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公开(公告)号：US20160367334A1
公开(公告)日：2016-12-22
申请号：US15121341
申请日：2015-03-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Roman L. Devengenzo , Paul G. Griffiths
CPC classification number: A61B34/35 , A61B34/30 , A61B90/03 , A61B90/50 , A61B2090/5025 , B25J9/0033 , B25J9/1689 , B25J19/0004 , F16M13/022
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.
Abstract translation: 补偿恒力弹簧装置包括支架，由支架可旋转地支撑的滚筒和卷绕在滚筒上的恒力弹簧。 电机固定在支架上，并向滚筒提供补偿力。 马达可以位于滚筒的内部容积中。 控制模块可以耦合到电动机以控制补偿力。 位置传感器可以耦合到控制模块。 补偿力可以响应于来自位置传感器的信号。 恒力弹簧可以支撑载荷和平衡载荷上的重力。 当负载接近行程范围的一端时，可以调节补偿力。
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公开(公告)号：US12232834B2
公开(公告)日：2025-02-25
申请号：US18544238
申请日：2023-12-18
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
Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes articulating means; means for receiving, via a means for communicatively coupling the computer-assisted device with a table means, a table movement request from a table command means, the table means being separate from the computer-assisted device; means for determining whether the table movement request should be allowed; and means for allowing the table means to perform the table movement request based on determining that the table movement request should be allowed.
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公开(公告)号：US12144574B2
公开(公告)日：2024-11-19
申请号：US17289999
申请日：2019-10-31
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. Griffiths , Xingchi He
Abstract: A system and method of assisting tool exchange includes a computer-assisted device having a manipulator configured to have at least one tool of multiple tools mounted thereon and a control unit coupled to the manipulator. The control unit is configured to detect initiation of a tool exchange, locate a source of a replacement tool to be mounted to the manipulator, determine, based on the located source, a configuration of the manipulator that facilitates mounting of the replacement tool to the manipulator, and command movement of the manipulator into the configuration. In some embodiments, the control unit is configured to determine the configuration further based on a type of the source of the replacement tool. In some embodiments, to locate the source of the replacement tool, the control unit is configured to locate at least a part of an assistant or locate a tool holding device.
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公开(公告)号：US12089904B2
公开(公告)日：2024-09-17
申请号：US18306046
申请日：2023-04-24
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel Miller , Nitish Swarup , Michael Turner , Arjang M. Hourtash , Paul G. Griffiths , Paul W. Mohr
CPC classification number: A61B34/30 , B25J9/1689 , B25J9/1694 , B25J13/085 , B25J13/088 , A61B2018/00666 , A61B2018/00672 , A61B2018/00678 , A61B2034/305 , A61B2090/035
Abstract: A system and method of breakaway clutching in a device includes an arm having a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold. Movement of the first joint is more restricted in the first state than in the second state. The control unit further switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. The first threshold is based on at least one first property of the arm. The speed threshold is based on at least one second property of the arm.
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公开(公告)号：US11806875B2
公开(公告)日：2023-11-07
申请号：US17459175
申请日：2021-08-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish Swamp , Paul G. Griffiths , Goran A. Lynch , Daniel N. Miller
IPC: G06F17/00 , B25J9/16 , A61B34/30 , B25J9/06 , B25J19/00 , B25J19/02 , A61B90/00 , A61B34/20 , A61B90/50 , A61B34/35
CPC classification number: B25J9/1641 , A61B34/30 , B25J9/06 , B25J9/1607 , B25J9/1653 , B25J9/1682 , B25J19/0004 , B25J19/021 , A61B34/35 , A61B90/361 , A61B2034/2059 , A61B2034/305 , A61B2090/373 , A61B2090/508 , Y10S901/02
Abstract: Disturbance compensation in computer-assisted devices include a first articulated arm configured to support an imaging device a second articulated arm configured to support an end effector, and a control unit coupled to the first articulated arm and the second articulated arm. The control unit is configured to set a first reference frame, where the first reference frame is based on a first position of the imaging device at a first time. The control unit is further configured to detect a first disturbance to the first articulated arm moving the imaging device away from the first position, receive a command to move the end effector, and transform the command to move the end effector from a command in the first reference frame to a command in a reference frame for the end effector.
