公开(公告)号：US11703952B2

公开(公告)日：2023-07-18

申请号：US17954230

申请日：2022-09-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Xingchi He ,  Brandon D. Itkowitz

IPC: G06F3/01 ,  B25J9/16 ,  G06F3/0346

CPC classification number: G06F3/017 ,  B25J9/1628 ,  B25J9/1664 ,  B25J9/1674 ,  G06F3/011 ,  G06F3/013 ,  G06F3/014 ,  G06F3/0346

Abstract: Systems and methods of assisting operator engagement with input devices include an input device configured to be operated by a hand of an operator, a repositionable structure coupled to the input device, a hand detection system, and a control unit. The control unit is configured to detect a position and an orientation of the hand using the hand detection system, determine, based on the position of the hand, a target position for the input device, wherein moving the input device from a current position of the input device to the target position moves the input device closer to a grasping position for the hand, and in response to determining that an orientation difference between the orientation of the hand and a current orientation of the input device is not greater than a threshold orientation difference, cause one or more actuators to move the input device toward the target position.

公开(公告)号：US12144574B2

公开(公告)日：2024-11-19

申请号：US17289999

申请日：2019-10-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Xingchi He

IPC: A61B34/00 ,  A61B34/10 ,  A61B90/00 ,  B25J15/04

Abstract: A system and method of assisting tool exchange includes a computer-assisted device having a manipulator configured to have at least one tool of multiple tools mounted thereon and a control unit coupled to the manipulator. The control unit is configured to detect initiation of a tool exchange, locate a source of a replacement tool to be mounted to the manipulator, determine, based on the located source, a configuration of the manipulator that facilitates mounting of the replacement tool to the manipulator, and command movement of the manipulator into the configuration. In some embodiments, the control unit is configured to determine the configuration further based on a type of the source of the replacement tool. In some embodiments, to locate the source of the replacement tool, the control unit is configured to locate at least a part of an assistant or locate a tool holding device.

公开(公告)号：US11500472B2

公开(公告)日：2022-11-15

申请号：US17147386

申请日：2021-01-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Xingchi He ,  Brandon D. Itkowitz

IPC: G06F3/01 ,  B25J9/16 ,  G06F3/0346

Abstract: A system and method of assisting operator engagement with input devices includes a repositionable structure configured to support a physical input device, a hand detection system, and a control unit. The repositionable structure includes one or more actuators. The physical input device is configured to be operated by a hand of an operator. The control unit is configured to detect the hand of the operator using the hand detection system and in response to a trigger condition, command the one or more actuators to move the input device from a first orientation to a second orientation, wherein the second orientation is closer to a grasping orientation of the hand than the first orientation is to the grasping orientation of the hand.

公开(公告)号：US10921897B2

公开(公告)日：2021-02-16

申请号：US16249722

申请日：2019-01-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Xingchi He ,  Brandon D. Itkowitz

IPC: G06F3/01 ,  B25J9/16 ,  G06F3/0346

Abstract: A system and method of assisting operator engagement with input devices includes an input device, a hand detection system, and a control unit. The control unit is configured to detect the hand of the operator using the hand detection system; in response to a trigger condition, command the input device to move from a first to a second position; and in response to a signal indicating an input provided by the operator to the input device, command a motion of an end effector associated with the input device. The second position is closer to a grasping position for the hand than the first position. In some embodiments, the control unit is further configured to, in response to the trigger condition, command the input device to move from a first to a second orientation. The second orientation is closer to a grasping orientation for the hand than the first orientation.

公开(公告)号：US20190220097A1

公开(公告)日：2019-07-18

申请号：US16249722

申请日：2019-01-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Xingchi He ,  Brandon D. Itkowitz

IPC: G06F3/01 ,  B25J9/16

CPC classification number: G06F3/017 ,  B25J9/1628 ,  B25J9/1664 ,  B25J9/1674 ,  G06F3/013

Abstract: A system and method of assisting operator engagement with input devices includes an input device, a hand detection system, and a control unit. The control unit is configured to detect the hand of the operator using the hand detection system; in response to a trigger condition, command the input device to move from a first to a second position; and in response to a signal indicating an input provided by the operator to the input device, command a motion of an end effector associated with the input device. The second position is closer to a grasping position for the hand than the first position. In some embodiments, the control unit is further configured to, in response to the trigger condition, command the input device to move from a first to a second orientation. The second orientation is closer to a grasping orientation for the hand than the first orientation.