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    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES
    1.
    发明申请
    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES 审中-公开
    用于操纵机械运动的自由度自由度

    公开(公告)号：US20160213435A1

    公开(公告)日：2016-07-28

    申请号：US15003556

    申请日：2016-01-21

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Amy E. Kerdok ,  Michael Turner

    IPC: A61B34/37 ,  A61B34/35 ,  B25J9/16

    CPC classification number: A61B34/37 ,  A61B34/35 ,  B25J9/16 ,  B25J9/1689 ,  G05B2219/40195 ,  G05B2219/45123 ,  Y10S901/02

    Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.

    Abstract translation: 用于控制机械体运动的方法，装置和系统。 根据一种方法，接收标识机械体的期望运动的期望运动信息，机械体具有第一数量的自由度。 然后通过将接收到的期望运动信息应用于运动学模型来生成多个指令，运动学模型具有大于第一自由度数量的第二数量的自由度，每个指令被配置为控制对应的 第二个自由度之一。 然后传输多个指令的子集用于控制机械体的第一数量的自由度。

    Phantom degrees of freedom for manipulating the movement of mechanical bodies
    2.
    发明授权
    Phantom degrees of freedom for manipulating the movement of mechanical bodies 有权
    用于操纵机械体运动的幻影自由度

    公开(公告)号：US09272416B2

    公开(公告)日：2016-03-01

    申请号：US13966406

    申请日：2013-08-14

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Amy E. Kerdok ,  Michael Turner

    IPC: B25J13/00 ,  B25J9/16

    CPC classification number: A61B34/37 ,  A61B34/35 ,  B25J9/16 ,  B25J9/1689 ,  G05B2219/40195 ,  G05B2219/45123 ,  Y10S901/02

    Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.

    Abstract translation: 用于控制机械体运动的方法，装置和系统。 根据一种方法，接收标识机械体的期望运动的期望运动信息，机械体具有第一数量的自由度。 然后通过将接收到的期望运动信息应用于运动学模型来生成多个指令，运动学模型具有大于第一自由度数量的第二数量的自由度，每个指令被配置为控制对应的 第二个自由度之一。 然后传输多个指令的子集用于控制机械体的第一数量的自由度。

    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS
    3.
    发明申请
    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS 审中-公开
    用于操纵手术系统运动的自由度自由度

    公开(公告)号：US20160175061A1

    公开(公告)日：2016-06-23

    申请号：US15057069

    申请日：2016-02-29

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Pushkar Hingwe ,  Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Arjang M. Hourtash ,  Amy E. Kerdok ,  Michael Turner

    IPC: A61B34/30 ,  A61B34/37

    CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361

    Abstract: Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.

    Abstract translation: 用于通过患者的孔进行微创手术的方法，装置和系统。 根据一种方法，从与外科医生相关联的输入设备接收参数，所述参数指示通过所述孔定向的外科器械的末端执行器的期望状态。 手术器械包括在具有第一组关节的机械组件中。 然后计算指令，以便通过计算用于控制第二组接头的指令来控制机械组件，所述参数包括第一组接头和附加接头，附加接头不在机械组件中。 然后驱动机械组件，以便基于计算出的指令将末端执行器移动到期望状态。

    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES
    4.
    发明申请
    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES 有权
    用于操纵机械运动的自由度自由度

    公开(公告)号：US20140052298A1

    公开(公告)日：2014-02-20

    申请号：US13966406

    申请日：2013-08-14

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Amy E. Kerdok ,  Michael Turner

    IPC: B25J9/16

    CPC classification number: A61B34/37 ,  A61B34/35 ,  B25J9/16 ,  B25J9/1689 ,  G05B2219/40195 ,  G05B2219/45123 ,  Y10S901/02

    Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.

