公开(公告)号：US11648072B2

公开(公告)日：2023-05-16

申请号：US17065483

申请日：2020-10-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Hsien-Hsin Liao ,  Brandon D. Itkowitz ,  Julie L. Berry ,  Pushkar Hingwe

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/70 ,  A61B2090/064 ,  A61B2090/066

Abstract: Systems and methods for instrument control include first and second actuators and a controller configured to command the first actuator to maintain a first degree of freedom (DOF) of an instrument at a first position; command the second actuator to maintain a second DOF of the instrument at a second position; detect, while the first actuator is maintaining the first DOF at the first position, a first manual actuation of the first actuator that exceeds a first threshold; detect, while the second actuator is maintaining the second DOF at the second position, a second manual actuation of the second actuator that does not exceed a second threshold; and in response to detecting that the first manual actuation exceeds the first threshold and the second manual actuation does not exceed the second threshold, terminate the command to the first actuator to maintain the first DOF at the first position.

公开(公告)号：US10973519B2

公开(公告)日：2021-04-13

申请号：US16072356

申请日：2017-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Gabriel F. Brisson ,  William A. Burbank ,  Amir Chaghajerdi ,  Patrick Flanagan ,  Pushkar Hingwe ,  Andrew Wilson ,  Donald F. Wilson, Jr. ,  Matthew A. Wixey

IPC: A61B17/072 ,  A61B34/10 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B34/30 ,  A61B90/00 ,  A61B34/20

Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.

公开(公告)号：US10905507B2

公开(公告)日：2021-02-02

申请号：US16925030

申请日：2020-07-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Niels Smaby ,  Gregory W. Dachs, II ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Thomas R. Nixon ,  Bruce M. Schena ,  Nitish Swarup

IPC: B25J19/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30 ,  B25J19/02 ,  B25J19/04

Abstract: A system includes a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, determine a first reference frame for the first imaging device based on the mounting of the first imaging device to the first manipulator, detect mounting of a second imaging device to a second manipulator of the plurality of manipulators, select the first imaging device as a reference imaging device, and in response to selecting the first imaging device as the reference imaging device, control the second imaging device relative to the first reference frame. In some embodiments, the controller is configured to select the first imaging device as the reference imaging device in response to the first imaging device being mounted prior to the second imaging device operator selection or based on a type of the first imaging device.

公开(公告)号：US10806530B2

公开(公告)日：2020-10-20

申请号：US15580629

申请日：2016-06-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Hsien-Hsin Liao ,  Julie L. Berry ,  Pushkar Hingwe ,  Brandon D. Itkowitz

IPC: A61B34/30 ,  A61B34/35 ,  A61B34/00 ,  A61B90/00

Abstract: A surgical instrument is configured to be installed for use on a teleoperated surgical system. A surgeon or other medical person controls the surgical instrument by manipulating one or more control inputs. Computer-assisted teleoperated actuators of the teleoperated surgical system move one or more surgical instrument mechanical degrees of freedom in response to movements of the one or more control inputs. A teleoperated surgical system is provided to enable a surgeon or medical person to manually control one or more surgical instrument mechanical degrees of freedom, while the surgical instrument is installed for use on the teleoperated surgical system.

公开(公告)号：US10743953B2

公开(公告)日：2020-08-18

申请号：US16194149

申请日：2018-11-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Niels Smaby ,  Gregory W. Dachs, II ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Thomas R. Nixon ,  Bruce M. Schena ,  Nitish Swarup

IPC: A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00

Abstract: A system includes manipulators and a controller. The controller is configured to detect mounting of an imaging device to a first manipulator of the manipulators, determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator, control a tool relative to the first reference frame by controlling a relative position and orientation of a tip of the tool relative to the imaging device in the first reference frame by correlating movement of a master input control to movement of the tool in the first reference frame, detect mounting of the imaging device to a second manipulator of the manipulators, the second manipulator being different from the first manipulator, determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator, and control the tool relative to the second reference frame.

公开(公告)号：US20200214776A1

公开(公告)日：2020-07-09

申请号：US16349208

申请日：2017-11-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pushkar Hingwe ,  Amy E. Kerdok ,  William C. Nowlin ,  David W. Robinson

IPC: A61B34/35 ,  A61B90/98 ,  A61B34/00

Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.

公开(公告)号：US10682191B2

公开(公告)日：2020-06-16

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

IPC: A61B34/37 ,  B25J18/00 ,  B25J9/16 ,  A61B34/30 ,  A61B34/00 ,  A61B1/00

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.

公开(公告)号：US10327855B2

公开(公告)日：2019-06-25

申请号：US15512495

申请日：2015-09-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Nitish Swarup ,  Pushkar Hingwe

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  B25J9/16

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 augmenting a Jacobian so that joint movements calculated from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.

公开(公告)号：US20180325611A1

公开(公告)日：2018-11-15

申请号：US15774848

申请日：2016-11-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David W. Robinson ,  Gabriel F. Brisson ,  Amir Chaghajerdi ,  Pushkar Hingwe ,  Donald F. Wilson, Jr.

IPC: A61B34/35 ,  A61B34/37

Abstract: Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end effector so that at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.

公开(公告)号：US10052167B2

公开(公告)日：2018-08-21

申请号：US15428009

申请日：2017-02-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Arjang M. Hourtash ,  Amy E. Kerdok ,  Michael Turner

IPC: G06F19/00 ,  A61B34/37 ,  A61B34/10

CPC classification number: A61B34/37 ,  A61B34/10 ,  A61B34/30 ,  A61B2034/104 ,  Y10S901/15 ,  Y10S901/29 ,  Y10S901/41

Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.