公开(公告)号：US12053179B2

公开(公告)日：2024-08-06

申请号：US17160288

申请日：2021-01-27

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： 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分类号： A61B17/00 ,  A61B17/072 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  A61B34/20

CPC分类号： 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

摘要： 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.

公开(公告)号：US12011167B2

公开(公告)日：2024-06-18

申请号：US17160288

申请日：2021-01-27

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： 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分类号： A61B17/00 ,  A61B17/072 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  A61B34/20

CPC分类号： 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

摘要： 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.

公开(公告)号：US10973519B2

公开(公告)日：2021-04-13

申请号：US16072356

申请日：2017-01-27

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： 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分类号： A61B17/072 ,  A61B34/10 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B34/30 ,  A61B90/00 ,  A61B34/20

摘要： A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.