公开(公告)号：US09039608B2

公开(公告)日：2015-05-26

申请号：US14162449

申请日：2014-01-23

申请人： Intuitive Surgical Operations, Inc.

发明人： Caitlin Q. Donhowe ,  Giuseppe Maria Prisco

IPC分类号： A61B1/00 ,  A61B1/005 ,  A61B5/06 ,  A61B19/00

CPC分类号： A61B1/0055 ,  A61B1/00147 ,  A61B1/0051 ,  A61B5/065 ,  A61B2034/2061

摘要： In a robotic endoscope system, the orientation of a captured camera view at a distal tip of a robotic endoscope and displayed on a screen viewable by an operator of the endoscope is automatically maintained at a roll orientation associated with a setpoint so as not to disorient the operator as the endoscope is moved, flexed and its tip turned in different orientations. A processor generates a current commanded state of the tip from operator input and modifies it to maintain the setpoint roll orientation. To generate the modified current commanded state, the current commanded roll position and velocity are constrained to be a modified current commanded roll position and velocity that have been modified according to a roll angular adjustment indicated by a prior process period commanded state of the tip and the setpoint. The processor then commands the robotic endoscope to be driven to the modified commanded state.

摘要翻译： 在机器人内窥镜系统中，在机器人内窥镜的远端的被捕获的摄像机视图的方向被显示在由内窥镜的操作者可视的屏幕上被自动地保持在与设定点相关的卷取向，以便不会使 当内窥镜被移动，弯曲并且其尖端以不同的方向转动时。 处理器从操作员输入产生尖端的当前命令状态并对其进行修改以保持设定点滚动方向。 为了产生修改的电流指令状态，当前指令的滚动位置和速度被限制为根据由尖端的先前处理周期指令状态指示的滚动角度调整而修改的修改的电流指令滚动位置和速度，并且 设定点。 然后处理器命令机器人内窥镜被驱动到修改的命令状态。

公开(公告)号：US08151661B2

公开(公告)日：2012-04-10

申请号：US11428251

申请日：2006-06-30

申请人： Bruce Schena ,  Thomas G Cooper

发明人： Bruce Schena ,  Thomas G Cooper

IPC分类号： F16H19/06

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00477 ,  Y10T74/18848

摘要： A compact capstan includes a drum, a coupled hub, a passage extending through the drum and hub, and a shaft extending through the drum and hub. The shaft engages the passage such that the shaft can transmit a torsional force to the drum and the hub which are free to move along the length of the shaft. The drum includes a spiral groove to receive a cable loop wound around the drum. The hub has a thread with substantially the same pitch as the spiral groove to engage a threaded support such that the hub and the drum move laterally along their length relative to the threaded support as the hub and the drum are rotated. The shaft has a length that is substantially greater than the passage such that the shaft extends beyond both ends of the passage.

摘要翻译： 紧凑型绞盘包括鼓，联接轮毂，延伸穿过滚筒和轮毂的通道以及延伸穿过滚筒和轮毂的轴。 轴与通道接合，使得轴可以向滚筒和轮毂传递扭转力，该扭转力可随着轴的长度而自由移动。 滚筒包括螺旋槽，用于接收缠绕在滚筒上的电缆环。 轮毂具有与螺旋槽基本上相同的螺距的螺纹，以与螺纹支撑件接合，使得当毂和滚筒旋转时，轮毂和滚筒相对于螺纹支撑件沿其长度方向横向移动。 轴具有基本上大于通道的长度，使得轴延伸超过通道的两端。