公开(公告)号：US20250010470A1

公开(公告)日：2025-01-09

申请号：US18886751

申请日：2024-09-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh ,  Lawton Verner ,  Gabriel Brisson

IPC: B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  B25J15/04 ,  G05B19/4155

Abstract: A computer-assisted medical system includes a manipulator arm, an actuator system, a sensor system, and a controller. The controller determines, using the sensor system, a kinematic configuration of a previous tool attached to the manipulator arm, determines a mounting of a replacement tool to the manipulator arm after removal of the previous tool from the manipulator arm, determines, based on the kinematic configuration of the previous tool, a trajectory for the replacement tool, and controls the actuator system to move the replacement tool in accordance with the trajectory as the replacement tool is inserted. To control the actuator system to move the replacement according to the trajectory, the controller, in response to the trajectory including a non-straight portion, controls the actuator system to alter an angle or position of a joint of the manipulator arm such that an end effector of the replacement tool moves according to the non-straight portion.

公开(公告)号：US12128566B2

公开(公告)日：2024-10-29

申请号：US17438377

申请日：2020-03-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh ,  Lawton Verner ,  Gabriel Brisson

IPC: B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  G05B19/4155 ,  B25J15/04

CPC classification number: B25J9/1664 ,  A61B34/37 ,  B25J9/1633 ,  G05B19/4155 ,  A61B2034/301 ,  B25J15/04 ,  G05B2219/40269

Abstract: A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor and is configured to determine a kinematic configuration, the kinematic configuration being prior to an installation of a replacement tool on the manipulator arm. The kinematic configuration is of the manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool located at an insertion location. The controller is further configured to determine a reference geometry of the previous tool in the kinematic configuration, determine an insertion trajectory for the replacement tool based on the reference geometry, and facilitate an insertion of the replacement tool toward a target location of the insertion trajectory by controlling the replacement tool to move in accordance with the insertion trajectory.

公开(公告)号：US20220250242A1

公开(公告)日：2022-08-11

申请号：US17438377

申请日：2020-03-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh ,  Lawton Verner ,  Gabriel Brisson

IPC: B25J9/16 ,  A61B34/37 ,  G05B19/4155

Abstract: A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor and is configured to determine a kinematic configuration, the kinematic configuration being prior to an installation of a replacement tool on the manipulator arm. The kinematic configuration is of the manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool located at an insertion location. The controller is further configured to determine a reference geometry of the previous tool in the kinematic configuration, determine an insertion trajectory for the replacement tool based on the reference geometry, and facilitate an insertion of the replacement tool toward a target location of the insertion trajectory by controlling the replacement tool to move in accordance with the insertion trajectory.