公开(公告)号：WO2017132592A1

公开(公告)日：2017-08-03

申请号：PCT/US2017/015473

申请日：2017-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： WIXEY, Matthew A. ,  BRISSON, Gabriel F. ,  BURBANK, William A. ,  FLANAGAN, Patrick ,  HINGWE, Pushkar ,  WEIR, David W. ,  WILSON JR., Donald F.

IPC: A61B34/10 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61B17/07207 ,  A61B34/00 ,  A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B2017/00017 ,  A61B2017/00398 ,  A61B2034/2059 ,  A61B2090/064 ,  A61B2090/066

Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.

Abstract translation: 用于计算机辅助医疗设备中的手术器械的可变速度控制的系统和方法，所述计算机辅助医疗设备包括位于器械远端处的末端执行器，致动器和用于耦合力的驱动机构，或者 从执行器到末端执行器的扭矩。 为了使用仪器执行操作，计算机辅助医疗设备将致动器的速度设定点设定为初始速度，监视由致动器施加的力或力矩，当施加的力或力矩高于 第一阈值，当施加的力或转矩低于第二阈值时增加速度设定点，当所施加的力或转矩高于最大阈值时，将速度设定点减小到零，并且基于速度设定点驱动致动器。 第一个和第二个阈值低于最大阈值。

公开(公告)号：WO2017132611A1

公开(公告)日：2017-08-03

申请号：PCT/US2017/015496

申请日：2017-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： WEIR, David W. ,  BRISSON, Gabriel F. ,  BURBANK, William A. ,  CHAGHAJERDI, Amir ,  FLANAGAN, Patrick ,  HINGWE, Pushkar ,  WILSON, Andrew ,  WILSON JR., Donald F. ,  WIXEY, Matthew A.

IPC: A61B34/10 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61B17/07207 ,  A61B34/00 ,  A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B2017/00017 ,  A61B2017/00398 ,  A61B2034/2059 ,  A61B2090/064 ,  A61B2090/066

Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.

Abstract translation: 在计算机辅助医疗设备中对外科器械进行变速控制的系统和方法包括外科器械，该外科器械具有位于器械远端的端部执行器，致动器以及一个或多个 用于从致动器到末端执行器的耦合力或扭矩的更多驱动机构。 为了利用仪器执行操作，计算机辅助医疗设备被配置为将致动器的速度设定点设置为初始速度并且监视由致动器施加的力或转矩。 当施加的力或扭矩高于第一力或扭矩极限时，确定是否满足操作的连续条件。 当满足继续条件时，操作暂停，并且当不满足继续条件时，确定是否强制执行执行器发射。