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公开(公告)号：US11974828B2
公开(公告)日：2024-05-07
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
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 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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公开(公告)号：US20180263718A1
公开(公告)日：2018-09-20
申请号：US15985529
申请日：2018-05-21
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 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.
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3.发明申请METHOD AND MEANS FOR TRANSFERRING CONTROLLER MOTION FROM A ROBOTIC MANIPULATOR TO AN ATTACHED INSTRUMENT 有权用于将控制器运动从机器人操纵器传送到附件仪器的方法和手段公开(公告)号：US20160015463A1
公开(公告)日：2016-01-21
申请号：US14868178
申请日：2015-09-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas Cooper , Anthony McGrogan
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/71 , A61B90/10 , A61B2017/00477 , Y10T74/20323 , Y10T74/20335
Abstract: A coupler to transfer controller motion from a robotic manipulator to a surgical instrument includes a pin having a tip with a bearing surface and a plate having a driving surface that bears against a gimbal assembly in the surgical instrument. The plate has a surface supported on the bearing surface of the pin. The bearing surface has a center that coincides with an intersection of two rotational axes of the gimbal assembly. The plate is rotated about the center of the bearing surface to transfer controller motion to the surgical instrument. There may be alignment features on the driving surface of the plate to mate with corresponding features on an inner gimbal of the gimbal assembly. An actuator arm may be connected to one side of the plate. An actuator mechanism may be connected to the actuator arm to rotate the plate about the center of the bearing surface.
Abstract translation: 将控制器运动从机器人操纵器传递到手术器械的耦合器包括具有带有支承表面的尖端的销和具有支撑在手术器械中的万向节组件上的驱动表面的板。 板具有支撑在销的支承表面上的表面。 轴承表面具有与万向节组件的两个旋转轴线的交点相重合的中心。 板绕轴承表面的中心旋转，以将控制器运动传递到手术器械。 在板的驱动表面上可能存在对准特征，以与万向节组件的内部万向节上的对应特征相配合。 致动器臂可以连接到板的一侧。 致动器机构可以连接到致动器臂以使板绕轴承表面的中心旋转。
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公开(公告)号：US11298200B2
公开(公告)日：2022-04-12
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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公开(公告)号：US10646297B2
公开(公告)日：2020-05-12
申请号：US15985529
申请日：2018-05-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
Abstract: Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.
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Patent Agency Ranking
公开(公告)号：US09999476B2
公开(公告)日：2018-06-19
申请号：US14995523
申请日：2016-01-14
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 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
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7.发明申请Movable Surgical Mounting Platform Controlled By Manual Motion of Robotic Arms 审中-公开可移动手术安装平台由机器人手动运动控制公开(公告)号：US20160199142A1
公开(公告)日：2016-07-14
申请号：US14995523
申请日：2016-01-14
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 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动的关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为一个单元的那些多个操纵器移动到与工作空间对准来促进和加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。
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8.发明授权Movable surgical mounting platform controlled by manual motion of robotic arms 有权通过机械臂的手动运动控制的可移动手术安装平台公开(公告)号：US09259281B2
公开(公告)日：2016-02-16
申请号：US13967573
申请日：2013-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
IPC: A61B19/00
CPC classification number: A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动的关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为一个单元的那些多个操纵器移动到与工作空间对准来促进和加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。
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9.发明申请公开(公告)号：US20140052153A1
公开(公告)日：2014-02-20
申请号：US13967573
申请日：2013-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper
IPC: A61B19/00
CPC classification number: A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为单元的那些多个操纵器移动到与工作空间对准来促进并加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。
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10.发明授权Method and means for transferring controller motion from a robotic manipulator to an attached instrument 有权将控制器运动从机器人操纵器传送到附加仪器的方法和装置公开(公告)号：US09333045B2
公开(公告)日：2016-05-10
申请号：US14868178
申请日：2015-09-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas Cooper , Anthony McGrogan
CPC classification number: A61B34/30 , A61B34/71 , A61B90/10 , A61B2017/00477 , Y10T74/20323 , Y10T74/20335
Abstract: A coupler to transfer controller motion from a robotic manipulator to a surgical instrument includes a pin having a tip with a bearing surface and a plate having a driving surface that bears against a gimbal assembly in the surgical instrument. The plate has a surface supported on the bearing surface of the pin. The bearing surface has a center that coincides with an intersection of two rotational axes of the gimbal assembly. The plate is rotated about the center of the bearing surface to transfer controller motion to the surgical instrument. There may be alignment features on the driving surface of the plate to mate with corresponding features on an inner gimbal of the gimbal assembly. An actuator arm may be connected to one side of the plate. An actuator mechanism may be connected to the actuator arm to rotate the plate about the center of the bearing surface.
Abstract translation: 将控制器运动从机器人操纵器传递到手术器械的耦合器包括具有带有支承表面的尖端的销和具有支撑在手术器械中的万向节组件上的驱动表面的板。 板具有支撑在销的支承表面上的表面。 轴承表面具有与万向节组件的两个旋转轴线的交点相重合的中心。 板绕轴承表面的中心旋转，以将控制器运动传递到手术器械。 在板的驱动表面上可能存在对准特征，以与万向节组件的内部万向节上的对应特征相配合。 致动器臂可以连接到板的一侧。 致动器机构可以连接到致动器臂以使板绕轴承表面的中心旋转。
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