公开(公告)号：US20210369365A1

公开(公告)日：2021-12-02

申请号：US16763552

申请日：2018-11-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Ambarish G. Goswami ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Tao Zhao

IPC: A61B34/35 ,  A61B90/00 ,  A61B34/00

Abstract: A robotic system comprises a display that is viewable by an operator. An operator reference frame is defined relative to the display or the operator viewing the display. The robotic system also includes an input device movable by the operator and a processing unit. The processing unit is configured to present, in the display, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

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：US10939971B2

公开(公告)日：2021-03-09

申请号：US16934774

申请日：2020-07-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths

IPC: B25J9/16 ,  A61B34/30 ,  B25J13/02 ,  B25J19/00 ,  A61B34/00 ,  B25J3/04 ,  B25J1/02 ,  B25J9/06 ,  A61B90/50 ,  A61B34/35 ,  A61B34/37

Abstract: A system and method of providing feedback during manual joint positioning includes a computer-assisted device having an articulated structure including a joint and a control unit coupled to the articulated structure. To provide feedback to a user during manual positioning of the joint by a user, the control unit is configured to determine a first target position for the joint, release a brake associated with the joint when the joint is moving toward the first target position, apply the brake when the joint is moving away from the first target position, and change the first target position to a second target position when the joint is at the first target position.

公开(公告)号：US10932873B2

公开(公告)日：2021-03-02

申请号：US16149451

申请日：2018-10-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz ,  Thomas R. Nixon

IPC: B25J9/06 ,  A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B46/10 ,  A61B50/18

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.

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：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.

公开(公告)号：US20190029766A1

公开(公告)日：2019-01-31

申请号：US16149451

申请日：2018-10-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz ,  Thomas R. Nixon

IPC: A61B34/35 ,  A61B50/10 ,  A61B34/30 ,  A61B50/13 ,  A61B34/00 ,  A61B46/10 ,  A61B50/18

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.

公开(公告)号：US20180338808A1

公开(公告)日：2018-11-29

申请号：US16052555

申请日：2018-08-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Michael Hanuschik ,  Thomas R. Nixon

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

Abstract: A system and method of aligning with a reference target includes a computer-assisted device. The computer-assisted device includes a link, one or more first joints coupled proximally to the link, an articulated arm comprising one or more second joints coupled distally to the link, the articulated arm configured to couple to an instrument, and a control unit. The control unit is configured to position or orient the link, using the one or more first joints, based on at least one reference of the instrument selected from the group consisting of a reference point associated with the instrument and a reference orientation of the instrument. The control unit is further configured to maintain, while positioning or orienting the link and by using the one or more second joints, a position or an orientation of the instrument relative to a workspace in accordance with the at least one reference of the instrument.

公开(公告)号：US20180318023A1

公开(公告)日：2018-11-08

申请号：US16016436

申请日：2018-06-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz ,  Thomas R. Nixon ,  Roman Devengenzo

IPC: A61B34/35 ,  B25J19/00 ,  B25J9/16 ,  B25J9/00 ,  A61B90/50 ,  F16M13/02 ,  A61B34/30

Abstract: Devices, systems, and methods include a teleoperated system including a kinematic structure having a joint, a drive or brake system for controlling the joint, and a computing unit coupled with the drive or brake system. The computing unit is configured to detect that the joint is between a software defined range of motion limit for the joint and a physical range of motion limit for the joint, the software defined range of motion limit being spaced a distance apart from the physical range of motion limit and delay for a duration of time, in response to detecting the joint between the software defined range of motion limit and the physical range of motion limit, applying the drive or brake system to stop motion of the joint.

公开(公告)号：US10028793B2

公开(公告)日：2018-07-24

申请号：US15126541

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz ,  Thomas R. Nixon ,  Roman Devengenzo

IPC: A61B34/00 ,  A61B34/35 ,  A61B90/50 ,  A61B34/30 ,  F16M13/02 ,  B25J9/00 ,  B25J9/16 ,  B25J19/00

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. In some embodiments, actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Systems and methods are also provided to keep one, some, or all joints of the kinematic chain off a hardstop or physical range of motion limit associated with the joint or to otherwise maintain a desired range of motion for one, some, or all joints of the kinematic chain when exiting a set-up mode.