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公开(公告)号：US20190321117A1
公开(公告)日：2019-10-24
申请号：US16503403
申请日：2019-07-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Michael L. Hanuschik , Paul W. Mohr , Arjang M. Hourtash
Abstract: Systems and methods of recentering an input control include a control unit configured to suspend teleoperated control of an end effector by the input control in response to a recentering request, determine a recentering move for the input control to provide positional and orientational harmony between the input control and the end effector, execute the recentering move, and reinstate teleoperated control of the end effector by the input control. In some embodiments, to determine the recentering move the control unit is configured to determine one or more first positions associated with the end effector, map the first positions to a view coordinate system, map the first positions from the view coordinate system to a console workspace coordinate system, and determine one or more second positions for one or more control points on the input control, the control points corresponding to the mapped first positions in the console workspace coordinate system.
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公开(公告)号：US20190223966A1
公开(公告)日：2019-07-25
申请号：US16317440
申请日：2017-06-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Robert E. Holop , Anthony K. McGrogan , Jeffrey R. Roeder , Daniel H. Gomez , Arjang M. Hourtash , Thomas Brennan-Marquez , Probal Mitra
Abstract: A computer-assisted teleoperated system includes a pre-load assembly in an instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes an instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the instrument manipulator assembly. When the preload assembly configures the instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical instrument removal lockout.
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公开(公告)号：US10071479B2
公开(公告)日：2018-09-11
申请号：US15456394
申请日：2017-03-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nitish Swarup , Arjang M. Hourtash , Paul W. Mohr
IPC: G06F19/00 , G05B15/00 , B25J9/16 , B25J18/00 , A61B34/37 , A61B34/20 , A61B34/00 , A61B1/00 , A61B50/13 , A61B90/00 , A61B34/30
CPC classification number: B25J9/1643 , A61B1/00193 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B50/13 , A61B2034/107 , A61B2034/2059 , A61B2034/301 , A61B2034/742 , A61B2090/065 , B25J18/007 , G05B2219/40339 , G05B2219/40359 , G05B2219/40474
Abstract: Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.
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74.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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75.发明申请公开(公告)号：US20180153630A1
公开(公告)日：2018-06-07
申请号：US15885685
申请日：2018-01-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Nitish Swarup
CPC classification number: A61B34/30 , A61B34/37 , B25J9/1607 , B25J9/1638 , B25J9/1666 , B25J18/007
Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.
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Patent Agency Ranking
76.发明授权公开(公告)号：US09949801B2
公开(公告)日：2018-04-24
申请号：US15359405
申请日：2016-11-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Paul W. Mohr , Pushkar Hingwe , Paul Millman , Bruce Michael Schena , Roman L. Devengenzo , Scott Luke
CPC classification number: A61B34/37 , A61B1/00193 , A61B34/25 , A61B34/30 , A61B34/74 , A61B2034/742 , B25J9/1607 , Y10S901/15
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：US09757203B2
公开(公告)日：2017-09-12
申请号：US15351254
申请日：2016-11-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Pushkar Hingwe , Bruce Michael Schena , Roman L. Devengenzo
CPC classification number: A61B34/30 , A61B34/37 , A61B2034/305 , B25J9/1607 , B25J9/1676 , G05B2219/39135 , G05B2219/40202 , G05B2219/40371 , G05B2219/40471 , G05B2219/40492 , G05B2219/45117
Abstract: Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.
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公开(公告)号：US20170246743A1
公开(公告)日：2017-08-31
申请号：US15456394
申请日：2017-03-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nitish Swarup , Arjang M. Hourtash , Paul W. Mohr
CPC classification number: B25J9/1643 , A61B1/00193 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B50/13 , A61B2034/107 , A61B2034/2059 , A61B2034/301 , A61B2034/742 , A61B2090/065 , B25J18/007 , G05B2219/40339 , G05B2219/40359 , G05B2219/40474
Abstract: Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.
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公开(公告)号：US09675421B2
公开(公告)日：2017-06-13
申请号：US14802866
申请日：2015-07-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Pushkar Hingwe
CPC classification number: A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B2034/306 , B25J9/1607 , B25J9/1643 , G05B2219/40362 , G05B2219/40365 , G05B2219/40367
Abstract: Devices, systems, and methods are disclosed for cancelling movement of one or more joints of a telesurgical manipulator to effect manipulation movement of an end effector. Methods include calculating movement of joints within a null-perpendicular space to effect desired end effector movement while calculating movement of one or more locked joints within a null-space to cancel the movement of the locked joints within the null-perpendicular-space. Methods may further include calculating movement of one or more joints to effect an auxiliary movement or a reconfiguration movement that may include movement of one or more locked joints. The auxiliary and reconfiguration movements may overlay the manipulation movement of the joints to allow movement of the locked joints to effect the auxiliary movement or reconfiguration movement, while the movement of the locked joints to effect manipulation is canceled. Various configurations for devices and systems utilizing such methods are provided herein.
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公开(公告)号：US20170056117A1
公开(公告)日：2017-03-02
申请号：US15351254
申请日：2016-11-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Pushkar Hingwe , Bruce Michael Schena , Roman L. Devengenzo
CPC classification number: A61B34/30 , A61B34/37 , A61B2034/305 , B25J9/1607 , B25J9/1676 , G05B2219/39135 , G05B2219/40202 , G05B2219/40371 , G05B2219/40471 , G05B2219/40492 , G05B2219/45117
Abstract: Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.
Abstract translation: 用于通过在零空间内移动操纵器来避免操纵器臂和外部患者表面之间的碰撞的装置，系统和方法。 响应于确定避免几何和障碍物表面之间的距离对应于机械手对病人的距离小于期望的距离，系统计算操纵器的一个或多个关节或连杆的运动在该空间内 雅各布增加这个距离。 根据重新配置命令和计算的运动来驱动关节，以保持末端执行器的期望状态。 在一个方面，接头还根据在雅可比的空垂直空间内的计算的末端执行器移位运动来驱动，以实现末端执行器或远程中心的期望运动，同时通过移动来避免与患者之间的碰撞 零空间内的关节。
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