公开(公告)号：US20140358161A1

公开(公告)日：2014-12-04

申请号：US13906767

申请日：2013-05-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. HOURTASH ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke

IPC: A61B19/00

CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/74 ,  A61B2034/742 ,  B25J9/1607 ,  Y10S901/15

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

Abstract translation: 通过在操纵臂的运动学雅可比的零空间内移动操纵器来重新配置外科手术器械的装置，系统和方法。 在一个方面，响应于接收到重新配置命令，系统驱动第一组关节并且计算多个关节的速度在零空间内。 根据重新配置命令和计算的运动来驱动关节，以便保持末端执行器或仪器轴枢转的远程中心的期望状态。 在另一方面，接头还根据计算的末端执行器或雅可比的零垂直空间内的远程中心移动速度被驱动，以便与末端执行器或远程中心的所需运动同时实现期望的重新配置。

公开(公告)号：US20220031417A1

公开(公告)日：2022-02-03

申请号：US17404289

申请日：2021-08-17

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 ,  B25J5/00 ,  A61B50/18 ,  A61B50/13 ,  G05D1/00

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：US20220125534A1

公开(公告)日：2022-04-28

申请号：US17569729

申请日：2022-01-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Michael L. HANUSCHIK ,  Paul W. MOHR ,  Arjang M. HOURTASH

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/00 ,  A61B1/00 ,  A61B1/313

Abstract: Techniques for determining an ergonomic center for an input control include an input control and a control unit including one or more processors. Movement of the input control during teleoperation is usable to command corresponding movement of an end effector. One or more control points are associated with the input control. The control unit is configured to detect a start of a repositioning movement for the input control, detect an end of the repositioning movement, determine one or more corresponding end positions, each corresponding end position being a position of a control point of the one or more control points at the end of the repositioning movement, determine an input control reference point based on the one or more corresponding end positions, and aggregate the input control reference point with at least one previously obtained input control reference point to determine an ergonomic center for the input control.

公开(公告)号：US20210015566A1

公开(公告)日：2021-01-21

申请号：US17043550

申请日：2019-03-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  Arjang M. HOURTASH ,  Saleh TABANDEH

IPC: A61B34/30 ,  B25J19/00 ,  A61B34/35

Abstract: A system, e.g., a computer-aided medical system, includes a first link, a second link, a joint, and a dual brake assembly. The first link has a first end portion and a second end portion. The second link has a first end portion and a second end portion. The joint is connected to the second end portion of the first link and to the first end portion of the second link. The dual brake assembly is coupled to the first link and to the second link. The dual brake assembly includes a first brake and a second brake. Braking provided by the dual brake assembly reduces relative motion between the first and second links.

公开(公告)号：US20240285358A1

公开(公告)日：2024-08-29

申请号：US18654998

申请日：2024-05-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  Arjang M. HOURTASH ,  Saleh TABANDEH

IPC: A61B34/30 ,  A61B17/00 ,  A61B34/00 ,  A61B34/35 ,  B25J19/00

CPC classification number: A61B34/30 ,  A61B34/35 ,  B25J19/0004 ,  A61B2017/00973 ,  A61B34/74

Abstract: Techniques for braking a joint include a system having a first link, a second link, a joint connecting the first link and the second link, and a dual brake assembly. The dual brake assembly includes a first brake and a second brake. Braking the dual brake assembly reduces relative motion between the first and second links. The first brake provides a first brake holding strength when engaged, the second brake provides a second brake holding strength when engaged, and the second brake holding strength is different from the first brake holding strength. When the dual brake assembly is unpowered, the first brake is automatically engaged and the second brake is automatically disengaged.

公开(公告)号：US20230117645A1

公开(公告)日：2023-04-20

申请号：US18083248

申请日：2022-12-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. HOLOP ,  Anthony K. MCGROGAN ,  Jeffrey R. ROEDER ,  Daniel H. GOMEZ ,  Arjang M. HOURTASH ,  Thomas BRENNAN-MARQUEZ ,  Probal MITRA

IPC: A61B34/35 ,  A61B17/34 ,  A61B46/10 ,  B25J9/12 ,  B25J13/06 ,  B25J9/16 ,  A61B34/30 ,  A61B34/00

Abstract: A computer-assisted system includes an instrument manipulator assembly including a preload assembly and a motor, an insertion assembly configured to control a position of the instrument manipulator assembly, and a motor controller coupled to the preload assembly. The motor controller is configured to actuate the preload assembly to control an amount of preload applied by the preload assembly to the motor and actuate the preload assembly to apply a low preload in response to detecting that a sterile adapter is mounted to the instrument manipulator assembly.

