公开(公告)号：US20170035519A1

公开(公告)日：2017-02-09

申请号：US15298130

申请日：2016-10-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Niels SMABY ,  Gregory W. DACHS, II ,  Nicola DIOLAITI ,  Pushkar HINGWE ,  Thomas R. NIXON ,  Bruce M. SCHENA ,  Nitish SWARUP

IPC: A61B34/35 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361

Abstract: 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.

Abstract translation: 公开了用于控制远程外科手术系统的方法，装置和系统。 根据一种方法，控制连接到系统的第一操纵器的第一工具和连接到系统的第二操纵器的第二工具。 然后检测工具的交换，使得第一工具连接到第二操纵器并且第二工具连接到第一操纵器。 然后控制连接到第二操纵器的第一工具和连接到第一操纵器的第二工具。

公开(公告)号：US20200281672A1

公开(公告)日：2020-09-10

申请号：US16824022

申请日：2020-03-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randal P. GOLDBERG ,  Michael HANUSCHIK ,  Paul MILLMAN ,  Paul W. MOHR ,  Thomas R. NIXON ,  David W. ROBINSON

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B90/98 ,  A61B18/00

Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a computer-assisted surgical system includes detecting a first surgical instrument coupled to a first manipulator interface assembly of a computer-assisted surgical system, the first manipulator interface assembly being controlled by a first input device. The method further includes detecting an initial relative position of the first input device and either assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the initial relative position of the first input device is detected to be at a left position relative to a second input device or assigning may also include assigning control of an auxiliary function of the first surgical instrument to the second auxiliary input device disposed in a right position relative to the first auxiliary input device if the initial relative position the first input device is detected to be at a right position relative to the second input device.

公开(公告)号：US20180036087A1

公开(公告)日：2018-02-08

申请号：US15784682

申请日：2017-10-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randal P. GOLDBERG ,  Michael HANUSCHIK ,  Paul MILLMAN ,  Paul W. MOHR ,  Thomas R. NIXON ,  David ROBINSON

IPC: A61B18/00 ,  A61B17/00 ,  A61B18/14

CPC classification number: A61B34/35 ,  A61B18/00 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/98 ,  A61B2017/00225 ,  A61B2017/00973 ,  A61B2034/254 ,  G05B2219/40195

Abstract: A system for controlling a surgical instrument comprises an input device operably coupled to remotely control movement of a surgical instrument operably coupled to a computer-assisted surgical system; a first auxiliary input device configured to transmit an auxiliary function control signal to activate an auxiliary function of a surgical instrument in an operably coupled state of the first auxiliary input device and the surgical instrument. The system further comprises a control system configured to detect at least one of an initial position or a configuration of an input device operably coupled to remotely control movement of the surgical instrument; and operably couple the first auxiliary input device to control the auxiliary function of the surgical instrument based on a position of the first auxiliary input device relative to a second auxiliary input device and the detecting of the at least one of the initial position or configuration of the input device operably coupled to remotely control the movement of the surgical instrument.

公开(公告)号：US20230301736A1

公开(公告)日：2023-09-28

申请号：US18320357

申请日：2023-05-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Niels SMABY ,  Gregory W. DACHS, II ,  Nicola DIOLAITI ,  Pushkar HINGWE ,  Thomas R. NIXON ,  Bruce M. SCHENA ,  Nitish SWARUP

IPC: A61B34/35 ,  A61B34/37 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  B25J19/02

Abstract: A system includes first and second manipulating means, and a means for detecting mounting of an imaging means to the first manipulating means, a means for determining a first reference frame for the imaging means while the imaging means is mounted to the first manipulating means, a means for controlling a tool means relative to the first reference frame by maintaining a position and orientation of a distal portion of the tool means relative to the imaging means in the first reference frame based on a position and orientation of an input means relative to a display means, a means for detecting mounting of the imaging means to the second manipulating means, a means for determining a second reference frame for the imaging means while the imaging means is mounted to the second manipulating means, and a means for controlling the tool means relative to the second reference frame.

