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    MANIPULATOR ARM HAVING CONNECTION INTERFACE, AND RELATED DEVICES AND SYSTEMS
    1.
    发明申请
    MANIPULATOR ARM HAVING CONNECTION INTERFACE, AND RELATED DEVICES AND SYSTEMS 审中-公开

    公开(公告)号：US20200060776A1

    公开(公告)日：2020-02-27

    申请号：US16558845

    申请日：2019-09-03

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Roman L. DEVENGENZO ,  Alan W. PETERSEN ,  Bruce M. SCHENA

    IPC: A61B34/35 ,  H01R13/6582 ,  H01R33/00 ,  A61B34/30

    Abstract: A surgical instrument support arm of a teleoperated patient side cart may include a first arm portion including a first connector end and a second a second arm portion including a second connector end. The second arm portion may be removably connectable to the first arm portion via mating engagement of the first and second connector ends. The first and second connector ends may each include complementary mechanical connections and complementary electrical connections. At least one of the electrical connections of the first and second connector ends may include electrical shielding to protect against electrical interference in a position in which the electrical connections are matingly engaged. The electrical shielding may be configured to axially compress when the electrical connections of the first and second connector ends are matingly engaged.

    ACTIVE AND SEMI-ACTIVE DAMPING
    4.
    发明申请
    ACTIVE AND SEMI-ACTIVE DAMPING 有权

    公开(公告)号：US20210030500A1

    公开(公告)日：2021-02-04

    申请号：US16995716

    申请日：2020-08-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Roman L. DEVENGENZO ,  Bruce M. SCHENA ,  David W. ROBINSON

    IPC: A61B34/37

    Abstract: Active and semi-active damping of systems include a first link supported by a base, a second link, a damper coupling the first link to the second link, the damper having a variable damping coefficient, and a processor. The processor is configured to predict an acceleration or a vibration of the second link expected to result from a commanded movement of the second link and adjust the variable damping coefficient of the damper based on the predicted acceleration or the predicted vibration to reduce vibration in the second link.

    ACTIVE AND SEMI-ACTIVE DAMPING IN A TELESURGICAL SYSTEM
    5.
    发明申请
    ACTIVE AND SEMI-ACTIVE DAMPING IN A TELESURGICAL SYSTEM 审中-公开

    公开(公告)号：US20180344416A1

    公开(公告)日：2018-12-06

    申请号：US16102614

    申请日：2018-08-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Roman L. DEVENGENZO ,  Bruce M. SCHENA ,  David W. ROBINSON

    IPC: A61B34/37

    CPC classification number: A61B34/37 ,  A61B2017/00075 ,  A61B2090/064

    Abstract: A surgical system includes methods and systems for damping vibrations. The surgical system can include one or several moveable set-up linkages. A passive, active, or semi-active damper can be connected with one or several of the set-up linkages. The damper can mitigate a vibration arising in one of the set-up linkages and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback or a feed-forward model. In some embodiments, the system includes a first link supported by a base, a second link, a damper having a variable portion coupling the first link to the second link, and a processor. The processor is configured to detect a movement or a vibration of the second link and adjust the variable portion of the damper based on the detected movement or vibration.

    ACTIVE AND SEMI-ACTIVE DAMPING
    6.
    发明申请
    ACTIVE AND SEMI-ACTIVE DAMPING 有权

    公开(公告)号：US20230114914A1

    公开(公告)日：2023-04-13

    申请号：US18080577

    申请日：2022-12-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Roman L. DEVENGENZO ,  Bruce M. SCHENA ,  David W. ROBINSON

    IPC: A61B34/37

    Abstract: Techniques for active and semi-active damping include a system including a processor and a linkage having a first link, a second link, and a damper coupling the second link to the first link. The processor is configured to receive a movement command for moving the linkage; determine one or more first vibrations expected to occur in the linkage as a result of performing the movement command; determine a movement profile for moving the linkage to reduce the one or more first vibrations; and drive, using a drive component, the linkage to move according to the movement profile.

    ACTIVE AND SEMI-ACTIVE DAMPING
    7.
    发明申请
    ACTIVE AND SEMI-ACTIVE DAMPING 有权

    公开(公告)号：US20220117685A1

    公开(公告)日：2022-04-21

    申请号：US17558153

    申请日：2021-12-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Roman L. DEVENGENZO ,  Bruce M. SCHENA ,  David W. ROBINSON

    IPC: A61B34/37

    Abstract: Techniques for active and semi-active damping include a system including a base, a first linkage, a second linkage, and a processor. A proximal end of the first linkage is coupled to the base. The first linkage is configured to support a first instrument. The first linkage includes a first link, a second link, and a first damper coupling the second link to the first link. A proximal end of the second linkage is coupled to the base. The second linkage is configured to support a second instrument. The second linkage incudes a third link, a fourth link, and a second damper coupling the fourth link to the third link. The processor is configured to detect a movement or vibration of the first linkage caused by motion of the second linkage and control the second linkage to mitigate the detected movement or vibration of the first linkage.

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