公开(公告)号：US20230263585A1

公开(公告)日：2023-08-24

申请号：US18010242

申请日：2021-08-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Probal Mitra

IPC: A61B34/37 ,  A61B34/20 ,  A61B34/00

CPC classification number: A61B34/37 ,  A61B34/20 ,  A61B34/75 ,  A61B2034/2059 ,  A61B2034/306

Abstract: A robotic system includes a manipulator assembly and a processing system. The manipulator assembly includes a first manipulator, a second manipulator, and a drivable structure. The first manipulator and the second manipulator are mechanically coupled to the drivable structure. The processing system is configured to determine a drivable structure motion for effecting a commanded motion for a first end effector of a first tool mechanically coupled to the first manipulator. Performing only the drivable structure motion would cause motion of the first end effector simultaneously with motion of a second end effector, the second end effector being of a second tool mechanically coupled to the second manipulator. The processing system is further configured to determine a movement of the second manipulator and the second tool that, when performed simultaneously with the drivable structure motion, would compensate for the motion of the second end effector.

公开(公告)号：US11559363B2

公开(公告)日：2023-01-24

申请号：US16317440

申请日：2017-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. Holop ,  Anthony K. McGrogan ,  Jeffrey R. Roeder ,  Daniel H. Gomez ,  Arjang M. Hourtash ,  Thomas Brennan-Marquez ,  Probal Mitra

IPC: A61B34/00 ,  A61B34/35 ,  A61B17/34 ,  A61B46/10 ,  B25J9/12 ,  B25J13/06 ,  B25J9/16 ,  A61B34/30 ,  A61B17/00

Abstract: A computer-assisted teleoperated system includes a pre-load assembly in an instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes an instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the instrument manipulator assembly. When the preload assembly configures the instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical instrument removal lockout.

公开(公告)号：US11382702B2

公开(公告)日：2022-07-12

申请号：US16446167

申请日：2019-06-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Marc E. Tognaccini ,  Daniel H. Gomez ,  Nicola Diolaiti ,  Tabish Mustufa ,  Probal Mitra ,  Paul E. Lilagan

IPC: A61B5/00 ,  A61B34/30 ,  A61B1/018 ,  A61B1/04 ,  A61B34/37 ,  A61B1/00 ,  A61B34/10 ,  A61B90/00 ,  A61B34/20 ,  A61B34/35

Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.

公开(公告)号：US10772689B2

公开(公告)日：2020-09-15

申请号：US15928940

申请日：2018-03-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Daniel H. Gomez ,  Nicola Diolaiti ,  David Q. Larkin ,  Tabish Mustufa ,  Probal Mitra ,  Paul E. Lilagan

IPC: G06F19/00 ,  A61B34/30 ,  B25J9/16 ,  B25J9/10 ,  A61B34/00 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B1/018 ,  A61B1/005 ,  A61B5/151

Abstract: To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.

公开(公告)号：US09956044B2

公开(公告)日：2018-05-01

申请号：US14753575

申请日：2015-06-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. Gomez ,  Nicola Diolaiti ,  David Q. Larkin ,  Paul E. Lilagan ,  Probal Mitra ,  Tabish Mustufa

IPC: A61B19/00 ,  B25J9/16 ,  B25J9/10 ,  A61B34/00 ,  A61B1/018 ,  A61B1/005 ,  A61B34/30 ,  A61B5/151 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37

CPC classification number: A61B34/30 ,  A61B1/0055 ,  A61B1/018 ,  A61B5/15196 ,  A61B19/2203 ,  A61B19/56 ,  A61B34/25 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B2019/223 ,  A61B2019/2292 ,  A61B2034/252 ,  A61B2034/258 ,  B25J9/10 ,  B25J9/1005 ,  B25J9/16 ,  B25J9/161 ,  B25J9/1656 ,  B25J9/1658 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1679 ,  Y10S901/02 ,  Y10S901/41 ,  Y10S901/47 ,  A61B2019/2269 ,  A61B2019/2207 ,  A61B2019/2223 ,  A61B2019/562 ,  A61B2019/568

Abstract: To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.

