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公开(公告)号：US11974828B2
公开(公告)日：2024-05-07
申请号：US17685317
申请日：2022-03-02
发明人： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
CPC分类号： A61B34/70 , A61B34/30 , A61B2034/304 , A61B34/32 , A61B90/50 , A61B2090/508 , Y10S901/02
摘要： Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode; transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure; while in the set-up mode, determine an input displacement of a link from an initial positional relationship relative to a portion of the kinematic structure to a displaced positional relationship relative to the portion of the kinematic structure; and while in the set-up mode and in response to the determined input displacement, drive the kinematic structure so that the link returns toward the initial positional relationship relative to the portion of the kinematic structure.
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公开(公告)号：US10668633B2
公开(公告)日：2020-06-02
申请号：US16577381
申请日：2019-09-20
发明人： David Robinson , Matthew R. Cavalier , Gregory W. Dachs , Michael Hanuschik , Jason Jiang , Paul W. Mohr , Bruce M. Schena , Mark W. Zimmer
IPC分类号： B25J19/00 , A61B34/30 , A61B50/13 , A61B34/35 , B25J5/00 , A61B34/00 , B62B5/04 , A61B17/00 , A61B90/00
摘要： A surgical cart assembly may comprise a base portion. The base portion also includes a plurality of wheels coupled to the base portion and arranged to permit wheeled movement of the surgical cart assembly. The cart also includes a column extending vertically from the base portion, and a manipulator arm coupled to an end portion of the column opposite to a location of the base portion. The cart further comprises a stabilization assembly coupled to the base portion, the stabilization assembly may include a piston assembly moveable between a retracted position and a deployed position, and an actuation device operably coupled to the piston assembly to actuate the piston assembly between the retracted position and the deployed position. The piston assembly in the retracted position is retracted away from a ground surface on which the cart assembly is supported, and the piston assembly in the deployed position is in contact with the ground surface.
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公开(公告)号：US10464219B2
公开(公告)日：2019-11-05
申请号：US16039599
申请日：2018-07-19
发明人： David Robinson , Matthew R. Cavalier , Gregory W. Dachs , Michael Hanuschik , Jason Jiang , Paul W. Mohr , Bruce M. Schena , Mark W. Zimmer
IPC分类号： B25J19/00 , A61B50/13 , A61B34/35 , A61B34/00 , B25J5/00 , A61B34/30 , B62B5/04 , A61B17/00 , A61B90/00
摘要： A method of controlling a vibration reduction member of a patient side cart for a teleoperated surgical system includes detecting an occurrence of a first event corresponding to preparation of the patient side cart for a surgical procedure, and issuing a command signal to an actuation device to deploy the vibration reduction member to contact a ground surface upon which the patient side cart is located.
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公开(公告)号：US10064689B2
公开(公告)日：2018-09-04
申请号：US15126983
申请日：2015-03-17
摘要： A system and method of aligning with a reference target includes a computer-assisted medical device. The computer-assisted medical device includes an orientation platform, one or more first joints proximal to the orientation platform, one or more second joints distal to the orientation platform, one or more links distal to the orientation platform, a reference instrument coupled to the orientation platform by the second joints and the links; and a control unit coupled to the first joints and the second joints. The control unit determines a pose of the reference instrument. The pose includes a reference point and a reference orientation. The control unit further positions the orientation platform over the reference point using the first joints, rotates the orientation platform to align the orientation platform with the reference orientation using the first joints, and maintains the pose of the reference instrument using the second joints.
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公开(公告)号：US10034718B2
公开(公告)日：2018-07-31
申请号：US15259951
申请日：2016-09-08
发明人： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Hanuschik
IPC分类号： A61B17/00 , A61B34/30 , B25J9/16 , A61B34/00 , A61B34/37 , A61B90/50 , A61B90/00 , A61B34/35
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/77 , A61B90/06 , A61B90/50 , A61B2034/301 , A61B2034/304 , A61B2090/066 , A61B2090/508 , B25J9/1633 , B25J9/1669 , G05B2219/40414 , Y10S901/02
摘要： Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. A set-up mode employs an intuitive user interface in which one or more joints of the kinematic linkage are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. Embodiments of the invention can provide for manual movement of a platform supporting a plurality of surgical manipulators or the like without having to add additional input devices.