公开(公告)号：US20210186633A1

公开(公告)日：2021-06-24

申请号：US17196870

申请日：2021-03-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel MILLER ,  Nitish SWARUP ,  Michael TURNER ,  Arjang M. HOURTASH ,  Paul G. GRIFFITHS ,  Paul W. MOHR

IPC: A61B34/30 ,  B25J9/16 ,  B25J13/08

Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold, wherein movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint, switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold, and prevents the switching of the first joint from the first state to the second state when the arm is in a predetermined mode.

公开(公告)号：US20210169600A1

公开(公告)日：2021-06-10

申请号：US17123232

申请日：2020-12-16

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 ,  B25J5/00 ,  A61B50/18 ,  A61B50/13 ,  G05D1/00

Abstract: A cart for supporting one or more instruments during a computer-assisted remote procedure can comprise a base; a steering interface having a portion configured to be grasped by a user; a sensor mechanism configured to detect a force applied to the steering interface by a user; and a switch operable between an engaged position and a disengaged position. The cart may further 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, on the condition that the switch is in the engaged position, to output a movement command based on the received input from the sensor mechanism. A driven wheel mounted to the base of the cart may be configured to impart motion to the cart in response to the movement command.

公开(公告)号：US20170000574A1

公开(公告)日：2017-01-05

申请号：US15125679

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Michael L. HANUSCHIK ,  Paul W. MOHR ,  Arjang M. HOURTASH

IPC: A61B34/35 ,  A61B1/00 ,  A61B1/313 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B1/00149 ,  A61B1/3132 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/37 ,  A61B2034/2057 ,  A61B2034/301

Abstract: A system and method of recentering imaging devices and input controls includes a medical device having one or more end effectors, an imaging device, one or more input controls for teleoperating the one or more end effectors, and a control unit including one or more processors coupled to the end effectors, the imaging device, and the input controls. The control unit suspends teleoperated control of the end effectors by the input controls in response to a recentering request, determines a view recentering move for the imaging device so that the end effectors are contained within a view space of the imaging device, determines one or more input control recentering moves to provide positional and orientational harmony between each of the input controls and a corresponding one of the end effectors, executes the view and input control recentering moves, and reinstates teleoperated control of the end effectors by the input controls.

Abstract translation: 重构成像设备和输入控制的系统和方法包括具有一个或多个终端执行器的医疗设备，成像设备，用于远程操作所述一个或多个终端执行器的一个或多个输入控制器，以及包括一个或多个处理器耦合的控制单元 到最终效果器，成像装置和输入控件。 所述控制单元响应于重新要求暂停所述输入控制器对所述末端执行器的远程操作控制，确定所述成像设备的观察重新移动，使得所述末端执行器被包含在所述成像设备的视图空间内，确定一个或多个 输入控制重新移动以提供每个输入控制和相应的一个末端执行器之间的位置和取向协调，执行视图和输入控制重新移动，并且通过输入控件来恢复末端执行器的远程操作控制。

公开(公告)号：US20160022360A1

公开(公告)日：2016-01-28

申请号：US14808639

申请日：2015-07-24

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: A61B19/02 ,  G05D1/00

CPC classification number: G05D1/0011 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2050/185 ,  B25J5/007

Abstract: A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.

Abstract translation: 用于远程手术的外科系统的患者侧车可以包括用于保持外科器械，转向接口和驱动系统的至少一个操纵臂部分。 转向接口可以被配置为检测用户对转向接口施加的力，指示远程手术系统的期望运动。 驱动系统可以包括至少一个从动轮，控制模块和模型部分。 控制模块可以接收来自转向接口的信号作为输入，该信号对应于由用户施加到转向接口的力。 控制模块可以被配置为输出对应于从转向接口接收到的信号的期望运动信号。 模型部分可以包括患者侧车的运动行为的模型，模型部分输出运动指令输出以驱动从动轮。