公开(公告)号：US20210330325A1

公开(公告)日：2021-10-28

申请号：US17370818

申请日：2021-07-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew D. WILSON ,  Amir CHAGHAJERDI ,  David W. WEIR

IPC: A61B17/072

Abstract: End effector position set point adjustment includes an instrument and a control unit. The instrument includes an end effector and a drive mechanism for actuating the end effector. The control unit is configured to actuate the end effector using the drive mechanism, determine an actual position of the end effector, identify an expected position associated with the determined actual position of the end effector, determine a position offset based on the expected position and the determined actual position of the end effector, adjust a position set point based on the position offset, and actuate the end effector to the adjusted position set point using the drive mechanism.

公开(公告)号：US20240293121A1

公开(公告)日：2024-09-05

申请号：US18662686

申请日：2024-05-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. WEIR ,  Gabriel F. BRISSON ,  William A. BURBANK ,  Amir CHAGHAJERDI ,  Patrick FLANAGAN ,  Pushkar HINGWE ,  Andrew WILSON ,  Donald F. WILSON, JR. ,  Matthew A. WIXEY

IPC: A61B17/072 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00

CPC classification number: A61B17/07207 ,  A61B17/00234 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B34/74 ,  A61B90/06 ,  A61B2017/00017 ,  A61B2017/00022 ,  A61B2017/00039 ,  A61B2017/00075 ,  A61B2017/00128 ,  A61B2017/00367 ,  A61B2017/00398 ,  A61B2017/0725 ,  A61B2017/07257 ,  A61B2017/07271 ,  A61B2017/07278 ,  A61B2034/2059 ,  A61B34/25 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/066

Abstract: Techniques for control of an instrument include a device having an actuator. To perform an operation with an instrument coupled to the actuator, the instrument is operated according to a state machine by: transitioning the instrument from a gripped state to a clamped state in response to receiving a clamp command; transitioning the instrument from the clamped state to a firing state in response to receiving a fire command; transitioning the instrument from the firing state to a pause state in response to detecting a stall in the actuator used to actuate the instrument; transitioning the instrument from the pause state to a stop firing state in response to a pause limit being reached; and transitioning the instrument from the pause state to the firing state in response to the actuator beginning to move again or after a first predetermined period of time has elapsed since entering the pause state.

公开(公告)号：US20210196420A1

公开(公告)日：2021-07-01

申请号：US17140373

申请日：2021-01-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gregory W. DACHS, II ,  Bruce Michael SCHENA ,  Amir CHAGHAJERDI ,  Niels SMABY

IPC: A61B46/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00

Abstract: A sterile adapter for coupling a surgical instrument and a surgical instrument manipulator includes a bottom component and a coupling component. The bottom component includes a bottom component opening with a bottom lip having a locking mechanism. The coupling component is rotatably coupled to the bottom component. The coupling component includes an engagement feature that engages the surgical instrument manipulator. The coupling component further includes a locking mechanism opening that engages the locking mechanism when the engagement feature has not engaged the surgical instrument manipulator. The coupling component may include a retention tab that is aligned with the keyway to insert the coupling component into the bottom component opening and then misaligned with the keyway to retain the coupling component in the bottom component opening. A ramp may be provided on a leading edge of a pocket to facilitate engaging the coupling component with the surgical instrument manipulator.

公开(公告)号：US20210177412A1

公开(公告)日：2021-06-17

申请号：US16760895

申请日：2018-11-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew D. WILSON ,  Amir CHAGHAJERDI ,  David W. WEIR

IPC: A61B17/072

Abstract: End effector position set point correction includes an instrument having an end effector and a control unit. In some embodiments, the control unit actuates the end effector to a first position, determines an actuation level, determines an offset based on the actuation level, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point. In some embodiments, the control unit actuates the end effector, determines an actuation level, and determines whether the actuation level is above a threshold. In response to determining that the actuation level is above the threshold, the control unit determines a position of the end effector, identifies a nominal position associated with the determined position, determines an offset based on the nominal position and the determined position, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point.

公开(公告)号：US20210145441A1

公开(公告)日：2021-05-20

申请号：US17160288

申请日：2021-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. WEIR ,  Gabriel F. BRISSON ,  William A. BURBANK ,  Amir CHAGHAJERDI ,  Patrick FLANAGAN ,  Pushkar HINGWE ,  Andrew WILSON ,  Donald F. WILSON, JR. ,  Matthew A. WIXEY

IPC: A61B17/072 ,  A61B34/10 ,  A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B90/00

Abstract: A system and method of variable velocity control of an instrument by a computer-assisted device includes a computer-assisted device that includes an actuator and one or more processors. To perform an operation with an instrument coupled to the computer-assisted device, the one or more processors are configured to set a velocity set point of the actuator to an initial velocity, monitor force or torque applied by the actuator to actuate the instrument, when the applied force or torque is above a first force or torque limit, determine whether a total duration of a set of pauses occurring during the operation of the instrument is below a maximum pause threshold, and in response to determining that the total duration is below the maximum pause threshold, pause the operation of the instrument.