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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
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.
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公开(公告)号：US20180126559A9
公开(公告)日：2018-05-10
申请号：US15629533
申请日：2017-06-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
CPC classification number: B25J9/1697 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/2059 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06F19/00
Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
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83.发明授权公开(公告)号：US09814536B2
公开(公告)日：2017-11-14
申请号：US15072303
申请日：2016-03-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Randal P Goldberg , Michael Hanuschik , Paul Millman , Paul W. Mohr , Thomas R. Nixon , David Robinson
IPC: A61B19/00 , A61B34/35 , A61B34/30 , A61B34/37 , A61B90/98 , A61B18/00 , A61B18/14 , A61B17/00 , A61B34/00
CPC classification number: A61B34/35 , A61B18/00 , A61B18/14 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/74 , A61B90/98 , A61B2017/00225 , A61B2017/00973 , A61B2034/254 , G05B2219/40195
Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system may include detecting a first surgical instrument coupled to a first manipulator interface assembly of a teleoperated surgical system, the manipulator interface assembly being controlled by a first input device; detecting which one of a user's left and right hands operates the first input device; and assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the user's left hand is detected to operate the first input device, or assigning control of an auxiliary function of the first surgical instrument to a second auxiliary input device disposed in a right position relative to the first auxiliary input device if the user's right hand is detected to operate the first input device. A frame of reference of the left position and right position is relative to a user operating the first input device.
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公开(公告)号：US20170215976A1
公开(公告)日：2017-08-03
申请号：US15488227
申请日：2017-04-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
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 in 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 methods for their use are also provided.
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公开(公告)号：US09687310B2
公开(公告)日：2017-06-27
申请号：US14265671
申请日：2014-04-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Paul W. Mohr , Bruce Michael Schena , David Q. Larkin , Gary S. Guthart
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.
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Patent Agency Ranking
公开(公告)号：US20160263746A1
公开(公告)日：2016-09-15
申请号：US15057073
申请日：2016-02-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nitish Swarup , Arjang M. Hourtash , Paul W. Mohr
CPC classification number: B25J9/1643 , A61B1/00193 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B50/13 , A61B2034/107 , A61B2034/2059 , A61B2034/301 , A61B2034/742 , A61B2090/065 , B25J18/007 , G05B2219/40339 , G05B2219/40359 , G05B2219/40474
Abstract: Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.
Abstract translation: 用于提供具有冗余自由度的多个关节的操纵臂的一个或多个关节的期望运动的装置，系统和方法，同时执行操纵器的远端执行器的命令运动。 方法包括在由一个或多个关节限定的关节空间内限定诸如路径网络的约束，并且确定多个关节在零空间内的运动以跟踪所述一个或多个关节的约束。 方法还可以包括计算关节的重新配置运动并修改约束以与一个或多个关节的重新配置的位置一致。 本文提供了利用这种方法的装置和系统的各种配置。
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公开(公告)号：US09308937B2
公开(公告)日：2016-04-12
申请号：US14208663
申请日：2014-03-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. Griffiths , Paul W. Mohr , Alan W. Petersen , David Robinson , Nitish Swarup , Mark W. Zimmer , Alexander Makhlin , Julio Santos-Munne , Eric Faulring , Thomas Moyer
CPC classification number: B62D6/10 , A61B34/30 , A61B34/35 , A61B50/10 , A61B50/13 , A61B50/18 , A61B2017/00123 , A61B2017/00482 , A61B2050/185 , A61B2090/064 , B62D1/12
Abstract: A patient side cart for a teleoperated surgical system includes at least one manipulator portion for holding a surgical instrument and a steering interface. The steering interface may include at least one sensor positioned to sense turning, fore, and aft forces exerted by a user to move the cart. The steering interface may further include a coupling mechanism to removably couple the steering interface with the patient side cart. The at least one sensor may be placed in signal communication with a drive control system of the patient side cart when the steering interface is in a coupled state with the patient side cart.
Abstract translation: 用于远程手术的外科系统的患者侧车包括至少一个用于保持手术器械和操纵界面的操纵器部分。 转向界面可以包括至少一个传感器，其被定位成感测用户施加的转动，前后力以移动推车。 转向接口还可以包括联接机构，用于可拆卸地将转向接口与患者侧车辆联接。 当转向接口处于与患者侧车的联接状态时，至少一个传感器可被放置成与患者侧车的驱动控制系统进行信号通信。
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88.发明授权Method for graphically providing continuous change of state directions to a user of a medical robotic system 有权用于向医疗机器人系统的用户图形化地提供状态方向的连续变化的方法公开(公告)号：US08892224B2
公开(公告)日：2014-11-18
申请号：US14052835
申请日：2013-10-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul W. Mohr , David W. Robinson
CPC classification number: A61B19/5225 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/37 , A61B2090/0811 , B25J9/1689 , B25J9/1692 , G05B2219/39024 , G05B2219/45123 , Y10S901/02 , Y10S901/06 , Y10S901/09
Abstract: Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.
Abstract translation: 状态方向的连续变化以图形方式提供在显示屏幕上，以帮助用户执行用于在医疗机器人系统中的操作模式之间转换或执行校正动作的必要动作。 医疗机器人系统的元件的目标状态的图形表示显示在用户可以看到的显示屏幕上。 持续确定元件的当前状态和指示用户将元件操纵到目标状态的指示，并且连续确定的当前状态和指示的图形表示与目标状态的显示屏幕一起显示在显示屏幕上。
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公开(公告)号：US20130204271A1
公开(公告)日：2013-08-08
申请号：US13756169
申请日：2013-01-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gabriel F. Brisson , Paul W. Mohr , Thomas R. Nixon
IPC: A61B19/00
CPC classification number: A61B19/2203 , A61B34/30 , A61B2017/00477
Abstract: A method comprises generating a command to move a surgical robotic manipulator to a predetermined safety configuration and locking the robotic manipulator in the safety configuration in response to receiving the command. The method further comprises detecting if a mock instrument has been mounted on the robotic manipulator when the robotic manipulator is in the safety configuration. If the mock instrument is detected, an override command is generated to unlock the robotic manipulator from the safety configuration.
Abstract translation: 一种方法包括产生用于将手术机器人操纵器移动到预定安全配置的命令，并且响应于接收到该命令将机器人操纵器锁定在安全配置中。 该方法还包括当机器人操纵器处于安全配置时检测模拟乐器是否已经安装在机器人操纵器上。 如果检测到模拟仪器，则产生一个覆盖命令，以将机器人操纵器从安全配置中解锁出来。
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90.发明授权公开(公告)号：US12251184B2
公开(公告)日：2025-03-18
申请号：US17512095
申请日：2021-10-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Paul W. Mohr
IPC: B25J9/16 , A61B17/29 , A61B34/00 , A61B34/35 , A61B34/37 , A61B90/00 , A61B90/94 , B25J13/06 , B25J19/02
Abstract: A method comprises obtaining, for one or more medical instruments coupled to a teleoperational medical system, one or more corresponding medical instrument positions relative to a field of view of at least one imaging instrument coupled to the teleoperation medical system. The method also comprises initiating, for a selected medical instrument of the one or more medical instruments, generation of a corresponding indicator to a user. The corresponding indicator may be based on a position of the selected medical instrument relative to the field of view.
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