公开(公告)号：US20220296323A1

公开(公告)日：2022-09-22

申请号：US17637348

申请日：2020-08-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Michael C. WALDO ,  Scott O. LUKE ,  Charles A. SWEENEY ,  Allen C. THOMPSON ,  Randal P. GOLDBERG ,  Jason A. GLASSER ,  Peling G. LEE ,  Pushkar HINGWE ,  Lawton N. VERNER ,  Goran A. LYNCH ,  Russell L. E. BLANCHARD

IPC: A61B34/00 ,  F16M11/12 ,  F16M11/18 ,  F16M11/20 ,  F16M11/28

Abstract: Implementations relate to a moveable display unit on a track. In some implementations, a control unit includes a support linkage including a first support coupled to a second support, a track member coupled to a distal portion of the second support, and a display unit coupled to the track member. The display unit includes a display device. The display unit is linearly translatable in first and second degrees of freedom provided by the support linkage. The display unit is rotatable, with respect to the second support, about a tilt axis in a third degree of freedom defined by the track member.

公开(公告)号：US20210212780A1

公开(公告)日：2021-07-15

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

IPC: A61B34/30 ,  A61G13/02 ,  A61B34/00

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device are within a field of view of an imaging device, or whether one or more instruments mounted to the device are withdrawn into respective cannulas, allow the table to perform the table movement request based on the determining; track movement of the table while the table performs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.

公开(公告)号：US20250025248A1

公开(公告)日：2025-01-23

申请号：US18909164

申请日：2024-10-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Goran A. LYNCH ,  Paul G. GRIFFITHS ,  Michael TURNER

IPC: A61B34/32 ,  A61B17/00 ,  A61B34/20 ,  A61B34/30 ,  A61B90/50 ,  B25J9/16

Abstract: Techniques for rapid halt of repositionable arms include a computer-assisted device comprising a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit communicably coupled to the first repositionable arm and the second repositionable arm. The control unit is configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector, determine a composite deviation between a plurality of kinematic or dynamic values of the actual motion and the plurality of kinematic or dynamic values of a desired motion of the at least one structure, determine whether the composite deviation is greater than a deviation threshold, and in response to the composite deviation being greater than the deviation threshold: halt motion of the first repositionable arm or the second repositionable arm.

公开(公告)号：US20240009837A1

公开(公告)日：2024-01-11

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: B25J9/16 ,  A61B34/30 ,  B25J9/06 ,  B25J19/00 ,  B25J19/02

CPC classification number: B25J9/1641 ,  A61B34/30 ,  B25J9/06 ,  B25J9/1607 ,  B25J9/1653 ,  B25J9/1682 ,  B25J19/0004 ,  B25J19/021 ,  A61B2090/373

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.

公开(公告)号：US20230125548A1

公开(公告)日：2023-04-27

申请号：US18069336

申请日：2022-12-21

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

IPC: A61B34/30 ,  A61G13/02 ,  A61B34/00

Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. To support integrated motion with a table physically separate from and communicatively coupled to the computer-assisted device via a communications connection, the control unit is configured to receive a table movement request from a table command unit of the table, determine whether the table movement request should be allowed, and allow the table to perform the table movement request based on determining that the table movement request should be allowed.

公开(公告)号：US20210220084A1

公开(公告)日：2021-07-22

申请号：US17224049

申请日：2021-04-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish SWARUP ,  Paul G. GRIFFITHS ,  Goran A. LYNCH ,  Daniel N. MILLER

IPC: A61B90/50 ,  A61B34/30 ,  A61B34/35 ,  B25J9/16 ,  B25J9/00 ,  B25J9/06 ,  B25J19/00

Abstract: A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.

公开(公告)号：US20240358462A1

公开(公告)日：2024-10-31

申请号：US18765427

申请日：2024-07-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/35 ,  A61B17/00 ,  A61B18/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B17/00234 ,  A61B2018/00898 ,  A61B2034/2059

Abstract: Techniques for monitoring a computer-assisted device include a plurality of manipulators, each manipulator being configured to support an instrument, each manipulator having a control point; and a control unit. The control unit is configured to: determine a first spatial configuration of the plurality of control points, the first spatial configuration being prior to a movement of a table separate from the computer-assisted device, and the movement of the table causing motion of at least one control point; determine the movement of the table; determine, based on the movement of the table and the first spatial configuration, an expected spatial configuration of the plurality of control points; determine, based on a comparison of the expected spatial configuration with an actual spatial configuration of the plurality of control points, whether to perform a remedial action; and perform the remedial action in response to a determination to perform the remedial action.

公开(公告)号：US20240208055A1

公开(公告)日：2024-06-27

申请号：US18391473

申请日：2023-12-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Goran A. LYNCH ,  Lucas A. REILLY

IPC: B25J9/16 ,  A61B34/37 ,  B25J9/00

CPC classification number: B25J9/1664 ,  A61B34/37 ,  B25J9/0084 ,  A61B2034/301

Abstract: Techniques for constraining motion of a drivable assembly including a drivable structure, a manipulator mechanically coupled to the drivable structure, and a processing system. The processing system is configured to perform operations including receiving a command. The command indicates a commanded motion for an end effector of an instrument mechanically coupled to the manipulator. The operations also include; determining a drivable structure limit based a type of procedure being performed by the drivable assembly or an operating mode of the drivable assembly. The drivable structure limit defines a limit for motion of the drivable structure. The operations further include determining a movement for effecting the commanded motion. The movement includes a relative motion of the end effector relative to the drivable structure and a drivable structure motion of the drivable structure based on the drivable structure limit. The operations additionally include driving the drivable assembly to perform the movement.

公开(公告)号：US20240024049A1

公开(公告)日：2024-01-25

申请号：US18256476

申请日：2021-12-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mohammad Sina PARASTEGARI ,  Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/35 ,  A61B34/00 ,  A61B90/50 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/74 ,  A61B34/77 ,  A61B34/76 ,  A61B90/50 ,  A61B90/37 ,  A61B2034/301

Abstract: Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system configured to determine a position of a first reference point associated with a first input modality; in a first mode, determine a position of a target reference point for the imaging device based on the first reference point; in a second mode, determine a position of a second reference point associated with a second input modality, and determine the position of the target reference point based on the position of the first reference point and the position of the second reference point; determine a movement of the first repositionable structure that moves the imaging device such that a third reference point associated with the imaging device moves toward the target reference point; and cause actuation of the repositionable structure based on the movement.

公开(公告)号：US20230397963A1

公开(公告)日：2023-12-14

申请号：US18457218

申请日：2023-08-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Goran A. LYNCH ,  Paul G. GRIFFITHS ,  Michael TURNER

IPC: A61B34/32 ,  A61B34/30 ,  A61B17/00 ,  B25J9/16

CPC classification number: A61B34/32 ,  A61B34/30 ,  A61B17/00234 ,  B25J9/1664 ,  A61B2090/508

Abstract: A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector; determine a deviation between the actual motion and a desired motion of the at least one structure; and in response to determining that the deviation is greater than a deviation threshold, select whether to halt motion of the first repositionable arm and the first end effector or the second repositionable arm and the second end effector based on a mode of operation of the first repositionable arm the first end effector, the second repositionable arm, or a mode of operation of the second end effector.