公开(公告)号：US09907458B2

公开(公告)日：2018-03-06

申请号：US13915564

申请日：2013-06-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bruce M. Schena

IPC: A61B34/00 ,  A61B1/04 ,  A61B1/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B1/04 ,  A61B1/00149 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  B25J17/0258 ,  B25J18/007 ,  Y10T74/20305

Abstract: A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.

公开(公告)号：US20170296277A1

公开(公告)日：2017-10-19

申请号：US15640045

申请日：2017-06-30

Applicant: Intuitive Surgical Operations, Inc.

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

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

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.

公开(公告)号：US09782230B2

公开(公告)日：2017-10-10

申请号：US15298130

申请日：2016-10-19

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: G06F19/00 ,  A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361

Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.

公开(公告)号：US09554859B2

公开(公告)日：2017-01-31

申请号：US14462507

申请日：2014-08-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC: A61B19/00 ,  B25J3/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/065 ,  B25J3/00 ,  B25J9/1682 ,  B25J9/1689 ,  G05B2219/39135 ,  G05B2219/39212 ,  G05B2219/39322 ,  G05B2219/40184 ,  G05B2219/45117

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

Abstract translation: 远程手术，远程外科手术和/或外科手术机器人装置，系统和方法使用可以具有比相关联的手术末端执行器n空间更多的自由度的外科手术机器人连接。 处理器可以计算包括围绕孔径位置枢转工具的工具运动。 可以沿着用于给定末端执行器位置的一系列构造可移动的连接朝着抑制碰撞的构造被驱动。 还提供了精制机器人连接及其使用方法。

公开(公告)号：US20160030118A1

公开(公告)日：2016-02-04

申请号：US14814851

申请日：2015-07-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Roman L. Devengenzo ,  Bruce M. Schena ,  David W. Robinson

IPC: A61B19/00

CPC classification number: A61B34/37 ,  B25J17/0208 ,  B25J19/0091

Abstract: Methods and systems for damping vibrations in a surgical system are disclosed herein. The damping of these vibrations can increase the precision of surgery performed using the surgical system. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive damper and can mitigate a vibration arising in one or more of the set-up linkages. The damper can additionally prevent a vibration arising in one of the linkages from affecting another of the set-up linkages.

Abstract translation: 本文公开了用于减轻手术系统中的振动的方法和系统。 这些振动的阻尼可以提高使用手术系统进行手术的精度。 手术系统可以包括一个或多个可移动的设置连接。 阻尼器可以与一个或多个安装连杆连接。 阻尼器可以是被动阻尼器并且可以减轻在一个或多个设置连杆中产生的振动。 阻尼器还可以防止在其中一个连杆中产生的振动影响另一个安装连杆。