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    Methods of controlling motion of under-actuated joints in a surgical set-up structure
    12.
    发明授权
    Methods of controlling motion of under-actuated joints in a surgical set-up structure 有权

    公开(公告)号：US10709515B2

    公开(公告)日：2020-07-14

    申请号：US16002509

    申请日：2018-06-07

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz

    IPC: A61B34/32 ,  A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  B25J9/02 ,  B25J9/16 ,  A61B90/00 ,  A61B90/50

    Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In another aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.

    System and method for breakaway clutching in an articulated arm
    14.
    发明授权
    System and method for breakaway clutching in an articulated arm 有权

    公开(公告)号：US10449008B2

    公开(公告)日：2019-10-22

    申请号：US16014619

    申请日：2018-06-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Daniel Miller ,  Nitish Swarup ,  Michael Turner ,  Arjang M. Hourtash ,  Paul G. Griffiths ,  Paul W. Mohr

    IPC: A61B34/30 ,  B25J13/08 ,  B25J9/16 ,  A61B18/00 ,  A61B90/00

    Abstract: A system and method of breakaway clutching in a computer-assisted medical device includes an articulated arm having one or more first joints and a control unit coupled to the articulated arm and having one or more processors. The control unit operates each of the first joints in multiple states. The multiple states include a locked state, wherein movement of respective first joints is restricted, and a float state, wherein movement of the respective first joints is permitted. The control unit further switches one or more second joints selected from the first joints from the locked state to the float state when a stimulus on the second joints exceeds one or more unlock thresholds and switches the second joints from the float state to the locked state when a velocity of each of the second joints is below one or more lock thresholds.

    SYSTEM AND METHOD FOR INSTRUMENT DISTURBANCE COMPENSATION
    15.
    发明申请
    SYSTEM AND METHOD FOR INSTRUMENT DISTURBANCE COMPENSATION 审中-公开

    公开(公告)号：US20190176327A1

    公开(公告)日：2019-06-13

    申请号：US16275232

    申请日：2019-02-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Goran A. Lynch ,  Daniel N. Miller

    IPC: B25J9/16 ,  B25J9/06 ,  B25J19/02 ,  B25J19/00 ,  A61B34/30

    Abstract: Systems and methods for instrument disturbance compensation include a computer-assisted device. The computer-assisted device includes an articulated arm having a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to detect a disturbance to the articulated arm caused by a release of one or more brakes of the plurality of joints and maintain a position of a point of interest associated with the articulated arm by compensating for the disturbance using one or more joints of the plurality of joints. In some embodiments, the point of interest is a tip of an end effector of the articulated arm. In some embodiments, the control unit is configured to determine a predicted motion for the point of interest based on the disturbance and send a drive command to move the point of interest in a direction opposite to the predicted motion.

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