公开(公告)号：US20240285362A1

公开(公告)日：2024-08-29

申请号：US18655041

申请日：2024-05-03

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

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

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

CPC分类号： 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

摘要： 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：US20230329817A1

公开(公告)日：2023-10-19

申请号：US18309110

申请日：2023-04-28

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

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

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

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

摘要： 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：US20210077210A1

公开(公告)日：2021-03-18

申请号：US17107862

申请日：2020-11-30

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

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

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

摘要： 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.