    Abstract translation: 用于控制机械体运动的方法，装置和系统。 根据一种方法，接收标识机械体的期望运动的期望运动信息，机械体具有第一数量的自由度。 然后通过将接收到的期望运动信息应用于运动学模型来生成多个指令，运动学模型具有大于第一自由度数量的第二数量的自由度，每个指令被配置为控制对应的 第二个自由度之一。 然后传输多个指令的子集用于控制机械体的第一数量的自由度。

    Phantom degrees of freedom in joint estimation and control
    6.
    发明授权
    Phantom degrees of freedom in joint estimation and control 有权
    幻影自由度联合估算和控制

    公开(公告)号：US09585726B2

    公开(公告)日：2017-03-07

    申请号：US14997249

    申请日：2016-01-15

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Arjang M. Hourtash ,  Amy E. Kerdok ,  Michael Turner

    IPC: G06F19/00

    CPC classification number: A61B34/37 ,  A61B34/10 ,  A61B34/30 ,  A61B2034/104 ,  Y10S901/15 ,  Y10S901/29 ,  Y10S901/41

    Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.

    Abstract translation: 用于操作外科系统的方法，装置和系统。 根据一种方法，测量手术器械的位置，所述手术器械被包括在具有多个关节和第一数量自由度的机械组件中，所述手术器械的位置被测量为 手术器械的第二数量的自由度。 该方法还包括估计每个关节的位置，其中估计每个关节的位置包括将位置测量值应用于机械组件的至少一个运动学模型，运动学模型具有大于 第一数量的自由度。 该方法还包括基于关节的估计位置来控制机械组件。

    PHANTOM DEGREES OF FREEDOM IN JOINT ESTIMATION AND CONTROL
    7.
    发明申请
    PHANTOM DEGREES OF FREEDOM IN JOINT ESTIMATION AND CONTROL 审中-公开
    自由度在联合估计和控制中的PHANTOM度

    公开(公告)号：US20160206386A1

    公开(公告)日：2016-07-21

    申请号：US14997249

    申请日：2016-01-15

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Arjang M. Hourtash ,  Amy E. Kerdok ,  Michael Turner

    IPC: A61B34/30 ,  A61B34/10

    CPC classification number: A61B34/37 ,  A61B34/10 ,  A61B34/30 ,  A61B2034/104 ,  Y10S901/15 ,  Y10S901/29 ,  Y10S901/41

    Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.

    Abstract translation: 用于操作外科系统的方法，装置和系统。 根据一种方法，测量手术器械的位置，所述手术器械被包括在具有多个关节和第一数量自由度的机械组件中，所述手术器械的位置被测量为 手术器械的第二数量的自由度。 该方法还包括估计每个关节的位置，其中估计每个关节的位置包括将位置测量值应用于机械组件的至少一个运动学模型，运动学模型具有大于 第一数量的自由度。 该方法还包括基于关节的估计位置来控制机械组件。

    Phantom degrees of freedom for manipulating the movement of surgical systems
    8.
    发明授权
    Phantom degrees of freedom for manipulating the movement of surgical systems 有权
    用于操纵手术系统运动的幻影自由度

    公开(公告)号：US09295525B2

    公开(公告)日：2016-03-29

    申请号：US13966437

    申请日：2013-08-14

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Pushkar Hingwe ,  Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Arjang M. Hourtash ,  Amy E. Kerdok ,  Michael Turner

    IPC: A61B19/00

    CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361

    Abstract: Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.

    Abstract translation: 用于通过患者的孔进行微创手术的方法，装置和系统。 根据一种方法，从与外科医生相关联的输入设备接收参数，所述参数指示通过所述孔定向的外科器械的末端执行器的期望状态。 手术器械包括在具有第一组关节的机械组件中。 然后计算指令，以便通过计算用于控制第二组接头的指令来控制机械组件，所述参数包括第一组接头和附加接头，附加接头不在机械组件中。 然后驱动机械组件，以便基于计算出的指令将末端执行器移动到期望状态。

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