公开(公告)号：US20230329817A1

公开(公告)日：2023-10-19

申请号：US18309110

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  William C. NOWLIN ,  Gunter D. NIEMEYER ,  David S. MINTZ

IPC: A61B34/37 ,  A61B34/30 ,  B25J9/16 ,  A61B90/10 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35

CPC classification number: A61B34/37 ,  A61B34/30 ,  B25J9/1689 ,  A61B90/10 ,  B25J9/1669 ,  B25J3/00 ,  A61B34/25 ,  A61B34/35 ,  G05B2219/45117 ,  A61B2017/00725

Abstract: A teleoperated system includes a robotic arm configured to support an instrument, a grip configured to be manipulated by an operator to command motion of the instrument, and a control system communicatively coupled to the robotic arm and the grip. To align the grip with the instrument by the grip, the control system is configured to determine grip rotation values describing an orientation of the grip, determine instrument rotation values describing an orientation of the instrument, determine an orientation error between the orientation of the grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, produce a motion command by selectively imposing, based on the orientation error, an artificial joint limit on a commanded movement of the instrument, and command the robotic arm to move in accordance with the motion command.

公开(公告)号：US20200253675A1

公开(公告)日：2020-08-13

申请号：US16862412

申请日：2020-04-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  William C. NOWLIN ,  Gunter D. Niemeyer ,  David S. MINTZ

IPC: A61B34/37 ,  A61B34/35 ,  A61B34/00 ,  B25J3/00 ,  B25J9/16 ,  A61B90/10 ,  A61B34/30

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining a grip orientation by which the master grip is gripped by an operator, determining a commanded velocity for the slave instrument based on a manipulation of the master grip by the operator, determining an error, and altering the commanded velocity for the slave instrument based on at least the grip orientation and the error. The error includes a parameter selected from a group consisting of a position error between a position of the master grip and a position of the slave instrument and an orientation error between an orientation of the master grip and an orientation of the slave instrument.

公开(公告)号：US20240285362A1

公开(公告)日：2024-08-29

申请号：US18655041

申请日：2024-05-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  William C. NOWLIN ,  Gunter D. NIEMEYER ,  David S. MINTZ

IPC: A61B34/37 ,  A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  B25J3/00 ,  B25J9/16

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  A61B2017/00725 ,  A61B2034/305 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

Abstract: Techniques for ratcheting an alignment between an input means and an instrument include a teleoperated system comprising a robotic means configured to support an instrument, an input means configured to be manipulated by an operator to command motion of the instrument, and a ratcheting means. The ratcheting means is configured to determine first rotation values describing an orientation of the input means; determine second rotation values describing an orientation of the instrument; determine, based on the first rotation values and the second rotation values, an orientation error between the orientation of the input means and the orientation of the instrument; generate, based on the orientation error, a motion command for the instrument to reduce the orientation error by increasing an alignment between the input means and the instrument; and command the robotic means to move in accordance with the motion command.

公开(公告)号：US20210077210A1

公开(公告)日：2021-03-18

申请号：US17107862

申请日：2020-11-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  William C. NOWLIN ,  Gunter D. NIEMEYER ,  David S. MINTZ

IPC: A61B34/37 ,  A61B34/30 ,  B25J9/16 ,  A61B90/10 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.

公开(公告)号：US20170251905A1

公开(公告)日：2017-09-07

申请号：US15463745

申请日：2017-03-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Kevin DURANT ,  David S. MINTZ ,  Robert M. OHLINE

IPC: A61B1/005 ,  A61B1/00 ,  A61B34/20 ,  A61B5/06 ,  A61M25/01

CPC classification number: A61B1/0052 ,  A61B1/00128 ,  A61B5/065 ,  A61B34/20 ,  A61B90/361 ,  A61B2090/064 ,  A61M25/0147 ,  A61M25/0155 ,  A61M25/0158

Abstract: A method for determining a shape of a bendable instrument can include placing the bendable instrument in a neutral position; moving a first control element a first amount until slack is removed from the first control element; moving a second control element a second amount until slack is removed from the second control element; sensing a position of the first control element after moving the first control element the first amount, the sensed position of the first control element being defined as a first control element calibration position; sensing a position of the second control element after moving the second control element the second amount, the sensed position of the second control element being defined as a second control element calibration position. The method can further include bending the instrument by moving one or both of the first control element and the second control element from the respective first control element calibration position and the second control element calibration position; and determining a resulting shape of the bendable instrument based on a distance one or both of the first control element and the second control element respectively moved from the first control element calibration position and second control element calibration.