公开(公告)号：US20240415589A1

公开(公告)日：2024-12-19

申请号：US18817330

申请日：2024-08-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI ,  Jeffrey D. BROWN ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Anthony K. MCGROGAN ,  Probal MITRA ,  Craig R. RAMSTAD

IPC: A61B34/32 ,  A61B34/00 ,  A61B34/37 ,  A61B46/10 ,  B25J9/00

Abstract: Techniques for controlling a manipulator assembly include one or more actuators coupled to drive the manipulator assembly to move at least a portion of the manipulator assembly and a controller. The controller is configured to cause the one or more actuators to hold the portion at a first position in a sequence of predetermined positions; detect that the portion has been moved from the first position due to a disturbance; in response to the detection that the portion has been moved from the first position, cause the one or more actuators to move the portion toward a second position in the sequence of predetermined positions until a stop condition is detected, even if the disturbance ends before the portion reaches the second position; and cause the one or more actuators to hold the portion at the second position, when the portion has reached the second position.

公开(公告)号：US20150297300A1

公开(公告)日：2015-10-22

申请号：US14753575

申请日：2015-06-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. GOMEZ ,  Nicola DIOLAITI ,  David Q. LARKIN ,  Paul E. LILAGAN ,  Probal MITRA ,  Tabish MUSTUFA

IPC: A61B19/00 ,  B25J9/16

CPC classification number: A61B34/30 ,  A61B1/0055 ,  A61B1/018 ,  A61B5/15196 ,  A61B19/2203 ,  A61B19/56 ,  A61B34/25 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B2019/223 ,  A61B2019/2292 ,  A61B2034/252 ,  A61B2034/258 ,  B25J9/10 ,  B25J9/1005 ,  B25J9/16 ,  B25J9/161 ,  B25J9/1656 ,  B25J9/1658 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1679 ,  Y10S901/02 ,  Y10S901/41 ,  Y10S901/47 ,  A61B2019/2269 ,  A61B2019/2207 ,  A61B2019/2223 ,  A61B2019/562 ,  A61B2019/568

Abstract: To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.

Abstract translation: 为了在医疗机器人系统中执行工具交换，工具从部署位置缩回到入口引导件中，并且构成使得手术室中的助手可以用不同的工具来替换它。 当工具通过用户操作被缩回到入口指南时，其配置被改变为入口姿势，同时避免与其他对象的碰撞，使得其可以适合入口指南。 在完成工具交换之后，在工具控制器通过重新配置来帮助用户之前，用户操作将一个新工具插入到引导件中，并将其从引导工具延伸到旧工具的原始位置，然后再将其退回到入口指南中 新工具，以便在退回到入门指南之前，将旧工具的原始部署姿态类似。

公开(公告)号：US20230390007A1

公开(公告)日：2023-12-07

申请号：US18450295

申请日：2023-08-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI ,  Jeffrey D. BROWN ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Anthony K. MCGROGAN ,  Probal MITRA ,  Craig R. RAMSTAD

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B46/10 ,  B25J9/00

CPC classification number: A61B34/32 ,  A61B34/37 ,  A61B34/74 ,  A61B46/10 ,  B25J9/0009

Abstract: Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.

公开(公告)号：US20230117645A1

公开(公告)日：2023-04-20

申请号：US18083248

申请日：2022-12-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. HOLOP ,  Anthony K. MCGROGAN ,  Jeffrey R. ROEDER ,  Daniel H. GOMEZ ,  Arjang M. HOURTASH ,  Thomas BRENNAN-MARQUEZ ,  Probal MITRA

IPC: A61B34/35 ,  A61B17/34 ,  A61B46/10 ,  B25J9/12 ,  B25J13/06 ,  B25J9/16 ,  A61B34/30 ,  A61B34/00

Abstract: A computer-assisted system includes an instrument manipulator assembly including a preload assembly and a motor, an insertion assembly configured to control a position of the instrument manipulator assembly, and a motor controller coupled to the preload assembly. The motor controller is configured to actuate the preload assembly to control an amount of preload applied by the preload assembly to the motor and actuate the preload assembly to apply a low preload in response to detecting that a sterile adapter is mounted to the instrument manipulator assembly.