公开(公告)号：US20250143815A1

公开(公告)日：2025-05-08

申请号：US19018315

申请日：2025-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Jason HEMPHILL ,  Goran A. LYNCH ,  Daniel N. MILLER ,  Patrick O'GRADY ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61B34/00 ,  A61G13/02

Abstract: Integrated table motion includes a teleoperated device comprising an articulated structure and a control unit. The articulated structure comprises a first plurality of joints, a plurality of links coupled by the first plurality of joints, and a plurality of actuators coupled to drive motion of the articulated structure. The control unit comprises one or more hardware processors. The control unit is operatively coupled to the articulated structure. The control unit is configured to receive a table movement request from a command unit of a table, the table being separate from the teleoperated device; determine whether the table movement request should be allowed; and in response to a determination that the table movement request should be allowed, allow the table to perform the table movement request.

公开(公告)号：US20210212780A1

公开(公告)日：2021-07-15

申请号：US17217874

申请日：2021-03-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Jason HEMPHILL ,  Goran A. LYNCH ,  Daniel N. MILLER ,  Patrick O'GRADY ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61G13/02 ,  A61B34/00

Abstract: Integrated table motion includes a device including a control unit and an arm having one or more joints and a distal portion. The control unit is configured to receive a table movement request from a separate table, determine whether to allow the table movement request based on one or more of whether a type of movement in the table movement request is permitted, whether one or more instruments mounted to the device are within a field of view of an imaging device, or whether one or more instruments mounted to the device are withdrawn into respective cannulas, allow the table to perform the table movement request based on the determining; track movement of the table while the table performs the table movement request; and maintain, using the joint(s) and based on the tracked movement of the table, a position and/or an orientation of the distal portion relative to the table.

公开(公告)号：US20240115332A1

公开(公告)日：2024-04-11

申请号：US18544238

申请日：2023-12-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Jason HEMPHILL ,  Goran A. LYNCH ,  Daniel N. MILLER ,  Patrick O'GRADY ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61B34/00 ,  A61G13/02

CPC classification number: A61B34/30 ,  A61B34/25 ,  A61G13/02

Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes articulating means; means for receiving, via a means for communicatively coupling the computer-assisted device with a table means, a table movement request from a table command means, the table means being separate from the computer-assisted device; means for determining whether the table movement request should be allowed; and means for allowing the table means to perform the table movement request based on determining that the table movement request should be allowed.

公开(公告)号：US20230125548A1

公开(公告)日：2023-04-27

申请号：US18069336

申请日：2022-12-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Jason HEMPHILL ,  Goran A. LYNCH ,  Daniel N. MILLER ,  Patrick O'GRADY ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61G13/02 ,  A61B34/00

Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. To support integrated motion with a table physically separate from and communicatively coupled to the computer-assisted device via a communications connection, the control unit is configured to receive a table movement request from a table command unit of the table, determine whether the table movement request should be allowed, and allow the table to perform the table movement request based on determining that the table movement request should be allowed.

公开(公告)号：US20170079722A1

公开(公告)日：2017-03-23

申请号：US15126254

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Patrick O'GRADY ,  Tao ZHAO ,  Christopher R. BURNS ,  Jason HEMPHILL ,  Brian D. HOFFMAN ,  Simon P. DIMAIO ,  Rodney VANCE

IPC: A61B34/20 ,  A61G13/00 ,  A61B90/98 ,  A61B34/00 ,  A61B34/35 ,  A61B90/96

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/90 ,  A61B90/96 ,  A61B90/98 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2068 ,  A61B2090/3983 ,  A61G13/00 ,  A61G2205/10 ,  A61G2205/60

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.