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    System and method for collision avoidance using virtual boundaries
    63.
    发明授权
    System and method for collision avoidance using virtual boundaries 有权

    公开(公告)号：US10717194B2

    公开(公告)日：2020-07-21

    申请号：US16079970

    申请日：2017-02-03

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Paul G. Griffiths ,  Nitish Swarup

    IPC: G06F19/00 ,  B25J9/16 ,  A61B34/00 ,  A61B34/30 ,  G16H50/50 ,  A61B34/32 ,  A61B34/35 ,  A61B90/00 ,  A61B34/20 ,  A61B34/10

    Abstract: A system and method of collision avoidance includes determining first positions of first joints of a first repositionable arm and second positions of second joints of a second repositionable arm. Distal ends of the first and second repositionable arms are configured to support first and second instruments, respectively. The system and method further include determining first and second virtual boundaries around the first and second repositionable arms, determining an overlap between the first and second virtual boundaries, determining an overlap force on the first repositionable arm due to the overlap, mapping the overlap force to virtual torques on the first joints proximal to the overlap, determining a tip force on a distal end of the first instrument, and applying the tip force as feedback on the first instrument.

    System and method for registering to a surgical table
    64.
    发明授权
    System and method for registering to a surgical table 有权

    公开(公告)号：US10555777B2

    公开(公告)日：2020-02-11

    申请号：US15522180

    申请日：2015-10-27

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz

    IPC: G05B19/18 ,  A61B34/20 ,  A61G13/04 ,  A61B34/32 ,  A61G13/10

    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.

    CONSTANT FORCE SPRING WITH ACTIVE BIAS
    66.
    发明申请
    CONSTANT FORCE SPRING WITH ACTIVE BIAS 审中-公开

    公开(公告)号：US20190083184A1

    公开(公告)日：2019-03-21

    申请号：US16193653

    申请日：2018-11-16

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Roman L. Devengenzo ,  Paul G. Griffiths

    IPC: A61B34/35 ,  B25J19/00 ,  B25J9/16 ,  B25J9/00

    Abstract: A compensated constant force spring device includes a bracket, a drum rotatably supported by the bracket, and a constant force spring wound on the drum. A motor is fixed to the bracket and provides a compensating force to the drum. The motor may be located in an interior volume of the drum. A control module may coupled to the motor to control the compensating force. A position sensor may be coupled to the control module. The compensating force may be responsive to a signal from the position sensor. The constant force spring may support a load and counterbalance gravitational forces on the load. The compensating force may be adjusted when the load approaches an end of a range of travel.

    Methods of Controlling Motion of Under-Actuated Joints in a Surgical Set-up Structure
    67.
    发明申请
    Methods of Controlling Motion of Under-Actuated Joints in a Surgical Set-up Structure 审中-公开

    公开(公告)号：US20180280098A1

    公开(公告)日：2018-10-04

    申请号：US16002509

    申请日：2018-06-07

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz

    IPC: A61B34/35 ,  B25J9/02 ,  A61B34/37 ,  A61B34/30 ,  B25J9/16 ,  A61B90/00 ,  A61B90/50

    Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In another aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.

    Methods of controlling motion of under-actuated joints in a surgical set-up structure
    68.
    发明授权
    Methods of controlling motion of under-actuated joints in a surgical set-up structure 有权

    公开(公告)号：US10022196B2

    公开(公告)日：2018-07-17

    申请号：US15126536

    申请日：2015-03-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz

    IPC: A61B34/00 ,  A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  B25J9/02 ,  B25J9/16 ,  A61B90/00 ,  A61B90/50

    Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In an other aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.

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