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6.发明授权公开(公告)号：US09375288B2
公开(公告)日：2016-06-28
申请号：US14642163
申请日：2015-03-09
发明人： David W. Robinson , Thomas R. Nixon , Michael Hanuschik , Randal P. Goldberg , Jason Hemphill , David Q. Larkin , Paul Millman
CPC分类号： A61B34/35 , A61B18/1206 , A61B18/14 , A61B34/25 , A61B34/30 , A61B34/76 , A61B2017/00477 , A61B2017/00482 , A61B2017/00973 , A61B2018/00988
摘要： A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.
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7.发明授权公开(公告)号：US11160622B2
公开(公告)日：2021-11-02
申请号：US16824022
申请日：2020-03-19
发明人： Randal P. Goldberg , Michael Hanuschik , Paul Millman , Paul W. Mohr , Thomas R. Nixon , David W. Robinson
IPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/00 , A61B90/98 , A61B18/00 , A61B18/14 , A61B17/00
摘要： A method of assigning an auxiliary input device to control a surgical instrument in a computer-assisted surgical system includes detecting a first surgical instrument coupled to a first manipulator interface assembly of a computer-assisted surgical system, the first manipulator interface assembly being controlled by a first input device. The method further includes detecting an initial relative position of the first input device and either assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the initial relative position of the first input device is detected to be at a left position relative to a second input device or assigning may also include assigning control of an auxiliary function of the first surgical instrument to the second auxiliary input device disposed in a right position relative to the first auxiliary input device if the initial relative position the first input device is detected to be at a right position relative to the second input device.
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公开(公告)号：US10899021B2
公开(公告)日：2021-01-26
申请号：US16860569
申请日：2020-04-28
发明人： David Robinson , Matthew R. Cavalier , Gregory W. Dachs , Michael Hanuschik , Jason Jiang , Paul W. Mohr , Bruce M. Schena , Mark W. Zimmer
IPC分类号： B25J19/00 , A61B50/13 , A61B34/30 , A61B34/35 , A61B34/00 , B25J5/00 , A61B17/00 , A61B90/00 , B62B5/04
摘要： A surgical cart assembly may comprise a base portion; a plurality of wheels coupled to the base portion; a column extending vertically from the base portion; a manipulator arm coupled to an end portion of the column; a stabilization device coupled to the base portion, the stabilization device moveable between a retracted position and a deployed position; an actuation device to cause movement of the stabilization device between the retracted position and the deployed position; and a biasing element coupled to the stabilization device, the biasing element exerting a biasing force to bias the stabilization device toward the retracted position. The stabilization device may comprise a stabilization surface, the stabilization surface contacting the ground surface on which the surgical cart assembly is supported in the deployed position of the stabilization device, and the stabilization surface spaced from the ground surface in the retracted position of the stabilization device.
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公开(公告)号：US20180338808A1
公开(公告)日：2018-11-29
申请号：US16052555
申请日：2018-08-01
摘要： A system and method of aligning with a reference target includes a computer-assisted device. The computer-assisted device includes a link, one or more first joints coupled proximally to the link, an articulated arm comprising one or more second joints coupled distally to the link, the articulated arm configured to couple to an instrument, and a control unit. The control unit is configured to position or orient the link, using the one or more first joints, based on at least one reference of the instrument selected from the group consisting of a reference point associated with the instrument and a reference orientation of the instrument. The control unit is further configured to maintain, while positioning or orienting the link and by using the one or more second joints, a position or an orientation of the instrument relative to a workspace in accordance with the at least one reference of the instrument.
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公开(公告)号：US10071488B2
公开(公告)日：2018-09-11
申请号：US15126770
申请日：2015-03-17
发明人： David Robinson , Matthew R. Cavalier , Gregory W. Dachs , Michael Hanuschik , Jason Jiang , Paul W. Mohr , Bruce M. Schena , Mark W. Zimmer
CPC分类号： B25J19/0091 , A61B34/30 , A61B34/35 , A61B34/70 , A61B50/13 , A61B2017/00539 , A61B2090/064 , B25J5/007 , B62B5/049
摘要： A patient side cart for a teleoperated surgical system may include a base, a column connected to the base, a boom connected to the column, a manipulator arm connected to the boom, and a vibration reduction member. The manipulator arm may be configured to support a surgical instrument. The vibration reduction member may be configured to be moved between deployed and retracted positions relative to the base. The vibration reduction member may engage a ground surface in the deployed position and not be in contact with the ground surface in the retracted position. Various exemplary embodiments also relate to carts including a vibration reduction member and methods of controlling a vibration reduction member.
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