公开(公告)号：US20240358447A1

公开(公告)日：2024-10-31

申请号：US18768448

申请日：2024-07-10

申请人： MAKO Surgical Corporation

发明人： Jose C. LACAL ,  David B. BERMAN ,  Abdullah Z. ABBASI

IPC分类号： A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  B25J9/16 ,  G09B5/02 ,  G16H20/40 ,  G16H40/63 ,  G16H50/20 ,  G16H50/70

CPC分类号： A61B34/25 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  B25J9/1664 ,  B25J9/1689 ,  G09B5/02 ,  G16H20/40 ,  G16H40/63 ,  G16H50/20 ,  G16H50/70 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2034/252 ,  A61B2034/254 ,  A61B2034/256 ,  A61B2034/258

摘要： A computer-implemented method for generating and presenting an electronic display of guidance for performing a robotic medical procedure may include receiving a plurality of prior procedure data sets; receiving or identifying objective data defining one or more of a duration or a patient outcome of the robotic medical procedure; executing an algorithm to identify a pattern across the plurality of prior procedure data sets; receiving information about an instance of the robotic medical procedure to be performed in the future for a patient outside the population; automatically generating guidance for performing the robotic medical procedure; and generating and presenting an electronic display of the guidance for performing the robotic medical procedure.

公开(公告)号：US20240335948A1

公开(公告)日：2024-10-10

申请号：US18574752

申请日：2021-07-07

申请人： Mitsubishi Electric Corporation

发明人： Masaki HARUNA

IPC分类号： B25J9/16 ,  B25J13/06 ,  B25J19/02

CPC分类号： B25J9/1689 ,  B25J13/06 ,  B25J19/023

摘要： A remote operation system includes an edge device that contacts a target, a motion operation transmission device that receives an operator operation for operating the edge device and outputs motion transmission information to the edge device, and a visual presentation device that displays an image of the target and the edge device. The edge device-includes a haptic sensing device that detects a haptic sensation to the target, a haptic optical converter that converts the haptic sensation detected by the haptic sensing device into a light intensity signal specifying the intensity of light, and a light intensity-controlled light emitter that emits light of an intensity corresponding to the light intensity signal.

公开(公告)号：US20240325099A1

公开(公告)日：2024-10-03

申请号：US18733309

申请日：2024-06-04

申请人： Verb Surgical Inc.

发明人： BERK GONENC ,  YIMING XU ,  MARGARET NICHOLSON ,  PABLO GARCIA KILROY

IPC分类号： A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  B25J9/00 ,  B25J9/16

CPC分类号： A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  B25J9/0096 ,  B25J9/1633 ,  B25J9/1689 ,  A61B2562/02

摘要： For control about a remote center of motion (RCM) of a surgical robotic system, possible configurations of a robotic manipulator are searched to find the configuration providing a greatest overlap of the workspace of the surgical instrument with the target anatomy. The force at the RCM may be measured, such as with one or more sensors on the cannula or in an adaptor connecting the robotic manipulator to the cannula. The measured force is used to determine a change in the RCM to minimize the force exerted on the patient at the RCM. Given this change, the configuration of the robotic manipulator may be dynamically updated. Various aspects of this RCM control may be used alone or in combination, such as to optimize the alignment of workspace to the target anatomy, to minimize force at the RCM, and/or to dynamically control the robotic manipulator configuration based on workspace alignment and force measurement.

公开(公告)号：US12083686B2

公开(公告)日：2024-09-10

申请号：US17063298

申请日：2020-10-05

申请人： Verb Surgical Inc.

发明人： Xiaobin Zhang ,  Dimitri Chatzigeorgiou

IPC分类号： B25J9/16 ,  A61B34/00 ,  A61B34/35 ,  B25J13/06 ,  A61B17/072 ,  A61B90/00

CPC分类号： B25J9/1689 ,  A61B34/25 ,  A61B34/35 ,  B25J13/06 ,  A61B2017/07285 ,  A61B2034/742 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2090/066 ,  A61B90/37

摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example system for handling hardstops includes one or more processors configured to calculate an articulation joint position for the articulation drive disk or the one or more corresponding rotary motors corresponding rotary motors, calculate an articulation joint torque for the articulation drive disk or the one or more corresponding rotary motors, determine a torque ratio based on the articulation joint position and the articulation joint torque, and adjust a commanded articulation joint position received from the user based on the torque ratio to compensate for collision involving the end effector.

公开(公告)号：US20240286290A1

公开(公告)日：2024-08-29

申请号：US18655333

申请日：2024-05-06

申请人： Honda Motor Co., Ltd.

发明人： Yuta KIMURA ,  Tomohiro KAWAKAMI ,  Takahide YOSHIIKE ,  Kenichiro SUGIYAMA ,  Masaaki MUROMACHI ,  Yoichi TANIGUCHI

IPC分类号： B25J9/16

CPC分类号： B25J9/1689

摘要： A remote operation control system and method are provided. An operator remotely operates a remote operation target that is an object of reality or a virtual object of a virtual world, the system includes an information acquisition part acquiring first operation information indicating an operation inputted by a first operator via a first controller, and second operation information indicating an operation inputted by a second operator via a second controller; a control information generation part generating control information for causing the remote operation target to move based on the first and second operation information and the second operation information;
and a feedback information generation part generating based on the control information first feedback information that feeds back a motion content of the remote operation target to the first controller and generating second feedback information that feeds back a motion content of the remote operation target to the second controller.

