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公开(公告)号：US12179359B2
公开(公告)日：2024-12-31
申请号：US18474388
申请日：2023-09-26
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish Swarup , Paul G. Griffiths , Goran A. Lynch , Daniel N. Miller
IPC: G06F17/00 , A61B34/30 , B25J9/06 , B25J9/16 , B25J19/00 , B25J19/02 , A61B34/20 , A61B34/35 , A61B90/00 , A61B90/50
Abstract: Disturbance compensation in computer-assisted devices include an articulated arm comprising one or more first joints and one or more second joints and one or more processors coupled to the articulated arm. The articulated arm is configured to support an end effector. The one or more processors when executing instructions are configured to: detect a disturbance to the one or more first joints, the disturbance causing a point of interest associated with the end effector to move; determine a predicted motion of the point of interest based on the detected disturbance; and drive the one or more second joints to move the point of interest based on an error in a position of the point of interest indicated by the predicted motion.
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公开(公告)号：US20230248454A1
公开(公告)日：2023-08-10
申请号：US18301905
申请日：2023-04-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel N. Miller , Dinesh Rabindran , Kollin M. Tierling
CPC classification number: A61B34/30 , B25J9/1607 , B25J9/1638 , B25J9/1641 , B25J13/08 , B25J15/0019 , A61B2034/2059
Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.
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公开(公告)号：US10993772B2
公开(公告)日：2021-05-04
申请号：US16242750
申请日：2019-01-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Paul G. Griffiths , Jason Hemphill , Goran A. Lynch , Daniel N. Miller , Patrick O'Grady , Nitish Swarup , Kamyar Ziaei
Abstract: A system and method for integrated table motion includes a device. The device includes an articulated arm having joints and a distal portion distal to the joints and a control unit. To support integrated motion with a separate table, the control unit is configured to receive a table movement request from the table, determine whether allowing the table movement request would result in a first joint of the joints being at a range of motion limit, allow the table to perform the table movement request based on determining that allowing the table to perform the table movement request would not result in the first joint being at the range of motion limit, track movement of the table due to performing the table movement request, and maintain, using the joints and based on the tracked movement, a position and/or an orientation of the distal portion relative to the table.
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公开(公告)号：US20190328484A1
公开(公告)日：2019-10-31
申请号：US16506867
申请日：2019-07-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish Swarup , Paul G. Griffiths , Goran A. Lynch , Daniel N. Miller
Abstract: A computer-assisted device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send one or more first commands to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner, detect a disturbance in a point of interest of the computer-assisted device caused by each brake of the plurality of brakes as the brake is released, and send one or more second commands to the plurality of joints to compensate for the disturbance. In some embodiments, the one or more first commands prevent simultaneous release of two or more brakes of the plurality of brakes. In some embodiments, the one or more first commands cause brakes of the plurality of brakes to release within a predetermined time of each other.
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公开(公告)号：US10405944B2
公开(公告)日：2019-09-10
申请号：US15522015
申请日：2015-10-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish Swarup , Paul G. Griffiths , Goran A. Lynch , Daniel N. Miller
IPC: G06F19/00 , A61B90/50 , A61B34/30 , B25J9/00 , B25J9/06 , B25J9/16 , B25J19/00 , A61B34/35 , A61B34/37
Abstract: A computer-assisted medical device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send a command to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner. In some embodiments the predetermined staggered manner prevents the simultaneous release of the plurality of breaks. In some examples, the predetermined staggered manner causes each brake in the plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to begin a gradual release within a predetermined time of each other.
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Patent Agency Ranking
公开(公告)号：US20190142533A1
公开(公告)日：2019-05-16
申请号：US16242750
申请日：2019-01-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Paul G. Griffiths , Jason Hemphill , Goran A. Lynch , Daniel N. Miller , Patrick O'Grady , Nitish Swarup , Kamyar Ziaei
Abstract: A system and method for integrated table motion includes a device. The device includes an articulated arm having joints and a distal portion distal to the joints and a control unit. To support integrated motion with a separate table, the control unit is configured to receive a table movement request from the table, determine whether allowing the table movement request would result in a first joint of the joints being at a range of motion limit, allow the table to perform the table movement request based on determining that allowing the table to perform the table movement request would not result in the first joint being at the range of motion limit, track movement of the table due to performing the table movement request, and maintain, using the joints and based on the tracked movement, a position and/or an orientation of the distal portion relative to the table.
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公开(公告)号：US10226306B2
公开(公告)日：2019-03-12
申请号：US15522169
申请日：2015-10-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Paul G. Griffiths , Jason Hemphill , Goran A. Lynch , Daniel N. Miller , Patrick O'Grady , Nitish Swarup , Kamyar Ziaei
Abstract: A system and method for an integrated surgical table includes a medical device including an articulated arm having one or more first and second joints and a control unit. The articulated arm has at least a cannula, an endoscope, or an instrument mounted distal to the first and second joints, which is inserted into a patient at a body opening. The control unit unlocks the first joints, receives a surgical table movement request, determines whether the surgical table movement request should be granted, allows the surgical table to perform the requested movement based on the determining, uses the first joints to allow the articulated arm to track movement of the body opening based on forces applied by a body wall at the body opening, and compensates for changes in a pose of the cannula, endoscope, or instrument due to the tracked movement by performing compensating motions in the second joints.
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公开(公告)号：US20240243675A1
公开(公告)日：2024-07-18
申请号：US18289647
申请日：2022-05-11
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel N. Miller
IPC: H02P5/56
CPC classification number: H02P5/56
Abstract: A system includes a first motor, a second motor, and a third motor, each respective motor comprising three phases. The system further includes a voltage source inverter circuit comprising multiple respective inverter legs. Each respective inverter leg coupled to drive at least one phase of at least one of the respective motors, with a first shared inverter leg coupled to drive a third phase of the first motor and drive a first phase of the second motor. A second shared inverter leg is coupled to drive a third phase of the second motor and a first phase of the third motor
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公开(公告)号：US11576737B2
公开(公告)日：2023-02-14
申请号：US17217874
申请日：2021-03-30
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Paul G. Griffiths , Jason Hemphill , Goran A. Lynch , Daniel N. Miller , Patrick O'Grady , Nitish Swarup , Kamyar Ziaei
Abstract: Integrated table motion includes a device including a control unit and an arm having one or more joints and a distal portion. The control unit is configured to receive a table movement request from a separate table, determine whether to allow the table movement request based on one or more of whether a type of movement in the table movement request is permitted, whether one or more instruments mounted to the device are within a field of view of an imaging device, or whether one or more instruments mounted to the device are withdrawn into respective cannulas, allow the table to perform the table movement request based on the determining; track movement of the table while the table performs the table movement request; and maintain, using the joint(s) and based on the tracked movement of the table, a position and/or an orientation of the distal portion relative to the table.
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公开(公告)号：US11179221B2
公开(公告)日：2021-11-23
申请号：US16506867
申请日：2019-07-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish Swarup , Paul G. Griffiths , Goran A. Lynch , Daniel N. Miller
Abstract: A computer-assisted device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send one or more first commands to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner, detect a disturbance in a point of interest of the computer-assisted device caused by each brake of the plurality of brakes as the brake is released, and send one or more second commands to the plurality of joints to compensate for the disturbance. In some embodiments, the one or more first commands prevent simultaneous release of two or more brakes of the plurality of brakes. In some embodiments, the one or more first commands cause brakes of the plurality of brakes to release within a predetermined time of each other.
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