公开(公告)号：US20160166344A1

公开(公告)日：2016-06-16

申请号：US14970942

申请日：2015-12-16

Applicant: INTUITIVE SURGICAL OPERATIONS INC.

Inventor： GIUSEPPE MARIA PRISCO ,  DAVID J. ROSA

IPC: A61B34/37 ,  A61B34/00

CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B34/74 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00115 ,  A61B2017/00119 ,  A61B2017/00123 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2034/744 ,  A61B2090/065 ,  B25J3/04 ,  B25J9/1674 ,  B25J9/1689

Abstract: A medical robotic system has a robotic arm holding a medical device, and a control system for controlling movement of the arm according to operator manipulation of an input device. If the medical device is being commanded to a state exceeding a limitation by a threshold amount, then the control system disengages control of the medical device by the input device, servos the arm so that it remains in its current state, servos the input device so that it is set at a position such that a force being applied on the input device remains at its current level, requests the operator to lighten hold of the input device, sets a parameter associated with the input device upon detecting such lightened hold so that the medical device is commanded to a different state that does not exceed the limitation, and reengages control of the medical device by the input device.

Abstract translation: 医疗机器人系统具有保持医疗装置的机器人手臂，以及用于根据操作者操纵输入装置来控制手臂的移动的控制系统。 如果医疗装置被指示超过限制阈值的状态，则控制系统通过输入装置解除医疗装置的控制，伺服臂使其保持在其当前状态，使输入装置伺服 将其设置在使得施加在输入装置上的力保持在其当前水平的位置，请求操作者减轻输入装置的保持，在检测到这种减轻保持时设置与输入装置相关联的参数，使得 医疗器械被命令到不超过限制的不同状态，并且通过输入装置重新控制医疗装置。