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    FAULT REACTION, FAULT ISOLATION, AND GRACEFUL DEGRADATION IN A ROBOTIC SYSTEM
    2.
    发明申请
    FAULT REACTION, FAULT ISOLATION, AND GRACEFUL DEGRADATION IN A ROBOTIC SYSTEM 审中-公开
    故障反应，故障分离和机器人系统的严重降解

    公开(公告)号：WO2015057406A1

    公开(公告)日：2015-04-23

    申请号：PCT/US2014/059044

    申请日：2014-10-03

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： BURNS, Christopher R. ,  FUELLING, Vaughn ,  TOTH, Gregory K. ,  PATEL, Akash

    IPC: B25J9/02 ,  B25J9/16

    CPC classification number: B25J9/1674 ,  B25J9/0084 ,  G05B2219/31366 ,  G05B2219/40204 ,  G05B2219/40205 ,  Y02P90/14 ,  Y10S901/02

    Abstract: A robotic system has arms, arm processors, arm supervisor, and system supervisor. Each arm includes nodes for controlling motors in the arm. Each node, including each arm processor, detects faults affecting the node, places the node into a safe state upon detecting a fault, propagates a fault notification, diagnoses the fault and classifies it, and sends an error message to the supervisor processor. The arm supervisor may detect faults affecting an arm and also perform fault reaction activities. The system supervisor handles the fault as either a system or local fault depending upon its class. For system faults, a fault notification is sent to the arm processors of non-failed arms so that the non-failed arms are placed in the safe state. For local faults, a degraded operation option is provided to a user and if the fault is classified as recoverable, a recovery option is provided to the user.

    Abstract translation: 机器人系统有武器，手臂处理器，手臂主管和系统主管。 每个臂包括用于控制臂中的电动机的节点。 每个节点（包括每个臂处理器）检测到影响节点的故障，在检测到故障时将节点置于安全状态，传播故障通知，诊断故障并对其进行分类，并向管理器处理器发送错误消息。 手臂主管可以检测到影响手臂的故障，并执行故障反应活动。 系统主管根据其类别将系统故障或本地故障处理。 对于系统故障，故障通知被发送到未故障臂的臂处理器，使得未故障的臂被置于安全状态。 对于本地故障，向用户提供降级的操作选项，如果故障被归类为可恢复，则向用户提供恢复选项。

    BEACON-BASED SYSTEMS, METHODS, AND APPARATUSES FOR MANAGING COMMUNICATIVE PAIRING OF AN APPARATUS WITH A MEDICAL SYSTEM
    3.
    发明申请
    BEACON-BASED SYSTEMS, METHODS, AND APPARATUSES FOR MANAGING COMMUNICATIVE PAIRING OF AN APPARATUS WITH A MEDICAL SYSTEM 审中-公开

    公开(公告)号：WO2022187525A1

    公开(公告)日：2022-09-09

    申请号：PCT/US2022/018755

    申请日：2022-03-03

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： MCLEOD, A. Jonathan ,  AZIZIAN, Mahdi ,  BRADLEY, Alan S ,  BURNS, Christopher R. ,  LIU, Wen Pei

    IPC: H04W4/80 ,  A61B34/00

    Abstract: A first ultrasonic beacon transmission includes a first pilot signal and a first encoded information signal. An apparatus may detect the first pilot signal and decode, based on the first pilot signal, the first encoded information signal to identify a medical system associated with the first ultrasonic beacon transmission. Based on the first encoded information signal, the apparatus may enter into a first pairing state in which the apparatus is communicatively paired with the medical system. While the apparatus is operating in the first pairing state and within a threshold time of entering the first pairing state, the apparatus may detect a second pilot signal included in a second ultrasonic beacon transmission, which also includes a second encoded information signal. Based on the detection of the second pilot signal within the threshold time, the apparatus may continue operating in the first pairing state without decoding the second encoded information signal.

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