17/00 ,  A61B18/00

CPC classification number: A61B34/35 ,  A61B18/1206 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/76 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2017/00973 ,  A61B2018/00988

Abstract: A teleoperated surgical system may comprise a plurality of teleoperated surgical instruments; a user input device; and a controller operably coupled to the user input device and to the plurality of surgical instruments. The user input device may be configured to transmit an activation command to cause activation of a function of a first one of the plurality of surgical instruments in response to input at the user input device, the function being supported by remote-control supply equipment. The controller may be configured to output a feedback command to cause feedback to a user, the feedback indicating the first one of the plurality of surgical instruments is configured for activation in response to the activation command.

公开(公告)号：US20160030119A1

公开(公告)日：2016-02-04

申请号：US14814858

申请日：2015-07-31

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B19/00

CPC classification number: A61B34/37 ,  A61B2017/00075 ,  A61B2090/064

Abstract: Methods and systems for damping vibrations in a surgical system are disclosed herein. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive, active, or semi-active damper. 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 model and a feed-forward model.

Abstract translation: 本文公开了用于减轻手术系统中的振动的方法和系统。 手术系统可以包括一个或多个可移动的设置连接。 阻尼器可以与一个或多个安装连杆连接。 阻尼器可以是无源，有源或半主动阻尼器。 阻尼器可以减轻在其中一个装置连杆中产生的振动，并且阻尼器可以防止在其中一个连杆中产生的振动影响另一个装置连杆。 有源和半主动阻尼器可以通过反馈模型和前馈模型进行控制。