公开(公告)号：US20230233202A1

公开(公告)日：2023-07-27

申请号：US18194283

申请日：2023-03-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew D. WILSON ,  Gabriel F. BRISSON ,  Robert C. REID

IPC: A61B17/04 ,  A61B34/00

CPC classification number: A61B17/0482 ,  A61B34/71 ,  A61B2017/0608

Abstract: Techniques for automated rotation of a needle in a computer-assisted system include an end effector having a drive mechanism configured to be coupled to a curved needle and configured to rotationally actuate the curved needle along an arcuate path and a control unit coupled to the drive mechanism. The control unit is configured to, in response to receiving a first input, cause the drive mechanism to rotationally actuate the curved needle by a first preset rotation amount along the arcuate path, and, in response to receiving a second input, cause the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path.

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：US20230190262A1

公开(公告)日：2023-06-22

申请号：US17918865

申请日：2021-04-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew D. WILSON ,  Gabriel F. BRISSON ,  Robert C. REID

IPC: A61B17/04 ,  A61B34/00

CPC classification number: A61B17/0482 ,  A61B34/71 ,  A61B2017/00137

Abstract: Techniques for automated rotation of a needle in a computer-assisted system include an end effector having a drive mechanism configured to be coupled to a curved needle and configured to rotationally actuate the curved needle along an arcuate path and a control unit coupled to the drive mechanism. The control unit is configured to, in response to receiving a first input, cause the drive mechanism to rotationally actuate the curved needle by a first preset rotation amount along the arcuate path, and, in response to receiving a second input, cause the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path.

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.