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公开(公告)号：US20220183781A1
公开(公告)日：2022-06-16
申请号：US17685317
申请日：2022-03-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul GRIFFITHS , Paul MOHR , Nitish SWARUP , Michael COSTA , David LARKIN , Thomas COOPER , Michael HANUSCHIK
Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode; transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure; while in the set-up mode, determine an input displacement of a link from an initial positional relationship relative to a portion of the kinematic structure to a displaced positional relationship relative to the portion of the kinematic structure; and while in the set-up mode and in response to the determined input displacement, drive the kinematic structure so that the link returns toward the initial positional relationship relative to the portion of the kinematic structure.
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2.发明公开公开(公告)号：US20240245479A1
公开(公告)日：2024-07-25
申请号：US18626050
申请日：2024-04-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul GRIFFITHS , Paul MOHR , Nitish SWARUP , Michael COSTA , David LARKIN , Thomas COOPER , Michael HANUSCHIK
CPC classification number: A61B34/70 , A61B34/30 , A61B2034/304 , A61B34/32 , A61B90/50 , A61B2090/508 , Y10S901/02
Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system comprising a first manipulating means and processing means. The processing means is for detecting whether a first means for accessing an internal worksite is mounted to the first manipulating means; detecting an input indicating the system is to be in a set-up mode; and inhibiting, in response to detecting that the first means is mounted to the first manipulating means, transition of the system to the set-up mode.
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3.发明申请公开(公告)号：US20200229883A1
公开(公告)日：2020-07-23
申请号：US16842592
申请日：2020-04-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul GRIFFITHS , Paul MOHR , Nitish SWARUP , Michael COSTA , David LARKIN , Thomas COOPER , Michael HANUSCHIK
Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.
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