公开(公告)号：US20170304012A1

公开(公告)日：2017-10-26

申请号：US15646685

申请日：2017-07-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Marc E. Tognaccini ,  Daniel H. Gomez ,  Nicola Diolaiti ,  Tabish Mustufa ,  Probal Mitra ,  Paul E. Lilagan

IPC: A61B34/30 ,  A61B1/00 ,  A61B1/04 ,  A61B1/018 ,  A61B34/37 ,  A61B90/00 ,  A61B34/20 ,  A61B34/10

CPC classification number: A61B34/30 ,  A61B1/00183 ,  A61B1/00193 ,  A61B1/018 ,  A61B1/04 ,  A61B34/10 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/101 ,  A61B2034/102 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/303 ,  A61B2034/305 ,  A61B2034/306 ,  A61B2090/0811 ,  A61B2090/3762

Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.

公开(公告)号：US20150366625A1

公开(公告)日：2015-12-24

申请号：US14748602

申请日：2015-06-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Marc E. Tognaccini ,  Daniel H. Gomez ,  Nicola Diolaiti ,  Tabish Mustufa ,  Probal Mitra ,  Paul E. Liligan

IPC: A61B19/00 ,  A61B1/04 ,  A61B1/018 ,  A61B1/00

CPC classification number: A61B34/30 ,  A61B1/00183 ,  A61B1/00193 ,  A61B1/018 ,  A61B1/04 ,  A61B34/10 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/101 ,  A61B2034/102 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/303 ,  A61B2034/305 ,  A61B2034/306 ,  A61B2090/0811 ,  A61B2090/3762

Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.

公开(公告)号：US20130211590A1

公开(公告)日：2013-08-15

申请号：US13768187

申请日：2013-02-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola Diolaiti ,  Daniel H. Gomez ,  Probal Mitra ,  Tabish Mustufa

IPC: B25J13/06

CPC classification number: B25J13/065 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00207 ,  A61B2017/00973 ,  A61B2034/302 ,  B25J9/1689 ,  B25J13/04 ,  B25J13/06

Abstract: A robotic system has a plurality of user selectable operating modes. To select one of the operating modes, a user performs a distinguishing action which uniquely identifies a desired operating mode among the plurality of user selectable operating modes. A method implemented by a processor in the robotic system identifies the distinguishing action and places the robotic system in the user selected operating mode.

Abstract translation: 机器人系统具有多个用户可选择的操作模式。 为了选择操作模式之一，用户执行唯一地识别多个用户可选择操作模式期望的操作模式的区分动作。 由机器人系统中的处理器实现的方法识别区分动作，并将机器人系统置于用户选择的操作模式中。

公开(公告)号：US12102400B2

公开(公告)日：2024-10-01

申请号：US18450295

申请日：2023-08-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Jeffrey D. Brown ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Probal Mitra ,  Craig R. Ramstad

IPC: A61B34/32 ,  A61B34/00 ,  A61B34/37 ,  A61B46/10 ,  B25J9/00

CPC classification number: A61B34/32 ,  A61B34/37 ,  A61B34/74 ,  A61B46/10 ,  B25J9/0009

Abstract: Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.

公开(公告)号：US11766301B2

公开(公告)日：2023-09-26

申请号：US17236868

申请日：2021-04-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Jeffrey D. Brown ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Probal Mitra ,  Craig R. Ramstad

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B46/10 ,  B25J9/00

CPC classification number: A61B34/32 ,  A61B34/37 ,  A61B34/74 ,  A61B46/10 ,  B25J9/0009

Abstract: Techniques for controlling a moveable component include a system, a method, and/or a non-transitory computer-readable medium. A controller coupled to the moveable component is configured to hold the moveable component at a first position, detect a disturbance that moves the moveable component from the first position, in response to a detection of the disturbance, move the moveable component according to a first motion, continue to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected, and in response to a detection of the stop condition, hold the moveable component at a second position.