公开(公告)号：US20160045272A1

公开(公告)日：2016-02-18

申请号：US14833333

申请日：2015-08-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： NICOLA DIOLAITI

IPC: A61B19/00 ,  A61B1/018 ,  A61B1/00

CPC classification number: A61B1/00163 ,  A61B1/00087 ,  A61B1/00193 ,  A61B1/0055 ,  A61B1/018 ,  A61B5/15196 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B90/361 ,  A61B2017/00278 ,  A61B2017/00694 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306 ,  A61B2090/062

Abstract: A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.

Abstract translation: 医疗机器人系统包括从入口引导件的远端延伸出的关节式器械。 在使进入引导件枢转以重新定向它和仪器之前，仪器串联地移动到入口导板。 提供触觉提示和速度限制，以帮助操作者缩回仪器。 撤回后，进入指南然后可以枢转，而不用担心仪器会伤害患者解剖。 仪器在进入引导件中串联移动也可能通过耦合的控制模式发生，而入口引导件保持在固定的位置和方向。

公开(公告)号：US20220273377A1

公开(公告)日：2022-09-01

申请号：US17733446

申请日：2022-04-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： NICOLA DIOLAITI ,  Samuel Y. Chang ,  Vincent Duindam

IPC: A61B34/30 ,  A61B1/005 ,  A61B34/35 ,  A61B34/37 ,  G02B23/24 ,  A61B1/00 ,  A61B34/00 ,  A61M25/01

Abstract: A medical system includes a flexible elongate instrument and a control system. The flexible elongate instrument includes a plurality of wires useable to control articulation of the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument, determine an extent of motion of the flexible elongate instrument based on the monitoring, and determine a mode of operation for the flexible elongate instrument from a plurality of modes of operation based on the monitoring. The plurality of modes of operation includes a retraction mode, an insertion mode, and a parking mode. The control system is further configured to, in response to a change in the mode of operation, alter a rigidity of the flexible elongate instrument with a rate of rigidity change that is based on the extent of motion using one or more of the plurality of wires.

公开(公告)号：US20160038011A1

公开(公告)日：2016-02-11

申请号：US14918695

申请日：2015-10-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： NICOLA DIOLAITI

IPC: A61B1/045 ,  A61B1/008 ,  A61B1/313 ,  A61B1/05

CPC classification number: A61B1/045 ,  A61B1/00039 ,  A61B1/00149 ,  A61B1/008 ,  A61B1/05 ,  A61B1/313 ,  A61B1/3132 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00296 ,  A61B2019/2211 ,  A61B2019/2269 ,  A61B2019/2296 ,  A61B2019/5257 ,  A61B2034/305 ,  A61B2090/306

Abstract: A medical robotic system includes an entry guide with articulatable instruments such as surgical tools and a camera extending out of its distal end. The camera instrument is manipulatable by a camera manipulator, which has a first mechanism for pivoting a focal point of the camera instrument about a pivot of the camera instrument and a second mechanism for positioning the pivot within a three-dimensional space in response to translational commands received from one or a coupled pair of input devices. The system also includes a controller which is configured to receive sensed movement of the input devices, and cause actuation of the first mechanism in response to the sensed movement if the system is in an orientational mode and cause actuation of the second mechanism in response to the sensed movement if the system is in a translational mode.

公开(公告)号：US20140277738A1

公开(公告)日：2014-09-18

申请号：US14293067

申请日：2014-06-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： NICOLA DIOLAITI ,  GIUSEPPE M. Prisco

IPC: G05B19/402 ,  A61B19/00 ,  B25J9/16

CPC classification number: G05B19/402 ,  A61B34/30 ,  B25J9/1689 ,  B25J9/1697 ,  G05B2219/39257 ,  G05B2219/40195 ,  G05B2219/40242 ,  G05B2219/45117 ,  G06F19/00 ,  G06F19/3418 ,  G06F19/3481 ,  G16H50/50

Abstract: A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide relative to a remote center, and a controller configured to manage operation of the entry guide manipulator in response to operator manipulation of one or more input devices. As the entry guide manipulator approaches a yaw/roll singularity, the controller modifies its operation to allow continued movement of the entry guide manipulator without commanding excessive joint velocities while maintaining proper orientation of the entry guide.

Abstract translation: 医疗机器人系统包括入口引导件，其具有从其远端延伸的可关节运动的仪器，进入引导操纵器，其提供入口引导件相对于远程中心的可控四自由度移动;以及控制器，其被配置为管理 入口引导操纵器响应于操作者操纵一个或多个输入设备。 当进入引导机械手接近偏航/滚转奇异性时，控制器修改其操作以允许入口引导操纵器的继续移动，而不会指示过大的关节速度，同时保持进入引导件的适当取向。

公开(公告)号：US20140249544A1

公开(公告)日：2014-09-04

申请号：US14178700

申请日：2014-02-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： NICOLA DIOLAITI

IPC: A61B19/00

CPC classification number: A61B19/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/10 ,  A61B90/11 ,  A61B90/361

Abstract: A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide, and a controller configured to limit joint velocities in the entry guide manipulator so as to prevent movement of tips of the articulatable instruments from exceeding a maximum allowable linear velocity when the entry guide manipulator is being used to move the entry guide.

Abstract translation: 医疗机器人系统包括具有从其远端延伸出的可关节运动器械的进入引导件，提供入口引导件的可控四自由度运动的进入引导操纵器和被配置为限制入口引导操纵器中的关节速度的控制器 以便当使用进入导向机械手来移动入口导板时，防止可铰接器械的尖端的移动超过最大允许线速度。