公开(公告)号：US10707786B2

公开(公告)日：2020-07-07

申请号：US16020658

申请日：2018-06-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Amir Chaghajerdi ,  Pushkar Hingwe

IPC: H02P6/10 ,  A61B34/00 ,  A61B34/35 ,  H02P29/50 ,  A61B17/072 ,  A61B17/00 ,  A61B90/00 ,  G05B19/4062

Abstract: A method includes receiving a torque limit for a motor, monitoring a torque output of the motor, determining an amplitude and a phase of a torque ripple of the torque output, and determining a compensated torque limit for the motor, the compensated torque limit including a first component at the torque limit and a second component at an adjusted torque limit.

公开(公告)号：US20180309395A1

公开(公告)日：2018-10-25

申请号：US16020658

申请日：2018-06-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Amir Chaghajerdi ,  Pushkar Hingwe

IPC: H02P6/10 ,  A61B34/00 ,  H02P29/50 ,  A61B34/35 ,  A61B90/00 ,  A61B17/072 ,  A61B17/00

Abstract: A method includes receiving a torque limit for a motor, monitoring a torque output of the motor, determining an amplitude and a phase of a torque ripple of the torque output, and determining a compensated torque limit for the motor, the compensated torque limit including a first component at the torque limit and a second component at an adjusted torque limit.

公开(公告)号：US10033308B2

公开(公告)日：2018-07-24

申请号：US14660282

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Amir Chaghajerdi ,  Pushkar Hingwe

IPC: H02P6/10 ,  A61B34/35 ,  A61B34/00 ,  H02P29/50 ,  A61B17/072 ,  A61B17/00 ,  A61B90/00

CPC classification number: H02P6/10 ,  A61B17/07207 ,  A61B34/35 ,  A61B34/70 ,  A61B2017/00398 ,  A61B2090/031 ,  A61B2090/066 ,  G05B19/4062 ,  G05B2219/45117 ,  H02P29/50

Abstract: A method includes receiving a torque limit for a motor, monitoring a torque output of the motor, determining an amplitude and a phase of a torque ripple of the torque output, and determining a compensated torque limit for the motor, the compensated torque limit including a first component at the torque limit and a second component at an adjusted torque limit.

公开(公告)号：US20170179857A1

公开(公告)日：2017-06-22

申请号：US15118264

申请日：2015-02-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Hsien-Hsin Liao ,  Niels Smaby ,  Gregory W. Dachs II ,  Pushkar Hingwe ,  Amir Chaghajerdi

IPC: H02P6/10 ,  H02P6/04 ,  A61B17/00 ,  A61B34/35 ,  A61B90/00 ,  H02P6/08 ,  H02P6/14

CPC classification number: H02P6/10 ,  A61B17/00 ,  A61B34/35 ,  A61B90/03 ,  A61B2017/00464 ,  A61B2090/031 ,  A61B2090/066 ,  A61B2560/0223 ,  H02P6/08 ,  H02P6/14 ,  H02P23/0031 ,  H02P23/04

Abstract: A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.

公开(公告)号：US12114956B2

公开(公告)日：2024-10-15

申请号：US17140373

申请日：2021-01-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby

IPC: A61B46/10 ,  A61B1/00 ,  A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/00 ,  A61B90/00 ,  A61B90/98 ,  A61B18/00 ,  A61B46/23 ,  F16H1/20

CPC classification number: A61B46/10 ,  A61B1/00142 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B46/40 ,  A61B90/08 ,  A61B90/361 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2018/00172 ,  A61B46/23 ,  A61B2090/0813 ,  F16H1/20 ,  Y10T29/49817 ,  Y10T403/59

Abstract: A sterile adapter for coupling a surgical instrument and a surgical instrument manipulator includes a bottom component and a coupling component. The bottom component includes a bottom component opening with a bottom lip having a locking mechanism. The coupling component is rotatably coupled to the bottom component. The coupling component includes an engagement feature that engages the surgical instrument manipulator. The coupling component further includes a locking mechanism opening that engages the locking mechanism when the engagement feature has not engaged the surgical instrument manipulator. The coupling component may include a retention tab that is aligned with the keyway to insert the coupling component into the bottom component opening and then misaligned with the keyway to retain the coupling component in the bottom component opening. A ramp may be provided on a leading edge of a pocket to facilitate engaging the coupling component with the surgical instrument manipulator.

公开(公告)号：US20230210620A1

公开(公告)日：2023-07-06

申请号：US18182631

申请日：2023-03-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Niels Smaby ,  Amir Chaghajerdi ,  James Trevor Clark ,  Stephen V. Gentile

IPC: A61B34/00 ,  B25J9/10 ,  A61B34/35

CPC classification number: A61B34/71 ,  B25J9/1045 ,  A61B34/35 ,  A61B2034/715 ,  A61B34/76

Abstract: A method of manufacturing a surgical instrument mountable to a remotely controllable manipulator configured to operate the surgical instrument includes applying a first tension to a first tensioning element, applying a second tension to a second tensioning element, and maintaining the first and second tensions in the first and second tensioning elements while a first rotatable cylinder is locked to a second rotatable cylinder. The first tensioning element and the second tensioning element are each coupled to a distal end component of the surgical instrument and are coupled to one another such that a tension in one of the first tensioning element and the second tensioning element is transmitted at least in part to the other of the first tensioning element and the second tensioning element.

公开(公告)号：US11633249B2

公开(公告)日：2023-04-25

申请号：US15880331

申请日：2018-01-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Niels Smaby ,  Amir Chaghajerdi ,  James Trevor Clark ,  Stephen V. Gentile

IPC: B25J9/10 ,  A61B34/00 ,  A61B34/35

Abstract: A method of manufacturing a surgical instrument mountable to a remotely controllable manipulator configured to operate the surgical instrument includes applying a first tension to a first tensioning element, applying a second tension to a second tensioning element, and maintaining the first and second tensions in the first and second tensioning elements while a first rotatable cylinder is locked to a second rotatable cylinder. The first tensioning element and the second tensioning element are each coupled to a distal end component of the surgical instrument and are coupled to one another such that a tension in one of the first tensioning element and the second tensioning element is transmitted at least in part to the other of the first tensioning element and the second tensioning element.

公开(公告)号：US10973519B2

公开(公告)日：2021-04-13

申请号：US16072356

申请日：2017-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Gabriel F. Brisson ,  William A. Burbank ,  Amir Chaghajerdi ,  Patrick Flanagan ,  Pushkar Hingwe ,  Andrew Wilson ,  Donald F. Wilson, Jr. ,  Matthew A. Wixey

IPC: A61B17/072 ,  A61B34/10 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B34/30 ,  A61B90/00 ,  A61B34/20

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.

公开(公告)号：US10537400B2

公开(公告)日：2020-01-21

申请号：US16102225

申请日：2018-08-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby ,  Tyler Morrissette

IPC: A61B46/10 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00 ,  A61B46/23 ,  F16H1/20

Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.

公开(公告)号：US20180344419A1

公开(公告)日：2018-12-06

申请号：US16102225

申请日：2018-08-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby ,  Tyler Morrissette

IPC: A61B46/10 ,  A61B90/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/00 ,  A61B17/00 ,  A61B90/98 ,  F16H1/20

Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.