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公开(公告)号：US11974828B2
公开(公告)日：2024-05-07
申请号：US17685317
申请日：2022-03-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
CPC classification number: A61B34/70 , A61B34/30 , A61B2034/304 , A61B34/32 , A61B90/50 , A61B2090/508 , Y10S901/02
Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode; transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure; while in the set-up mode, determine an input displacement of a link from an initial positional relationship relative to a portion of the kinematic structure to a displaced positional relationship relative to the portion of the kinematic structure; and while in the set-up mode and in response to the determined input displacement, drive the kinematic structure so that the link returns toward the initial positional relationship relative to the portion of the kinematic structure.
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2.发明授权Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems 有权机器人手术系统中电外科手术的适应性综合能量控制系统公开(公告)号：US08862268B2
公开(公告)日：2014-10-14
申请号：US13800856
申请日：2013-03-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David W. Robinson , Thomas R. Nixon , Michael Hanuschik , Randal P. Goldberg , Jason Hemphill , David Larkin , Paul Millman
CPC classification number: A61B34/35 , A61B18/1206 , A61B18/14 , A61B34/25 , A61B34/30 , A61B34/76 , A61B2017/00477 , A61B2017/00482 , A61B2017/00973 , A61B2018/00988
Abstract: A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.
Abstract translation: 公开了一种用于微创手术系统的方法，包括：在安装到第一机器臂上的第一机器人手术工具中从存储装置读取第一工具信息，以至少确定第一工具类型; 读取关于一个或多个远程控制设备的设备信息以进行控制; 将所述第一工具信息与所述设备信息进行比较以将所述一个或多个远程控制设备的第一遥控设备适当地匹配到所述第一机器人手术工具; 以及映射第一控制台的一个或多个用户界面输入设备，以控制第一遥控设备以支持第一机器人手术工具的功能。
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公开(公告)号：US20180263718A1
公开(公告)日：2018-09-20
申请号：US15985529
申请日：2018-05-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
CPC classification number: A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.
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公开(公告)号：US11298200B2
公开(公告)日：2022-04-12
申请号：US16842592
申请日：2020-04-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.
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Patent Agency Ranking
公开(公告)号：US10646297B2
公开(公告)日：2020-05-12
申请号：US15985529
申请日：2018-05-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
Abstract: Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.
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公开(公告)号：US09999476B2
公开(公告)日：2018-06-19
申请号：US14995523
申请日：2016-01-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
CPC classification number: A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
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7.发明申请Movable Surgical Mounting Platform Controlled By Manual Motion of Robotic Arms 审中-公开可移动手术安装平台由机器人手动运动控制公开(公告)号：US20160199142A1
公开(公告)日：2016-07-14
申请号：US14995523
申请日：2016-01-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
CPC classification number: A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动的关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为一个单元的那些多个操纵器移动到与工作空间对准来促进和加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。
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8.发明授权Movable surgical mounting platform controlled by manual motion of robotic arms 有权通过机械臂的手动运动控制的可移动手术安装平台公开(公告)号：US09259281B2
公开(公告)日：2016-02-16
申请号：US13967573
申请日：2013-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
IPC: A61B19/00
CPC classification number: A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动的关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为一个单元的那些多个操纵器移动到与工作空间对准来促进和加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。
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9.发明申请公开(公告)号：US20140052153A1
公开(公告)日：2014-02-20
申请号：US13967573
申请日：2013-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper
IPC: A61B19/00
CPC classification number: A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为单元的那些多个操纵器移动到与工作空间对准来促进并加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。
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