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Patent Agency Ranking
公开(公告)号：US11696803B2
公开(公告)日：2023-07-11
申请号：US17835604
申请日：2022-06-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. Griffiths , Brandon D. Itkowitz , Goran A. Lynch
CPC classification number: A61B34/35 , A61B34/20 , A61B34/30 , A61B34/32 , A61B34/37 , A61B17/00234 , A61B2018/00898 , A61B2034/2059
Abstract: Techniques for monitoring control points of a computer-assisted device include a first articulated arm associated with a first control point and a control unit coupled to the first articulated arm. The control unit is configured to determine a first expected path representative of expected positions of the first control point over time when a movement of the first control point is caused by a movement of a table that moves the first articulated arm, the table being separate from the computer-assisted device; determine a first actual path representative of actual positions of the first control point over time when the movement of the first control point is caused by the movement of the table; determine whether to perform a first remedial action based on the first actual path and the first expected path; and in response to a determination to perform the first remedial action, perform the first remedial action.
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公开(公告)号：US11666400B2
公开(公告)日：2023-06-06
申请号：US17167237
申请日：2021-02-04
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul G. Griffiths , Brandon D. Itkowitz , Thomas R. Nixon
CPC classification number: A61B34/35 , A61B34/25 , A61B34/30 , A61B46/10 , A61B50/10 , A61B50/13 , A61B2050/105 , A61B2050/185
Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. It also includes an input device configured to receive an input to move all the arms of the plurality of motorized surgical arms to a pre-established position. A processing system is configured to receive the input form the input device and output control signals to each arm of the plurality of motorized surgical arms to move each arm to the pre-established position.
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公开(公告)号：US11660154B2
公开(公告)日：2023-05-30
申请号：US17196870
申请日：2021-03-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel Miller , Nitish Swarup , Michael Turner , Arjang M. Hourtash , Paul G. Griffiths , Paul W. Mohr
CPC classification number: A61B34/30 , B25J9/1689 , B25J9/1694 , B25J13/085 , B25J13/088 , A61B2018/00666 , A61B2018/00672 , A61B2018/00678 , A61B2034/305 , A61B2090/035
Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold, wherein movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint, switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold, and prevents the switching of the first joint from the first state to the second state when the arm is in a predetermined mode.
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公开(公告)号：US11485016B2
公开(公告)日：2022-11-01
申请号：US16896083
申请日：2020-06-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. Griffiths , Nitish Swarup
IPC: B25J9/00 , 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 a position and an orientation, the position and the orientation being of a repositionable arm or of an instrument, the repositionable arm being configured to support the instrument; determining, based on the position and the orientation, a plurality of first virtual boundaries around the repositionable arm or the instrument; determining a second virtual boundary around an object; determining a first overlap force on the repositionable arm due to a first overlap between the second virtual boundary and a virtual boundary of the plurality of first virtual boundaries; determining a tip force on a distal end of the instrument based on the first overlap force; and applying the tip force as a first feedback force on the instrument or the repositionable arm.
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公开(公告)号：US20210387338A1
公开(公告)日：2021-12-16
申请号：US17459175
申请日：2021-08-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish Swarup , Paul G. Griffiths , Goran A. Lynch , Daniel N. Miller
Abstract: Disturbance compensation in computer-assisted devices include a first articulated arm configured to support an imaging device a second articulated arm configured to support an end effector, and a control unit coupled to the first articulated arm and the second articulated arm. The control unit is configured to set a first reference frame, where the first reference frame is based on a first position of the imaging device at a first time. The control unit is further configured to detect a first disturbance to the first articulated arm moving the imaging device away from the first position, receive a command to move the end effector, and transform the command to move the end effector from a command in the first reference frame to a command in a reference frame for the end effector.
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