公开(公告)号：US20170172670A1

公开(公告)日：2017-06-22

申请号：US15126983

申请日：2015-03-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish SWARUP ,  Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Michael HANUSCHIK ,  Thomas R. NIXON

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

Abstract: 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.

公开(公告)号：US20160338786A1

公开(公告)日：2016-11-24

申请号：US15161158

申请日：2016-05-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. ROBINSON ,  Thomas R. NIXON ,  Michael HANUSCHIK ,  Randal P. GOLDBERG ,  Jason HEMPHILL ,  David Q. LARKIN ,  Paul MILLMAN

IPC: A61B34/35 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B18/1206 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/76 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2017/00973 ,  A61B2018/00988

Abstract: A teleoperated surgical system may comprise a plurality of teleoperated surgical instruments; a user input device; and a controller operably coupled to the user input device and to the plurality of surgical instruments. The user input device may be configured to transmit an activation command to cause activation of a function of a first one of the plurality of surgical instruments in response to input at the user input device, the function being supported by remote-control supply equipment. The controller may be configured to output a feedback command to cause feedback to a user, the feedback indicating the first one of the plurality of surgical instruments is configured for activation in response to the activation command.

Abstract translation: 远程手术外科系统可以包括多个远程手术器械; 用户输入设备; 以及可操作地耦合到所述用户输入装置和所述多个外科器械的控制器。 用户输入设备可以被配置为响应于在用户输入设备处的输入而发送激活命令以激活多个外科器械中的第一个的功能，该功能由远程控制供应设备支持。 控制器可以被配置为输出反馈命令以对用户产生反馈，指示多个外科器械中的第一个的反馈被配置为响应于激活命令而被激活。

公开(公告)号：US20210169592A1

公开(公告)日：2021-06-10

申请号：US17121948

申请日：2020-12-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. ROBINSON ,  Thomas R. NIXON ,  Michael HANUSCHIK ,  Randal P. GOLDBERG ,  Jason HEMPHILL ,  David Q. LARKIN ,  Paul MILLMAN

IPC: A61B34/35 ,  A61B34/00 ,  A61B18/12 ,  A61B34/30 ,  A61B17/00 ,  A61B18/14 ,  A61B18/00

Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.

公开(公告)号：US20200246092A1

公开(公告)日：2020-08-06

申请号：US16781457

申请日：2020-02-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. ROBINSON ,  Thomas R. NIXON ,  Michael HANUSCHIK ,  Randal P. GOLDBERG ,  Jason HEMPHILL ,  David Q. LARKIN ,  Paul MILLMAN

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B18/12

Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.

公开(公告)号：US20180049828A1

公开(公告)日：2018-02-22

申请号：US15796016

申请日：2017-10-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. ROBINSON ,  Thomas R. NIXON ,  Michael HANUSCHIK ,  Randal P. GOLDBERG ,  Jason HEMPHILL ,  David Q. LARKIN ,  Paul MILLMAN

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B18/12

Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.

公开(公告)号：US20250064538A1

公开(公告)日：2025-02-27

申请号：US18946712

申请日：2024-11-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Niels SMABY ,  Gregory W. DACHS, II ,  Nicola DIOLAITI ,  Pushkar HINGWE ,  Thomas R. NIXON ,  Bruce M. SCHENA ,  Nitish SWARUP

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J19/02 ,  B25J19/04

Abstract: Teleoperated control includes commanding, in response to a first input to move a tool while an imaging device is mounted to a first manipulator and a tool is mounted to a second manipulator, actuator(s) of the second manipulator to move the tool with a first motion relative to a first reference frame that corresponds with a first movement of an input device relative to a display, the first reference frame defined based on the imaging device mounted to the first manipulator; and commanding, in response to receiving a second input to move the tool while the imaging device is mounted to the third manipulator, the actuator(s) to move the tool with a second motion relative to a second reference frame that corresponds with a second movement of the input device relative to the display, the second reference frame defined based on the imaging device being mounted to the third manipulator.