公开(公告)号：US20220378537A1

公开(公告)日：2022-12-01

申请号：US17771113

申请日：2020-10-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tiber HITES ,  J. Scot HART

IPC: A61B34/00 ,  B25J17/02 ,  A61B17/29

Abstract: A joint structure includes a first link and a second link coupled to one another by a joint. The first link and the second link are articulatable relative to each other about the joint. An actuation element extends through a first guide channel in the first link and a second guide channel in the second link. The first guide channel terminates in an opening where the actuation element extends from the first link to extend across the joint to the second link. A first edge portion of the opening is at a first location along a longitudinal axis of the first guide channel, and a second edge portion of the opening is at a second location different from the first location along the longitudinal axis of the first guide channel. Systems and devices include related joint structures.

公开(公告)号：US20210298751A1

公开(公告)日：2021-09-30

申请号：US17211692

申请日：2021-03-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： J. Scot HART

IPC: A61B17/072

Abstract: Techniques for controlling an end effector include a computer-assisted device having a drive system configured to actuate a moveable element to a first commanded position and a control unit coupled to the drive system. The control unit is configured to actuate, using the drive system, the moveable element to the first commanded position. The control unit is further configured to monitor a force or torque applied by the drive system to actuate the moveable element to the first commanded position, determine a force or torque limit for the drive system based on the monitored force or torque applied by the drive system in response to determining that the moveable element has reached a first position, and further actuate the moveable element to a second commanded position while limiting a force or torque applied by the drive system based on the determined force or torque limit.

公开(公告)号：US20250090169A1

公开(公告)日：2025-03-20

申请号：US18971310

申请日：2024-12-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： J. Scot HART

IPC: A61B17/072 ,  A61B17/00 ,  A61B90/00

Abstract: Techniques for controlling an end effector include a computer-assisted device having a drive system configured to actuate a moveable element of an end effector and a control unit coupled to the drive system. The control unit is configured to actuate, using the drive system, the moveable element to a first commanded position; and in response to the moveable element reaching the first commanded position: determine, based on an amount of force or torque applied to actuate the moveable element to the first commanded position, a force or torque limit to be applied when actuating the moveable element to a second commanded position; and further actuate the moveable element to the second commanded position while limiting a force or torque applied by the drive system to the determined force or torque limit.

公开(公告)号：US20230123065A1

公开(公告)日：2023-04-20

申请号：US17914744

申请日：2021-03-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gabriel F. Brisson ,  J. Scot HART ,  Brian D. SOE

IPC: A61B34/30 ,  A61B90/00

Abstract: Systems and methods of controlling instruments include first and second actuators configured to actuate a degree of freedom (DOF) in first and second directions using respective transmission mechanisms and a control unit. The control unit is configured to determine positions of the first and second actuators; determine an actuation command based on the positions of the first and second actuators, and a desired state of the DOF; determine respective actuation levels of the first and second actuators so as to maintain tensions in the transmission mechanisms above respective minimum tensions by: using a model based on the force or torque command, the minimum tensions, and the first and second actuator positions; and command actuation of the first and second actuators at the respective actuation levels. The model compensates for an external disturbance on the DOF and for dynamics of the first and second actuators.