公开(公告)号：US20190090968A1

公开(公告)日：2019-03-28

申请号：US16204449

申请日：2018-11-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  David W. Robinson

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/37 ,  A61B34/35

Abstract: Systems and methods are provided for the elimination/mitigation of vibration arising from a mode transition during robotic operation include a moveable robotic mechanism and a processor configured to control the robotic mechanism. The processor is configured to detect a request for a mode transition, wherein the request for the mode transition designates a new mode that is different than a current mode, determine initial parameters of the robotic mechanism, calculate a smoothing curve, and move the robotic mechanism according to the smoothing curve. The initial parameters include a position and a velocity of the robotic mechanism. The smoothing curve transitions between the current mode and the new mode and is C3 continuous. In some embodiments, to calculate the smoothing curve, the processor is configured to establish a first command position, calculate a step value, and set a second command position based on the first command position and the step value.

公开(公告)号：US10226306B2

公开(公告)日：2019-03-12

申请号：US15522169

申请日：2015-10-27

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: G06F19/00 ,  A61B34/30 ,  A61G13/02 ,  A61B34/00

Abstract: A system and method for an integrated surgical table includes a medical device including an articulated arm having one or more first and second joints and a control unit. The articulated arm has at least a cannula, an endoscope, or an instrument mounted distal to the first and second joints, which is inserted into a patient at a body opening. The control unit unlocks the first joints, receives a surgical table movement request, determines whether the surgical table movement request should be granted, allows the surgical table to perform the requested movement based on the determining, uses the first joints to allow the articulated arm to track movement of the body opening based on forces applied by a body wall at the body opening, and compensates for changes in a pose of the cannula, endoscope, or instrument due to the tracked movement by performing compensating motions in the second joints.

公开(公告)号：US10136947B2

公开(公告)日：2018-11-27

申请号：US14808639

申请日：2015-07-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Arjang M. Hourtash ,  Paul W. Mohr ,  David W. Robinson ,  Nitish Swarup ,  John W. Zabinski ,  Mark W. Zimmer

IPC: A61B19/02 ,  G05D1/00 ,  B25J5/00 ,  A61B50/18 ,  A61B50/10 ,  A61B50/13 ,  A61B34/30

Abstract: A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.

公开(公告)号：US20180296284A1

公开(公告)日：2018-10-18

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 ,  B25J9/16 ,  B25J13/08 ,  A61B90/00 ,  A61B18/00

CPC classification number: A61B34/30 ,  A61B2018/00666 ,  A61B2018/00672 ,  A61B2018/00678 ,  A61B2034/305 ,  A61B2090/035 ,  B25J9/1689 ,  B25J9/1694 ,  B25J13/085 ,  B25J13/088

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.

公开(公告)号：US20180263718A1

公开(公告)日：2018-09-20

申请号：US15985529

申请日：2018-05-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul Griffiths ,  Paul Mohr ,  Nitish Swarup ,  Michael Costa ,  David Larkin ,  Thomas Cooper ,  Michael Hanuschik

IPC: A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B34/32

CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B34/32 ,  A61B90/50 ,  A61B2034/304 ,  A61B2090/508 ,  Y10S901/02

Abstract: Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.

公开(公告)号：US09840276B2

公开(公告)日：2017-12-12

申请号：US15463740

申请日：2017-03-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Alan W. Petersen ,  David Robinson ,  Nitish Swarup ,  Mark W. Zimmer ,  Alexander Makhlin ,  Julio Santos-Munne ,  Eric Faulring ,  Thomas Moyer

IPC: B62D6/10 ,  B62D1/12 ,  A61B50/10 ,  A61B50/13 ,  A61B34/35 ,  A61B90/00 ,  A61B50/18 ,  A61B17/00 ,  A61B34/30

CPC classification number: B62D6/10 ,  A61B34/30 ,  A61B34/35 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2017/00123 ,  A61B2017/00482 ,  A61B2050/185 ,  A61B2090/064 ,  B62D1/12

Abstract: A patient side cart for a teleoperated surgical system can include one or more wheels positioned to support the cart for wheeled motion on a ground surface, at least one manipulator portion for holding a surgical instrument, a steering interface having a grasping portion and comprising a sensor positioned to sense turning, fore, and aft forces exerted on the grasping portion to move the cart, wherein the sensor is in signal communication with a drive control system of the patient side cart, and an additional sensor operatively coupled to the drive control system. The additional sensor may be positioned between the steering interface and the wheels on a side of the cart at which the steering interface is positioned, wherein in response to a force exerted on the additional sensor during backward motion of the cart in response to an aft force exerted on the grasping portion, the sensor sends a signal to the drive control system to stop motion of the cart.

公开(公告)号：US09730572B2

公开(公告)日：2017-08-15

申请号：US14663854

申请日：2015-03-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher J. Hasser ,  Nitish Swarup ,  Thomas G. Cooper ,  S. Christopher Anderson

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/05 ,  A61B1/008 ,  A61B34/00 ,  A61B34/37 ,  A61B34/35 ,  A61B1/04 ,  A61B1/018 ,  A61B17/00 ,  A61B34/30

CPC classification number: A61B1/0055 ,  A61B1/00142 ,  A61B1/00149 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/018 ,  A61B1/05 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00243 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

公开(公告)号：US20170181801A1

公开(公告)日：2017-06-29

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: A61B34/35 ,  A61B50/10 ,  A61B50/18 ,  A61B34/30

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B50/10 ,  A61B50/18 ,  A61B2017/00017 ,  A61B2034/304 ,  A61B2050/105

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.

公开(公告)号：US20170095303A1

公开(公告)日：2017-04-06

申请号：US15295673

申请日：2016-10-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Nitish Swarup

IPC: A61B34/37 ,  B25J18/00 ,  A61B18/14 ,  B25J9/16 ,  A61B34/00 ,  A61B1/00

CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B2018/00595 ,  B25J9/1607 ,  B25J18/007

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 calculating weighted joint velocities using a weighting matrix within the joint space to anisotropically emphasize joint movement within a null-space to provide the desired movement of a first set of joints. Methods may include calculating joint velocities that achieve the desired end effector movement using a pseudo-inverse solution and adjusting the calculated joint velocities using a potential function gradient within the joint space corresponding to the desired movement of the first set of joints. Methods may include use of a weighted pseudo-inverse solution and also an augmented Jacobian solution. One or more auxiliary movements may also be provided using joint velocities calculated from the pseudo-inverse solution. Various configurations for systems utilizing such methods are provided herein.

公开(公告)号：US20160242859A1

公开(公告)日：2016-08-25

申请号：US15147171

申请日：2016-05-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory K. Toth ,  Nitish Swarup ,  Thomas R. Nixon ,  David Q. Larkin ,  Steven J. Colton

IPC: A61B34/32 ,  A61B34/37

CPC classification number: A61B34/32 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305 ,  G05B2219/45123 ,  G05B2219/49305 ,  G16H40/40 ,  Y10S901/02 ,  Y10S901/41

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

Abstract translation: 用于机器人手术和其他机器人应用的机器人设备，系统和方法，和/或医疗仪器装置，系统和方法包括可重复使用的处理器和有限使用的机器人工具或医疗处理探针。 存储器的有限使用组件包括具有由处理器实现的数据和/或编程指令的机器可读代码。 处理器的编程可以通过由处理器从组件下载而运送新数据来更新，后续组件可以利用更新的处理器而不重复下载。