公开(公告)号：US20240285362A1

公开(公告)日：2024-08-29

申请号：US18655041

申请日：2024-05-03

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  William C. NOWLIN ,  Gunter D. NIEMEYER ,  David S. MINTZ

IPC分类号： A61B34/37 ,  A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  B25J3/00 ,  B25J9/16

CPC分类号： A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  A61B2017/00725 ,  A61B2034/305 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

摘要： Techniques for ratcheting an alignment between an input means and an instrument include a teleoperated system comprising a robotic means configured to support an instrument, an input means configured to be manipulated by an operator to command motion of the instrument, and a ratcheting means. The ratcheting means is configured to determine first rotation values describing an orientation of the input means; determine second rotation values describing an orientation of the instrument; determine, based on the first rotation values and the second rotation values, an orientation error between the orientation of the input means and the orientation of the instrument; generate, based on the orientation error, a motion command for the instrument to reduce the orientation error by increasing an alignment between the input means and the instrument; and command the robotic means to move in accordance with the motion command.

公开(公告)号：US20240275925A1

公开(公告)日：2024-08-15

申请号：US18643767

申请日：2024-04-23

申请人： Altec Industries, Inc.

发明人： Jonathan Westin Sykes ,  Timothy J. Mourlam

IPC分类号： H04N7/18 ,  B25J9/16 ,  B25J13/06 ,  G05B19/4155 ,  G06F3/01 ,  G06T3/12 ,  G06T3/4015 ,  H04N7/22 ,  H04N23/661 ,  H04N23/695

CPC分类号： H04N7/183 ,  B25J9/1689 ,  B25J9/1697 ,  B25J13/06 ,  G05B19/4155 ,  G06F3/012 ,  G06T3/12 ,  G06T3/4015 ,  H04N23/661 ,  H04N23/695 ,  G05B2219/50391 ,  H04N7/22

摘要： Media, systems, and methods for reducing latency in a head-mounted display for the remote operation of machinery. A remote camera sends raw video to a graphics processing unit which processes the video and transmits the updated video to a head-mounted display with limited latency such that the control of remote devices may be improved. The image may be spherically rendered and projected onto the head-mounted display with a rectangular view. The graphics processing unit may determine a rotation matrix based on a pose of the remote camera and a pose of the head-mounted display, and the image may be projected based on the rotation matrix.

公开(公告)号：US20240269847A1

公开(公告)日：2024-08-15

申请号：US18643354

申请日：2024-04-23

申请人： MAKO Surgical Corp.

发明人： Zhifu You ,  Steve Polomski ,  Curtis McClarin ,  Jason Otto ,  Abdullah Abbasi

IPC分类号： B25J9/16 ,  A61B17/14 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  G05B15/02 ,  G16H20/40 ,  G16H40/67

CPC分类号： B25J9/1664 ,  A61B17/142 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/32 ,  B25J9/1689 ,  B25J9/1692 ,  G05B15/02 ,  G16H20/40 ,  G16H40/67 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/252

摘要： A surgical system includes a robotic arm and a controller programmed to determine an approach area for the robotic arm based on whether a surgery is to be performed on a right or left side of a patient, check whether the robotic arm is in the approach area, and, in response to the robotic arm being in the approach area, control movement of the robotic arm to a starting pose for a registration or calibration routine for the robotic arm.

公开(公告)号：US20240261972A1

公开(公告)日：2024-08-08

申请号：US18290318

申请日：2021-12-02

申请人： FANUC CORPORATION

发明人： Shuuhei OGAWA ,  Tomonori ARAI ,  Norimichi YOSHIDA ,  Seigo KATO ,  Kenichiro ABE ,  Masahiro MORIOKA

IPC分类号： B25J9/16 ,  B25J19/02

CPC分类号： B25J9/1689 ,  B25J19/023

摘要： Provided is a remote support system with a higher level of safety. The remote support system includes a control device configured to control an industrial machine, a first information processing terminal connected to the control device, and one or more second information processing terminals capable of controlling the first information processing terminal. The control device is controllable from one or more second information processing terminals.

公开(公告)号：US20240261971A1

公开(公告)日：2024-08-08

申请号：US18232217

申请日：2023-08-09

申请人： NVIDIA Corporation

发明人： Yuzhe Qin ,  Wei Yang ,  Yu-Wei Chao ,  Dieter Fox

IPC分类号： B25J9/16 ,  B25J19/02 ,  G06T7/50 ,  G06T7/70 ,  G06V10/82 ,  G06V40/10

CPC分类号： B25J9/1689 ,  B25J9/1697 ,  B25J19/023 ,  G06T7/50 ,  G06T7/70 ,  G06V10/82 ,  G06V40/10 ,  G06T2207/10028 ,  G06T2207/20084

摘要： Apparatuses, systems, and techniques to generate control commands. In at least one embodiment, control commands are generated based on, for example, one or more images depicting a hand.