公开(公告)号：US20250143815A1

公开(公告)日：2025-05-08

申请号：US19018315

申请日：2025-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Jason HEMPHILL ,  Goran A. LYNCH ,  Daniel N. MILLER ,  Patrick O'GRADY ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61B34/00 ,  A61G13/02

Abstract: Integrated table motion includes a teleoperated device comprising an articulated structure and a control unit. The articulated structure comprises a first plurality of joints, a plurality of links coupled by the first plurality of joints, and a plurality of actuators coupled to drive motion of the articulated structure. The control unit comprises one or more hardware processors. The control unit is operatively coupled to the articulated structure. The control unit is configured to receive a table movement request from a command unit of a table, the table being separate from the teleoperated device; determine whether the table movement request should be allowed; and in response to a determination that the table movement request should be allowed, allow the table to perform the table movement request.

公开(公告)号：US20250073899A1

公开(公告)日：2025-03-06

申请号：US18952907

申请日：2024-11-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish SWARUP ,  Paul G. GRIFFITHS ,  Goran A. LYNCH ,  Daniel N. MILLER

IPC: B25J9/16 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  A61B90/50 ,  B25J9/06 ,  B25J19/00 ,  B25J19/02

Abstract: Disturbance compensation in teleoperated devices include a first articulated arm, a second articulated arm, and a control unit. The control unit is configured to detect a first disturbance to the first articulated arm occurring at a first time, the first disturbance moving an imaging device supported by the first articulated arm away from a first orientation of the imaging device toward a second orientation of the imaging device, and after the first time: receive a first indication of a first user input to move an end effector supported by the second articulated arm while the imaging device is not at the first orientation, determine, based on the first indication, a first command for moving the end effector as if the imaging device has the first orientation, and command a second plurality of actuators of the second articulated arm to move the end effector according to the first command.

公开(公告)号：US20240277434A1

公开(公告)日：2024-08-22

申请号：US18654147

申请日：2024-05-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Nitish SWARUP ,  Paul G. GRIFFITHS ,  Goran LYNCH

IPC: A61B34/00 ,  A61B1/00 ,  A61B17/00 ,  A61B34/20 ,  A61B34/30 ,  B25J9/16

CPC classification number: A61B34/70 ,  A61B1/00149 ,  A61B34/30 ,  B25J9/1607 ,  B25J9/1633 ,  A61B2017/00017 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/304 ,  A61B2034/305

Abstract: Techniques for maintaining instrument position and orientation include a computer-assisted device having an articulated structure and a control unit. The articulated structure includes a plurality of joints and is configured to support an instrument. The control unit is configured to determine a reference frame based on a type of a disturbance that causes a movement of a first joint of the plurality of joints; determine, in the reference frame, a first change to the instrument due to the disturbance; and rive at least a second joint of the plurality of joints to reduce the first change. The first change comprises: a change in a position of the instrument, or a change in an orientation of the instrument, or a change in both the position of the instrument and the orientation of the instrument.

公开(公告)号：US20180289427A1

公开(公告)日：2018-10-11

申请号：US15522180

申请日：2015-10-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ

IPC: A61B34/20 ,  A61B34/32 ,  A61G13/10 ,  A61G13/04

Abstract: A system and method of registering a surgical table and a computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. The articulated arm has a distally mounted instrument configured to be inserted into a patient at a body opening. The control unit is configured to detect a first motion of a surgical table coupled to the control unit via a communications connection. The first motion of the surgical table causes a corresponding second motion of a control point of the articulated arm. The control unit is further configured to determine a first angular direction of the first motion in a surgical table coordinate frame, determine a second angular direction of the second motion in a computer-assisted medical device coordinate frame, and determine a third angular relationship between the surgical table and the computer-assisted medical device based on the first and second angular directions.

公开(公告)号：US20250032207A1

公开(公告)日：2025-01-30

申请号：US18911123

申请日：2024-10-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Xingchi HE

IPC: A61B34/00 ,  A61B34/10 ,  A61B90/00 ,  B25J15/04

Abstract: Techniques for assisting tool exchange include a manipulator and one or more processors. The one or more processors are configured to detect initiation of a tool exchange and in response to detecting the initiation of the tool exchange: determine a location of a source of a replacement tool; command retraction of a first tool along an insertion degree of freedom of the first tool, the first tool being mounted to the manipulator; command movement of the manipulator from a first configuration into a second configuration, the first configuration being a current configuration of the manipulator, the second configuration being determined based on the determined location of the replacement tool; detect mounting of the replacement tool to the manipulator; command movement of the manipulator into the first configuration; and command insertion of the replacement tool along the insertion degree of freedom.

