公开(公告)号：US20140297130A1

公开(公告)日：2014-10-02

申请号：US14209239

申请日：2014-03-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Arjang M. HOURTASH ,  Paul W. MOHR ,  David ROBINSON ,  Nitish SWARUP ,  John ZABINSKI ,  Mark ZIMMER

IPC: B62D6/00

CPC classification number: A61B19/0248 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2050/185 ,  B25J5/007 ,  G05D1/0011

Abstract: A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.

Abstract translation: 用于远程手术的外科系统的患者侧车可以包括用于保持外科器械，转向接口和驱动系统的至少一个操纵臂部分。 转向接口可以被配置为检测用户对转向接口施加的力，指示远程手术系统的期望运动。 驱动系统可以包括至少一个从动轮，控制模块和模型部分。 控制模块可以接收来自转向接口的信号作为输入，该信号对应于由用户施加到转向接口的力。 控制模块可以被配置为输出对应于从转向接口接收到的信号的期望运动信号。 模型部分可以包括患者侧车的运动行为的模型，模型部分输出运动指令输出以驱动从动轮。

公开(公告)号：US20140343570A1

公开(公告)日：2014-11-20

申请号：US14276996

申请日：2014-05-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bruce Michael SCHENA ,  John ZABINSKI ,  David ROBINSON ,  Paul G. GRIFFITHS

IPC: A61B19/00

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B50/13

Abstract: A patient side cart for a teleoperated surgical system comprises a base, a manipulator portion extending from the base and configured to hold one or more surgical instruments, four wheels mounted to the base to permit movement of the cart, and a suspension system. The suspension system may be configured to transition the cart between a first state in which the cart behaves as a three-wheeled cart and a second state in which the cart behaves as a four-wheeled cart.

Abstract translation: 患者侧车用于遥控操作的手术系统包括一基座，一机械手部分从所述基座延伸并且被配置成保持一个或多个外科手术器械，四个车轮安装到所述底座，以允许车的移动，并且一个悬挂系统。 的悬架系统可以被配置为过渡，其中车表现为三轮车和在其中车表现为四轮车的第二状态的第一状态的车。