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    Phantom degrees of freedom in joint estimation and control
    76.
    发明授权
    Phantom degrees of freedom in joint estimation and control 有权
    幻影自由度联合估算和控制

    公开(公告)号：US09259280B2

    公开(公告)日：2016-02-16

    申请号：US13966494

    申请日：2013-08-14

    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 ,  A61B19/00

    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.

    Abstract translation: 用于操作外科系统的方法，装置和系统。 根据一种方法，测量手术器械的位置，所述手术器械被包括在具有多个关节和第一数量自由度的机械组件中，所述手术器械的位置被测量为 手术器械的第二数量的自由度。 该方法还包括估计每个关节的位置，其中估计每个关节的位置包括将位置测量值应用于机械组件的至少一个运动学模型，运动学模型具有大于 第一数量的自由度。 该方法还包括基于关节的估计位置来控制机械组件。

    Software Configurable Manipulator Degrees of Freedom
    77.
    发明申请
    Software Configurable Manipulator Degrees of Freedom 审中-公开
    软件可配置机器人自由度

    公开(公告)号：US20140276951A1

    公开(公告)日：2014-09-18

    申请号：US14218318

    申请日：2014-03-18

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang Hourtash ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Niels Smaby ,  Nitish Swarup

    IPC: A61B19/00

    CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B2034/2059

    Abstract: Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.

    Abstract translation: 用于控制机器人系统的多个操纵器组件的方法，装置和系统。 根据一种方法，经由第一操纵器组件的关节空间界面元件和关节之间的第一映射，在多个连接器输入元件的多个关节空间界面元件处接收第一多个传感器信号。 连接器输入元件一次可操作以仅耦合到一个操纵器组件。 然后接收的第一传感器信号用联合控制器处理，以便控制第一操纵器组件。 然后，经由与第一映射不同的第二映射，在联合空间接口元件处从连接器输入元件接收第二多个传感器信号。 然后接收的第二传感器信号用联合控制器处理，以便控制与第一操纵器组件不同的第二操纵器组件。

    PHANTOM DEGREES OF FREEDOM IN JOINT ESTIMATION AND CONTROL
    78.
    发明申请
    PHANTOM DEGREES OF FREEDOM IN JOINT ESTIMATION AND CONTROL 有权
    自由度在联合估计和控制中的PHANTOM度

    公开(公告)号：US20140052152A1

    公开(公告)日：2014-02-20

    申请号：US13966494

    申请日：2013-08-14

    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: A61B19/00

    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.

    Abstract translation: 用于操作外科系统的方法，装置和系统。 根据一种方法，测量手术器械的位置，所述手术器械被包括在具有多个关节和第一数量自由度的机械组件中，所述手术器械的位置被测量为 手术器械的第二数量的自由度。 该方法还包括估计每个关节的位置，其中估计每个关节的位置包括将位置测量值应用于机械组件的至少一个运动学模型，运动学模型具有大于 第一数量的自由度。 该方法还包括基于关节的估计位置控制机械组件。

    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS
    79.
    发明申请
    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS 有权
    用于操纵手术系统运动的自由度自由度

    公开(公告)号：US20140052151A1

    公开(公告)日：2014-02-20

    申请号：US13966437

    申请日：2013-08-14

    Applicant: Intuitive Surgical Operations, Inc.

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

    IPC: A61B19/00

    CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361

    Abstract: Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.

    Abstract translation: 用于通过患者的孔进行微创手术的方法，装置和系统。 根据一种方法，从与外科医生相关联的输入设备接收参数，所述参数指示通过所述孔定向的外科器械的末端执行器的期望状态。 手术器械包括在具有第一组关节的机械组件中。 然后计算指令，以便通过计算用于控制第二组接头的指令来控制机械组件，所述参数包括第一组接头和附加接头，附加接头不在机械组件中。 然后驱动机械组件，以便基于计算出的指令将末端执行器移动到期望状态。

    SYSTEMS AND METHODS FOR AVOIDING COLLISIONS BETWEEN MANIPULATOR ARMS USING A NULL-SPACE
    80.
    发明申请
    SYSTEMS AND METHODS FOR AVOIDING COLLISIONS BETWEEN MANIPULATOR ARMS USING A NULL-SPACE 有权
    使用空间空间来避免操纵杆之间碰撞的系统和方法

    公开(公告)号：US20130325030A1

    公开(公告)日：2013-12-05

    申请号：US13906819

    申请日：2013-05-31

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. HOURTASH ,  Pushkar Hingwe ,  Bruce Michael Schena ,  Roman L. Devengenzo

    IPC: A61B19/00

    CPC classification number: A61B34/30 ,  A61B34/37 ,  B25J9/1607 ,  B25J9/1643 ,  B25J9/1676 ,  G05B2219/39091 ,  G05B2219/39135 ,  G05B2219/40202 ,  G05B2219/40362 ,  G05B2219/40371 ,  G05B2219/40476 ,  G05B2219/40492 ,  G05B2219/45117

    Abstract: Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.

    Abstract translation: 提供了用于避免使用零空间的操纵臂之间的碰撞的装置，系统和方法。 在一个方面，系统使用多个操纵器的参考几何之间的关系来计算回避运动，以保持参考几何之间的间隔。 在某些实施例中，系统确定相邻参考几何之间的相对状态，确定参考几何之间的回避矢量，并且基于相对状态和回避矢量来计算雅可比的零空间内的一个或多个操纵器的回避运动。 可以根据计算的避免运动来驱动关节，同时保持末端执行器的期望状态或仪器轴枢转的远程中心位置，并且可以根据在零垂直空间内的末端执行器移位运动同时驱动关节 的雅可比人，以便实现末端执行器或远程中心的期望运动。

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