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.

公开(公告)号：US20220071721A1

公开(公告)日：2022-03-10

申请号：US17530166

申请日：2021-11-18

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/37 ,  A61B34/10 ,  A61B34/00 ,  A61B90/00 ,  G06F3/01 ,  G06F3/0484 ,  G06F3/0481 ,  G06F3/0346 ,  G06F3/0486 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B5/055 ,  A61B5/00 ,  A61B18/12

Abstract: A medical system comprises a control system and a display device coupled to the control system. The control system comprises a processor and a memory comprising machine readable instructions that, when executed by the processor, cause the control system to generate a primary image of an anatomic structure and manipulate a therapeutic instrument to deliver a therapy to the anatomic structure. The control system also determines an effect of the therapy on the anatomic structure and displays a representation of the effect of the therapy in an auxiliary image registered with the primary image of the anatomic structure.

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

IPC: B25J9/16 ,  A61B34/30 ,  B25J9/06 ,  B25J19/00 ,  B25J19/02

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.

公开(公告)号：US11197731B2

公开(公告)日：2021-12-14

申请号：US16564734

申请日：2019-09-09

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/37 ,  A61B34/10 ,  A61B34/00 ,  A61B90/00 ,  G06F3/01 ,  G06F3/0484 ,  G06F3/0481 ,  G06F3/0346 ,  G06F3/0486 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B5/055 ,  A61B5/00 ,  A61B18/12 ,  A61B90/10 ,  A61B18/14 ,  A61B34/30 ,  A61N7/02 ,  A61B18/00

Abstract: A medical system may comprise a stereo display and an input device. The medical system may also comprise a processor configured to generate a three-dimensional image of an anatomical object and cause the three-dimensional image of the anatomical object and a two-dimensional window to be displayed. The processor may also be configured to cause a position and an orientation of the two-dimensional window relative to the three-dimensional image of the anatomical object to be changed on the stereo display by manipulation of the input device. The processor may also be configured to define a cut-plane to indicate a two-dimensional slice of the three-dimensional image of the anatomical object. The processor may also be configured to cause the two-dimensional slice of the three-dimensional image of the anatomical object to be displayed. An orientation of the displayed two-dimensional slice may be different than an orientation of the cut-plane with the three-dimensional image.

公开(公告)号：US20210353375A1

公开(公告)日：2021-11-18

申请号：US17390722

申请日：2021-07-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nitish Swarup ,  Arjang M. Hourtash

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

Abstract: A system includes a manipulator arm configured to support an instrument having an end effector, the manipulator arm including a distal portion, a proximal portion coupled to a base, and a multitude of joints between the distal portion and the base, the multitude of joints providing sufficient degrees of freedom to allow a range of differing joint states of the multitude of joints for a state of the distal portion. The system also includes a processor coupled to the manipulator arm. The processor is configured with a manipulation mode and a clutch mode, the clutch mode selected from the group consisting of: an arm-null-perpendicular-clutch mode, a port-null-perpendicular-clutch mode, and an arm-port-null-perpendicular-clutch mode. The processor is configured to operate the multitude of joints in accordance with at least one of the manipulation mode and the various clutch modes.

公开(公告)号：US11129688B2

公开(公告)日：2021-09-28

申请号：US16195095

申请日：2018-11-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Arjang M. Hourtash ,  Paul W. Mohr ,  David W. Robinson ,  Nitish Swarup ,  John W. Zabinski ,  Mark W. Zimmer

IPC: A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  B25J5/00 ,  G05D1/00 ,  A61B34/30

Abstract: A cart for supporting one or more instruments for a computer-assisted, remote procedure can include a base and a support structure extending from the base and adjustable to different configurations, the support structure being configured to support one or more instruments to perform a remote procedure. The cart can further include a steering interface configured to be grasped by a user and a sensor mechanism configured to detect a force applied to the steering interface. The cart also can include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and information about a configuration of the support structure, the control module operably coupled to output a movement command based on the received input from the sensor mechanism and the information about the configuration of the support structure. A driven wheel may be mounted to the base and configured to impart wheeled motion to the cart in response to the movement command.

公开(公告)号：US10575910B2

公开(公告)日：2020-03-03

申请号：US16101328

申请日：2018-08-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Nitish Swarup ,  Paul G. Griffiths ,  Goran Lynch

IPC: G01B21/04 ,  A61B34/00 ,  A61B34/30 ,  A61B1/00 ,  B25J9/16 ,  A61B17/00 ,  A61B34/20

Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted medical device include a device with an articulated structure including a plurality of joints and a control unit. The articulated structure is configured to support a tool distal to the joints. The control unit is configured to determine an initial position and orientation of the tool prior to movement of a first joint, determine, while the first joint is moving, a current position and orientation of the tool, determine a difference between the current and the initial position and orientation, and drive at least a second joint based on the difference to maintain a position and orientation of the tool at the initial position and orientation. In some embodiments, the position and orientation of the tool are maintained relative to a reference coordinate frame based on a cause of the moving of the first joint.

公开(公告)号：US20190290373A1

公开(公告)日：2019-09-26

申请号：US16439634

申请日：2019-06-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory K. Toth ,  Nitish Swarup ,  Thomas R. Nixon ,  David Q. Larkin ,  Steven J. Colton

IPC: A61B34/32 ,  A61B34/37 ,  G16H40/40 ,  A61B34/30 ,  A61B34/35

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

公开(公告)号：US10350015B2

公开(公告)日：2019-07-16

申请号：US15147171

申请日：2016-05-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory K. Toth ,  Nitish Swarup ,  Thomas R. Nixon ,  David Q. Larkin ,  Steven J. Colton

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/30 ,  A61B34/35 ,  G16H40/40 ,  A61B17/00 ,  A61B90/00

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

公开(公告)号：US20190209251A1

公开(公告)日：2019-07-11

申请号：US16355517

申请日：2019-03-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Nitish Swarup ,  Michael Costa ,  David Q. Larkin ,  Thomas G. Cooper

IPC: A61B34/35 ,  A61B50/18 ,  A61B50/10 ,  A61B34/30

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B50/10 ,  A61B50/18 ,  A61B2017/00017 ,  A61B2034/304 ,  A61B2050/105

Abstract: A tele-operated system includes a platform, a manipulator supported by the platform, a support structure supporting the platform, and a processor. In a platform movement mode the processor is configured to sense a manual movement of a link of the manipulator relative to the platform that moves the link from a first to a second positional relationship relative to the platform wherein a difference between the first and second positional relationships includes a displacement having components in first, second, and third directions that are perpendicular to one another, calculate, in response to the sensed manual movement, a command for the support structure that causes the link to move in the first direction so as to reduce the displacement in the first direction and does not change the displacement in the second direction, and transmit the command to the support structure so as to move the platform and the manipulator.