公开(公告)号：US20250025248A1

公开(公告)日：2025-01-23

申请号：US18909164

申请日：2024-10-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Goran A. LYNCH ,  Paul G. GRIFFITHS ,  Michael TURNER

IPC: A61B34/32 ,  A61B17/00 ,  A61B34/20 ,  A61B34/30 ,  A61B90/50 ,  B25J9/16

Abstract: Techniques for rapid halt of repositionable arms include a computer-assisted device comprising a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit communicably coupled to the first repositionable arm and the second repositionable arm. The control unit is configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector, determine a composite deviation between a plurality of kinematic or dynamic values of the actual motion and the plurality of kinematic or dynamic values of a desired motion of the at least one structure, determine whether the composite deviation is greater than a deviation threshold, and in response to the composite deviation being greater than the deviation threshold: halt motion of the first repositionable arm or the second repositionable arm.

公开(公告)号：US20240009837A1

公开(公告)日：2024-01-11

申请号：US18474388

申请日：2023-09-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish SWARUP ,  Paul G. GRIFFITHS ,  Goran A. LYNCH ,  Daniel N. MILLER

IPC: B25J9/16 ,  A61B34/30 ,  B25J9/06 ,  B25J19/00 ,  B25J19/02

CPC classification number: B25J9/1641 ,  A61B34/30 ,  B25J9/06 ,  B25J9/1607 ,  B25J9/1653 ,  B25J9/1682 ,  B25J19/0004 ,  B25J19/021 ,  A61B2090/373

Abstract: Disturbance compensation in computer-assisted devices include an articulated arm comprising one or more first joints and one or more second joints and one or more processors coupled to the articulated arm. The articulated arm is configured to support an end effector. The one or more processors when executing instructions are configured to: detect a disturbance to the one or more first joints, the disturbance causing a point of interest associated with the end effector to move; determine a predicted motion of the point of interest based on the detected disturbance; and drive the one or more second joints to move the point of interest based on an error in a position of the point of interest indicated by the predicted motion.

公开(公告)号：US20230372029A1

公开(公告)日：2023-11-23

申请号：US18364879

申请日：2023-08-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ

IPC: A61B34/20 ,  A61G13/04 ,  A61G13/06 ,  A61B34/30 ,  A61G13/02 ,  A61B34/32 ,  A61G13/10

CPC classification number: A61B34/20 ,  A61G13/04 ,  A61G13/06 ,  A61B34/30 ,  A61G13/02 ,  A61B34/32 ,  A61G13/10 ,  A61B2034/2059 ,  A61G2203/36

Abstract: Techniques for registering a computer-assisted device to a table include a computer-assisted device having an articulated arm and a control unit. The control unit is configured to receive information of a first motion of a table, the first motion comprising a first rotation about a first axis and causing a second motion of a point associated with the articulated arm; receive information of the second motion; receive information of a third motion of the table, the third motion of the table comprising a second rotation about a second axis different from the first axis and causing a fourth motion of the point; receive information of the fourth motion; determine a relationship between the computer-assisted device and the table based on a position of the point, the first rotation, the second motion, the second rotation, and the fourth motion; and control motion of the articulated arm based on the relationship.

公开(公告)号：US20230125548A1

公开(公告)日：2023-04-27

申请号：US18069336

申请日：2022-12-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Jason HEMPHILL ,  Goran A. LYNCH ,  Daniel N. MILLER ,  Patrick O'GRADY ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61G13/02 ,  A61B34/00

Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. To support integrated motion with a table physically separate from and communicatively coupled to the computer-assisted device via a communications connection, the control unit is configured to receive a table movement request from a table command unit of the table, determine whether the table movement request should be allowed, and allow the table to perform the table movement request based on determining that the table movement request should be allowed.

公开(公告)号：US20210220084A1

公开(公告)日：2021-07-22

申请号：US17224049

申请日：2021-04-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish SWARUP ,  Paul G. GRIFFITHS ,  Goran A. LYNCH ,  Daniel N. MILLER

IPC: A61B90/50 ,  A61B34/30 ,  A61B34/35 ,  B25J9/16 ,  B25J9/00 ,  B25J9/06 ,  B25J19/00

Abstract: A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.