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公开(公告)号：US20220354602A1
公开(公告)日：2022-11-10
申请号：US17752975
申请日：2022-05-25
摘要： Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.
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2.发明授权公开(公告)号：US11213360B2
公开(公告)日：2022-01-04
申请号：US16407005
申请日：2019-05-08
摘要： Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the: augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.
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公开(公告)号：US11130231B2
公开(公告)日：2021-09-28
申请号：US16275232
申请日：2019-02-13
IPC分类号： G06F17/00 , B25J9/16 , A61B34/30 , B25J9/06 , B25J19/00 , B25J19/02 , A61B90/00 , A61B34/20 , A61B90/50 , A61B34/35
摘要： Systems and methods for instrument disturbance compensation include a computer-assisted device. The computer-assisted device includes an articulated arm having a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to detect a disturbance to the articulated arm caused by a release of one or more brakes of the plurality of joints and maintain a position of a point of interest associated with the articulated arm by compensating for the disturbance using one or more joints of the plurality of joints. In some embodiments, the point of interest is a tip of an end effector of the articulated arm. In some embodiments, the control unit is configured to determine a predicted motion for the point of interest based on the disturbance and send a drive command to move the point of interest in a direction opposite to the predicted motion.
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公开(公告)号：US10973596B2
公开(公告)日：2021-04-13
申请号：US16563342
申请日：2019-09-06
发明人： Daniel Miller , Nitish Swarup , Michael Turner , Arjang M. Hourtash , Paul G. Griffiths , Paul W. Mohr
摘要： A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm and including one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold and switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. Movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint. In some embodiments, the external stimulus applied to the arm is a stimulus detected on the first joint or a stimulus detected on a second joint of the arm.
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5.发明申请公开(公告)号：US20190388169A1
公开(公告)日：2019-12-26
申请号：US16564734
申请日：2019-09-09
摘要： To assist a surgeon performing a medical procedure, auxiliary images generally indicating internal details of an anatomic structure being treated are displayed and manipulated by the surgeon on a computer display screen to supplement primary images generally of an external view of the anatomic structure. A master input device controlling a robotic arm in a first mode may be switched by the surgeon to a second mode in order to function instead as a mouse-like pointing device to facilitate the surgeon performing such auxiliary information display and manipulation.
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公开(公告)号：US20190388167A1
公开(公告)日：2019-12-26
申请号：US16563342
申请日：2019-09-06
发明人： Daniel Miller , Nitish Swarup , Michael Turner , Arjang M. Hourtash , Paul G. Griffiths , Paul W. Mohr
摘要： A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm and including one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold and switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. Movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint. In some embodiments, the external stimulus applied to the arm is a stimulus detected on the first joint or a stimulus detected on a second joint of the arm
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公开(公告)号：US10149729B2
公开(公告)日：2018-12-11
申请号：US15677964
申请日：2017-08-15
发明人： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
摘要： Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.
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公开(公告)号：US10071479B2
公开(公告)日：2018-09-11
申请号：US15456394
申请日：2017-03-10
发明人： Nitish Swarup , Arjang M. Hourtash , Paul W. Mohr
IPC分类号： G06F19/00 , G05B15/00 , B25J9/16 , B25J18/00 , A61B34/37 , A61B34/20 , A61B34/00 , A61B1/00 , A61B50/13 , A61B90/00 , A61B34/30
CPC分类号： B25J9/1643 , A61B1/00193 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B50/13 , A61B2034/107 , A61B2034/2059 , A61B2034/301 , A61B2034/742 , A61B2090/065 , B25J18/007 , G05B2219/40339 , G05B2219/40359 , G05B2219/40474
摘要： Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.
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公开(公告)号：US10070931B2
公开(公告)日：2018-09-11
申请号：US15125533
申请日：2015-03-17
摘要： A system and method of maintaining a tool pose for a computer-assisted medical device with an articulated arm including one or more first joints and one or more second joints, a tool distal to the first joints and the second joints, and a control unit coupled to the first joints and the second joints. The control unit maintains a pose of the tool during movement of the first joints using the second joints by determining a reference coordinate frame for the tool, determining a reference transform of the tool in the reference coordinate frame prior to the movement of the first joints, determining an actual transform of the tool in the reference coordinate frame while the first joints are being moved, determining differences between the reference transform and the actual transform, and maintaining the pose of the tool by driving the second joints based on the differences.
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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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