公开(公告)号：US11166770B2

公开(公告)日：2021-11-09

申请号：US16331460

申请日：2017-09-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon Peter DiMaio ,  Nicholas Leo Bernstein ,  Paul Millman ,  Dinesh Rabindran ,  Alec Paul Robertson

IPC: B25J9/16 ,  A61B34/30 ,  A61B90/50 ,  A61B50/13 ,  A61B34/00 ,  A61B90/00 ,  B25J9/12 ,  A61B34/20

Abstract: A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient a distal portion of the arm. The robotic system further includes a processor coupled to the powered joint and configured to drive the powered joint to reposition the base while the position and/or orientation of the distal portion of the arm is maintained.

公开(公告)号：US11076925B2

公开(公告)日：2021-08-03

申请号：US16327986

申请日：2017-09-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon Peter DiMaio ,  Nicholas Leo Bernstein ,  Paul Millman ,  Dinesh Rabindran ,  Alec Paul Robertson

IPC: A61B17/34 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/35 ,  A61B46/00 ,  A61B46/10 ,  A61B50/13 ,  A61B50/15 ,  A61B50/33 ,  A61B90/00 ,  A61B90/50 ,  B25J9/16 ,  A61B90/57

Abstract: A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient the tool. The robotic system further includes a positioning indicator. A processor operates the positioning indicator to direct a manual repositioning of the base relative to the floor surface while the processor is operating the powered joint to maintain the position and/or orientation of the tool during the manual repositioning.

公开(公告)号：US20210177535A1

公开(公告)日：2021-06-17

申请号：US17186391

申请日：2021-02-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Daniel N. Miller ,  Dinesh Rabindran ,  Kollin M. Tierling

IPC: A61B34/30 ,  B25J9/16 ,  B25J13/08 ,  B25J15/00

Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.

公开(公告)号：US20190216555A1

公开(公告)日：2019-07-18

申请号：US16331460

申请日：2017-09-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon Peter DiMaio ,  Nicholas Leo Bernstein ,  Paul Millman ,  Dinesh Rabindran ,  Alec Paul Robertson

IPC: A61B34/30 ,  A61B50/13 ,  A61B90/50 ,  B25J9/16 ,  B25J9/12

CPC classification number: A61B34/30 ,  A61B34/00 ,  A61B50/13 ,  A61B90/03 ,  A61B90/50 ,  A61B2034/2048 ,  A61B2034/2059 ,  B25J9/126 ,  B25J9/1664 ,  B25J9/1689

Abstract: A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient a distal portion of the arm. The robotic system further includes a processor coupled to the powered joint and configured to drive the powered joint to reposition the base while the position and/or orientation of the distal portion of the arm is maintained.

公开(公告)号：US20250144794A1

公开(公告)日：2025-05-08

申请号：US18976064

申请日：2024-12-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh Rabindran ,  Simon P. Dimaio ,  Kollin M. Tierling

IPC: B25J9/16 ,  A61B34/37

Abstract: A system includes a robotic manipulator including a plurality of joints and a processing unit including one or more processors. The processing unit is configured to provide one or more weights associated with a plurality of joint state estimates of the plurality of joints based on one or more weighting scheme parameters associated with the robotic manipulator. The weights are provided to reduce vibrations at a first control point. The processing unit is further configured to apply the one or more weights to the joint state estimates for the plurality of joints to generate a plurality of weighted joint state estimates; and control the plurality of joints based on the plurality of weighted joint state estimates.

公开(公告)号：US20250025247A1

公开(公告)日：2025-01-23

申请号：US18904838

申请日：2024-10-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel N. Miller ,  Dinesh Rabindran ,  Kollin M. Tierling

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/20 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16 ,  B25J13/08 ,  B25J15/00

Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.

公开(公告)号：US12162143B2

公开(公告)日：2024-12-10

申请号：US18409350

申请日：2024-01-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon P. Dimaio ,  Ambarish G. Goswami ,  Dinesh Rabindran ,  Changyeob Shin ,  Tao Zhao

IPC: B25J9/02 ,  B25J9/00 ,  B25J9/16 ,  B25J15/00

Abstract: A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.

公开(公告)号：US12133700B2

公开(公告)日：2024-11-05

申请号：US18301905

申请日：2023-04-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel N. Miller ,  Dinesh Rabindran ,  Kollin M. Tierling

IPC: B25J13/08 ,  A61B34/30 ,  B25J9/16 ,  B25J15/00 ,  A61B34/00 ,  A61B34/20 ,  A61B34/37 ,  A61B90/00

Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.

公开(公告)号：US20240139936A1

公开(公告)日：2024-05-02

申请号：US18409350

申请日：2024-01-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon P. Dimaio ,  Ambarish G. Goswami ,  Dinesh Rabindran ,  Changyeob Shin ,  Tao Zhao

IPC: B25J9/02 ,  B25J9/00 ,  B25J9/16 ,  B25J15/00

CPC classification number: B25J9/02 ,  B25J9/0084 ,  B25J9/1697 ,  B25J15/0071

Abstract: A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.

公开(公告)号：US11950870B2

公开(公告)日：2024-04-09

申请号：US18160851

申请日：2023-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh Rabindran ,  Katherine Suzanne Anderson ,  Nicholas Leo Bernstein ,  Simon Peter Dimaio ,  Catherine Mohr ,  Theodore W. Rogers ,  Kollin Myles Tierling ,  Andrew Cullen Waterbury

IPC: A61B34/35 ,  A61B34/30 ,  A61B90/00 ,  B25J9/16 ,  A61B1/00 ,  A61B17/00 ,  A61B17/29 ,  A61B17/34

CPC classification number: A61B34/35 ,  A61B90/03 ,  A61B90/06 ,  B25J9/1697 ,  A61B1/00193 ,  A61B2017/00212 ,  A61B2017/00557 ,  A61B2017/00561 ,  A61B17/29 ,  A61B17/3423 ,  A61B17/3468 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2090/064 ,  A61B2217/005

Abstract: Systems and methods for minimally invasive procedures include a computer-assisted system comprising a manipulator assembly configured to couple to a cannula and a controller coupled to the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. The controller is configured to position a remote center of motion for the manipulator assembly at a first location relative to the cannula, and in response to an indication to reposition the remote center of motion relative to the cannula, reposition the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula. The second location is different from the first location.