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：US20240358456A1

公开(公告)日：2024-10-31

申请号：US18765417

申请日：2024-07-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/30 ,  A61B18/00 ,  A61B90/00 ,  B25J9/16 ,  B25J13/08

CPC classification number: A61B34/30 ,  B25J9/1689 ,  B25J9/1694 ,  B25J13/085 ,  B25J13/088 ,  A61B2018/00666 ,  A61B2018/00672 ,  A61B2018/00678 ,  A61B2034/305 ,  A61B2090/035

Abstract: A system and method of breakaway clutching in a device includes a plurality of links coupled by a plurality of joints, a brake coupled to brake a first joint of the plurality of joints, and a control unit operatively coupled to the brake. 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 a determination that an external stimulus applied to the plurality of links or the plurality of joints meets at least a first criterion and switches the first joint from the second state to the first state in response to a speed associated with the first joint meeting at least a second criterion. The control unit causes more braking with the first brake in the first state than in the second state.

公开(公告)号：US20230255704A1

公开(公告)日：2023-08-17

申请号：US18306046

申请日：2023-04-24

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

CPC classification number: A61B34/30 ,  B25J9/1689 ,  B25J9/1694 ,  B25J13/085 ,  B25J13/088 ,  A61B2018/00666

Abstract: A system and method of breakaway clutching in a device includes an arm having 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. Movement of the first joint is more restricted in the first state than in the second state. The control unit further 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. The first threshold is based on at least one first property of the arm. The speed threshold is based on at least one second property of the arm.