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    TECHNIQUES FOR CONTROLLING GRASPING
    1.
    发明申请
    TECHNIQUES FOR CONTROLLING GRASPING 有权

    公开(公告)号：US20250082324A1

    公开(公告)日：2025-03-13

    申请号：US18955586

    申请日：2024-11-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. WEIR ,  Kevin DURANT ,  Patrick FLANAGAN ,  David W. ROBINSON

    IPC: A61B17/068 ,  A61B17/00 ,  A61B17/072 ,  A61B17/115 ,  A61B90/00

    Abstract: Techniques for controlling grasping include a manipulator configured to be releasably coupled to an instrument, the instrument having an end effector comprising a first jaw and a second jaw; a drive system configured to apply a force or torque to the instrument to cause the end effector to grasp a material between the first jaw and the second jaw; and a processor. The processor is configured to monitor a force or torque applied by the drive system to cause the end effector to grasp the material and in response to a determination that the applied force or torque is below a lower limit of an acceptable range of force or torque, reverse a direction of the applied force or torque.

    METHOD OF DETERMINING THE SHAPE OF A BENDABLE INSTRUMENT
    3.
    发明申请
    METHOD OF DETERMINING THE SHAPE OF A BENDABLE INSTRUMENT 审中-公开

    公开(公告)号：US20170251905A1

    公开(公告)日：2017-09-07

    申请号：US15463745

    申请日：2017-03-20

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC

    Inventor： Kevin DURANT ,  David S. MINTZ ,  Robert M. OHLINE

    IPC: A61B1/005 ,  A61B1/00 ,  A61B34/20 ,  A61B5/06 ,  A61M25/01

    CPC classification number: A61B1/0052 ,  A61B1/00128 ,  A61B5/065 ,  A61B34/20 ,  A61B90/361 ,  A61B2090/064 ,  A61M25/0147 ,  A61M25/0155 ,  A61M25/0158

    Abstract: A method for determining a shape of a bendable instrument can include placing the bendable instrument in a neutral position; moving a first control element a first amount until slack is removed from the first control element; moving a second control element a second amount until slack is removed from the second control element; sensing a position of the first control element after moving the first control element the first amount, the sensed position of the first control element being defined as a first control element calibration position; sensing a position of the second control element after moving the second control element the second amount, the sensed position of the second control element being defined as a second control element calibration position. The method can further include bending the instrument by moving one or both of the first control element and the second control element from the respective first control element calibration position and the second control element calibration position; and determining a resulting shape of the bendable instrument based on a distance one or both of the first control element and the second control element respectively moved from the first control element calibration position and second control element calibration.

    TORQUE COMPENSATION
    5.
    发明申请
    TORQUE COMPENSATION 审中-公开

    公开(公告)号：US20200337704A1

    公开(公告)日：2020-10-29

    申请号：US16930235

    申请日：2020-07-15

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. WEIR ,  Melody WU ,  Gabriel F. BRISSON ,  Kevin DURANT ,  Grant DUQUE

    IPC: A61B17/08 ,  A61B17/10 ,  A61B17/072 ,  A61B18/14 ,  A61B34/30 ,  A61B50/13 ,  A61B50/33 ,  A61B90/98 ,  A61B34/00 ,  A61B34/37 ,  A61B90/92 ,  A61B1/00 ,  B25J9/16 ,  G01L5/22

    Abstract: In some embodiments, torque compensation in a clamping instrument includes control electronics obtaining an initial torque limit for the clamping instrument, adjusting the initial torque limit based on a temperature of a motor assembly used to operate the clamping instrument, and clamping the clamping instrument according to the adjusted torque limit. The adjusted torque limit corresponds to a maximum torque that may be applied by the clamping instrument to perform the clamping. In some embodiments, torque compensation in a stapling instrument includes control electronics obtaining an initial torque limit for the stapling instrument, adjusting the initial torque limit based on a number of times the stapling instrument has been fired, and firing the stapling instrument according to the adjusted torque limit. The adjusted torque limit corresponds to a maximum torque that may be applied by the stapling instrument to perform the firing.

