公开(公告)号：US11672619B2

公开(公告)日：2023-06-13

申请号：US17107862

申请日：2020-11-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC: B25J9/16 ,  A61B34/37 ,  A61B34/30 ,  A61B90/10 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  A61B2017/00725 ,  A61B2034/305 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.

公开(公告)号：US20200253675A1

公开(公告)日：2020-08-13

申请号：US16862412

申请日：2020-04-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  William C. NOWLIN ,  Gunter D. Niemeyer ,  David S. MINTZ

IPC: A61B34/37 ,  A61B34/35 ,  A61B34/00 ,  B25J3/00 ,  B25J9/16 ,  A61B90/10 ,  A61B34/30

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining a grip orientation by which the master grip is gripped by an operator, determining a commanded velocity for the slave instrument based on a manipulation of the master grip by the operator, determining an error, and altering the commanded velocity for the slave instrument based on at least the grip orientation and the error. The error includes a parameter selected from a group consisting of a position error between a position of the master grip and a position of the slave instrument and an orientation error between an orientation of the master grip and an orientation of the slave instrument.

公开(公告)号：US20190209253A1

公开(公告)日：2019-07-11

申请号：US16353932

申请日：2019-03-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC: A61B34/37 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35 ,  A61B90/10 ,  B25J9/16 ,  A61B34/30

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to be coupled to a slave instrument. The ratcheting system is further configured to align the master grip with the slave instrument by determining a commanded angular velocity for the slave instrument based on a command from the master grip, determining a current alignment error between an alignment of the master grip and an alignment of the slave instrument, and altering the commanded angular velocity for the slave instrument based on the current alignment error. In some embodiments, the ratcheting system is further configured to introduce a control system error to alter the commanded angular velocity. In some embodiments, the current alignment error is a rotation angle error between the alignment of the master grip and the alignment of the slave instrument.

公开(公告)号：US20180185110A1

公开(公告)日：2018-07-05

申请号：US15866858

申请日：2018-01-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Rajesh Kumar ,  Brian D. Hoffman ,  Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin ,  Frederic H. Moll ,  Stephen J. Blumenkranz ,  Gunter D. Niemeyer ,  J. Kenneth Salisbury, JR. ,  Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin R. Uecker ,  James W. Wright ,  Amante A. Mangaser ,  Ranjan Mukherjee

IPC: A61B34/37 ,  A61B34/00 ,  A61B90/00 ,  A61B17/00 ,  G09B23/28 ,  A61B1/00

CPC classification number: G09B23/28 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00017 ,  Y10S901/16

Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

公开(公告)号：US20170027655A1

公开(公告)日：2017-02-02

申请号：US15294380

申请日：2016-10-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gunter D. Niemeyer

IPC: A61B34/37 ,  A61B90/00 ,  A61B34/35 ,  A61B34/00 ,  A61B17/00 ,  A61B34/30

CPC classification number: A61B34/37 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B90/06 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305

Abstract: Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.

Abstract translation: 用于补偿动力自动系统中的摩擦的装置，系统和方法，特别是用于远程外科和其他远程呈现应用。 动态摩擦补偿可​​以包括在接头的运动方向上施加连续的载荷，并且静摩擦补偿可​​以包括每当接合速度读数落在低速范围内时，在正和负关节致动方向施加交变载荷。

公开(公告)号：US09474581B2

公开(公告)日：2016-10-25

申请号：US14453843

申请日：2014-08-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gunter D. Niemeyer

IPC: A61B17/00 ,  A61B19/00

CPC classification number: A61B34/37 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B90/06 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305

Abstract: Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.

公开(公告)号：US08827989B2

公开(公告)日：2014-09-09

申请号：US13917960

申请日：2013-06-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gunter D. Niemeyer

IPC: A61B17/00 ,  A61B19/00

CPC classification number: A61B34/37 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B90/06 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305

Abstract: Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.

Abstract translation: 用于补偿动力自动系统中的摩擦的装置，系统和方法，特别是用于远程外科和其他远程呈现应用。 动态摩擦补偿可​​以包括在接头的运动方向上施加连续的载荷，并且静摩擦补偿可​​以包括每当接合速度读数落在低速范围内时，在正和负关节致动方向施加交变载荷。

公开(公告)号：US20140051922A1

公开(公告)日：2014-02-20

申请号：US13972115

申请日：2013-08-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： GARY S. GUTHART ,  David S. Mintz ,  Gunter D. Niemeyer ,  J. Kenneth Salisbury, JR. ,  Robert G. Younge

IPC: A61B19/00 ,  A61B17/00 ,  A61B1/313 ,  A61B8/12 ,  A61B1/00 ,  A61B1/04

CPC classification number: A61B34/30 ,  A61B1/00045 ,  A61B1/0005 ,  A61B1/04 ,  A61B1/3132 ,  A61B8/12 ,  A61B8/4218 ,  A61B8/4245 ,  A61B17/00234 ,  A61B18/20 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/107 ,  A61B2034/305 ,  A61B2090/031 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/066 ,  A61B2090/0807 ,  A61B2090/506

Abstract: Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.

Abstract translation: 除了提供手术部位本身的图像之外，用于在患者上执行机器人辅助外科手术的系统和方法使得图像显示装置能够向操作者提供与外科手术相关的辅助信息。 系统和方法允许操作者在执行外科手术过程中选择性地访问和参考图像显示装置上的辅助信息。

公开(公告)号：US11045077B2

公开(公告)日：2021-06-29

申请号：US15397509

申请日：2017-01-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： John D. Stern ,  Robert G. Younge ,  David S. Gere ,  Gunter D. Niemeyer

IPC: A61B1/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B90/50 ,  A61B17/00 ,  A61B90/00

Abstract: Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.

公开(公告)号：US10675109B2

公开(公告)日：2020-06-09

申请号：US16353932

申请日：2019-03-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC: A61B34/35 ,  A61B34/37 ,  A61B34/30 ,  B25J9/16 ,  A61B90/10 ,  B25J3/00 ,  A61B34/00 ,  A61B17/00

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to be coupled to a slave instrument. The ratcheting system is further configured to align the master grip with the slave instrument by determining a commanded angular velocity for the slave instrument based on a command from the master grip, determining a current alignment error between an alignment of the master grip and an alignment of the slave instrument, and altering the commanded angular velocity for the slave instrument based on the current alignment error. In some embodiments, the ratcheting system is further configured to introduce a control system error to alter the commanded angular velocity. In some embodiments, the current alignment error is a rotation angle error between the alignment of the master grip and the alignment of the slave instrument.