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    AUXILIARY IMAGE DISPLAY AND MANIPULATION ON A COMPUTER DISPLAY IN A MEDICAL ROBOTIC SYSTEM
    71.
    发明申请
    AUXILIARY IMAGE DISPLAY AND MANIPULATION ON A COMPUTER DISPLAY IN A MEDICAL ROBOTIC SYSTEM 审中-公开
    辅助图像显示和操纵在医疗机器人系统中的计算机显示

    公开(公告)号：US20160235496A1

    公开(公告)日：2016-08-18

    申请号：US15139682

    申请日：2016-04-27

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Brian David Hoffman ,  Rajesh Kumar ,  David Q. Larkin ,  Giuseppe Prisco ,  Nitish Swarup ,  Guanghua G. Zhang

    IPC: A61B34/37 ,  A61B1/04 ,  A61B18/12 ,  A61B34/10 ,  A61B5/00 ,  A61B1/00 ,  A61B5/055 ,  A61B1/313

    Abstract: To assist a surgeon performing a medical procedure, auxiliary images generally indicating internal details of an anatomic structure being treated are displayed and manipulated by the surgeon on a computer display screen to supplement primary images generally of an external view of the anatomic structure. A master input device controlling a robotic arm in a first mode may be switched by the surgeon to a second mode in order to function instead as a mouse-like pointing device to facilitate the surgeon performing such auxiliary information display and manipulation.

    Abstract translation: 为了帮助外科医生执行医疗程序，通常由显示屏和外科医生在计算机显示屏幕上显示和操作通常指示正在治疗的解剖结构的内部细节的辅助图像，以补充大体上解剖结构的外部视图的主要图像。 控制第一模式中的机器人手臂的主输入装置可以由外科医生切换到第二模式，以便改为用作鼠标式指示装置，以便于外科医生执行这种辅助信息的显示和操作。

    System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
    72.
    发明授权
    System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement 有权
    用于通过在零空间垂直的空间中捕捉来定位操纵臂的系统和方法与空 - 空运动同时发生

    公开(公告)号：US09415510B2

    公开(公告)日：2016-08-16

    申请号：US14218788

    申请日：2014-03-18

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Arjang Hourtash ,  Nitish Swarup

    IPC: A61B19/00 ,  B25J9/16 ,  B25J18/00

    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.

    Abstract translation: 用于通过在零垂直接合速度子空间内漂浮第一组接头并提供操纵臂的近端部分的期望状态或运动来定位操纵臂的末端执行器或远程中心的装置，系统和方法 通过在垂直于零垂直空间的零空间内驱动第二组关节而与末端执行器定位同时进行。 方法包括在空 - 垂直空间内漂浮第一组关节，以允许在工作空间内手动定位远程中心或末端执行器位置中的一个或两个，并根据在空值内计算的辅助运动来驱动第二组关节 - 在关节浮动期间根据所需状态或操纵臂的移动。 本文提供了利用这种方法的装置和系统的各种配置。

    Systems and methods for tracking a path using the null-space
    73.
    发明授权
    Systems and methods for tracking a path using the null-space 有权
    使用零空间跟踪路径的系统和方法

    公开(公告)号：US09296104B2

    公开(公告)日：2016-03-29

    申请号：US14218862

    申请日：2014-03-18

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Nitish Swarup ,  Arjang Hourtash ,  Paul Mohr

    IPC: G05B15/00 ,  G05B19/00 ,  B25J9/16 ,  B25J18/00 ,  A61B19/00

    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.

    Abstract translation: 用于提供具有冗余自由度的多个关节的操纵臂的一个或多个关节的期望运动的装置，系统和方法，同时执行操纵器的远端执行器的命令运动。 方法包括在由一个或多个关节限定的关节空间内限定诸如路径网络的约束，并且确定多个关节在零空间内的运动以跟踪所述一个或多个关节的约束。 方法还可以包括计算关节的重新配置运动并修改约束以与一个或多个关节的重新配置的位置一致。 本文提供了利用这种方法的装置和系统的各种配置。

    SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT
    74.
    发明申请
    SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT 有权
    通过空间运动的空间空间中的离散化来定位操纵臂的系统和方法

    公开(公告)号：US20140276952A1

    公开(公告)日：2014-09-18

    申请号：US14218788

    申请日：2014-03-18

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Arjang Hourtash ,  Nitish Swarup

    IPC: A61B19/00 ,  B25J9/16

    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.

    Abstract translation: 用于通过在零垂直接合速度子空间内漂浮第一组接头并提供操纵臂的近端部分的期望状态或运动来定位操纵臂的末端执行器或远程中心的装置，系统和方法 通过在垂直于零垂直空间的零空间内驱动第二组关节而与末端执行器定位同时进行。 方法包括在空 - 垂直空间内漂浮第一组关节，以允许在工作空间内手动定位远程中心或末端执行器位置中的一个或两个，并根据在空值内计算的辅助运动来驱动第二组关节 - 在关节浮动期间根据所需状态或操纵臂的移动。 本文提供了利用这种方法的装置和系统的各种配置。

    SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT
    76.
    发明申请
    SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT 有权

    公开(公告)号：US20240366322A1

    公开(公告)日：2024-11-07

    申请号：US18772513

    申请日：2024-07-15

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Nitish Swarup ,  Arjang M. Hourtash

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

    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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