    SURGICAL INSTRUMENT WITH CONTROL FOR DETECTED FAULT CONDITION
    6.
    发明申请
    SURGICAL INSTRUMENT WITH CONTROL FOR DETECTED FAULT CONDITION 审中-公开
    具有检测故障条件控制的手术仪器

    公开(公告)号：US20160324588A1

    公开(公告)日：2016-11-10

    申请号：US15212982

    申请日：2016-07-18

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Kevin DURANT ,  Gabriel F. BRISSON ,  Scott E. MANZO ,  William A. BURBANK

    IPC: A61B34/00 ,  A61B34/32 ,  A61B17/295

    Abstract: A method of controlling a surgical instrument comprising an end effector may comprise detecting a first signal indicating that an end effector component of a surgical instrument is positioned between a first position and a second position; and automatically controlling operation of the end effector component when a second signal is not detected within a predetermined delayed response time period after detecting the first signal, wherein the second signal indicates that the end effector component is in one of the first position or the second position.

    Abstract translation: 控制包括端部执行器的外科器械的方法可以包括检测指示外科器械的末端执行器部件位于第一位置和第二位置之间的第一信号; 以及在检测到所述第一信号之后在预定的延迟响应时间段内未检测到第二信号时自动控制所述末端执行器部件的操作，其中所述第二信号指示所述末端执行器部件处于所述第一位置或所述第二位置 。

    METHODS AND SYSTEMS FOR CONTROLLING STAPLE FIRING
    7.
    发明公开
    METHODS AND SYSTEMS FOR CONTROLLING STAPLE FIRING 审中-公开

    公开(公告)号：US20230157687A1

    公开(公告)日：2023-05-25

    申请号：US18158069

    申请日：2023-01-23

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. WEIR ,  Kevin DURANT ,  Patrick FLANAGAN ,  David W. ROBINSON

    IPC: A61B17/068 ,  A61B17/072

    CPC classification number: A61B17/068 ,  A61B17/0686 ,  A61B17/072 ,  A61B17/07207 ,  A61B17/115

    Abstract: Systems and methods for controlling staple firing include a manipulator, a drive system, and a processor. The manipulator is configured to be releasably coupled to an instrument. The instrument has an end effector comprising a first jaw and a second jaw. The drive system is configured to apply a force or torque to the instrument to cause staple firing to occur using the end effector. The processor is configured to monitor a force or torque applied by the drive system to cause staple firing to occur and in response to determining that the applied force or torque is outside of an acceptable range of force or torque, maintain application of clamping by the first jaw and the second jaw while suspending application of the force or torque that causes the staple firing to occur.

    METHODS AND SYSTEMS FOR DETECTING CLAMPING OR FIRING FAILURE
    9.
    发明申请
    METHODS AND SYSTEMS FOR DETECTING CLAMPING OR FIRING FAILURE 有权
    用于检测夹紧或失效的方法和系统

    公开(公告)号：US20160074036A1

    公开(公告)日：2016-03-17

    申请号：US14949827

    申请日：2015-11-23

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： David WEIR ,  Kevin DURANT ,  Patrick FLANAGAN ,  David ROBINSON

    IPC: A61B17/068

    CPC classification number: A61B17/068 ,  A61B17/0686 ,  A61B17/072 ,  A61B17/07207 ,  A61B17/115 ,  A61B2017/00115 ,  A61B2017/00398 ,  A61B2017/07214 ,  A61B2090/064 ,  A61B2090/0811

    Abstract: Systems and methods are provided for detecting failure in clamping of a material and/or firing of a staple into a clamped material and indicating such failure to a user on a user interface. The system and methods are particularly suited for use with end effectors having closing and/or firing mechanisms coupled to an actuator. By monitoring a driving parameter of an actuator that effects the clamping and/or firing, the systems and methods provide an indication of failure in response to the monitored drive parameter. In some embodiments, an indication of failure is output when the monitored drive parameter is outside an acceptable range of desired driving parameters during clamping and/or firing. The disclosed systems and methods are particularly beneficial when used for minimally invasive surgery.

    Abstract translation: 提供了系统和方法，用于检测材料夹紧和/或钉入夹紧材料中的失败，并在用户界面上向用户指示这种故障。 该系统和方法特别适用于具有联接到致动器的闭合和/或击发机构的末端执行器。 通过监测执行夹紧和/或点火的致动器的驱动参数，系统和方法提供响应于所监视的驱动参数的故障的指示。 在一些实施例中，当在夹紧和/或点火期间监视的驱动参数在期望的驱动参数的可接受范围之外时，输出故障指示。 当用于微创手术时，所公开的系统和方法是特别有益的。

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