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公开(公告)号：US20200268463A1
公开(公告)日：2020-08-27
申请号：US15931536
申请日：2020-05-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Samuel Kwok Wai Au
Abstract: A system comprises a flexible instrument, a first user input device spaced from the flexible instrument, and a second user input device including a first state and a second state. The system further comprises a control system configured to, based on an input received from the first user input device, control an orientation of the flexible instrument. The control system is further configured to, based on an input received from the second user input device, adjust a stiffness of the flexible instrument. The stiffness of the flexible instrument is lower when the second user input device is in the first state than when the second user input device is in the second state.
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公开(公告)号：US10709514B2
公开(公告)日：2020-07-14
申请号：US15509154
申请日：2015-09-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Samuel Kwok Wai Au
Abstract: A medical system including a flexible instrument such as a lung catheter or bronchoscope provides a control mode in which direct manual control of insertion can be used with computer-assisted control of instrument characteristics such as the orientation or rigidity of a portion of the instrument. To facilitate manual insertion control, a mechanism can provide low inertia and friction for movement along an insertion axis. One implementation employs a manual grip of the instrument for control of insertion pressure, a joystick or other input device for computer-assisted steering, and a foot pedal for control of stiffness or compliance in the instrument. Another implementation employs a joystick for computer-assisted steering and for control of stiffness or compliance in the instrument.
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公开(公告)号：US10321900B2
公开(公告)日：2019-06-18
申请号：US15913602
申请日：2018-03-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Stephen J. Blumenkranz , Giuseppe Maria Prisco
Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
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公开(公告)号：US09931106B2
公开(公告)日：2018-04-03
申请号：US14068127
申请日：2013-10-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Stephen J. Blumenkranz , Giuseppe Maria Prisco
CPC classification number: A61B17/00 , A61B34/30 , A61B34/71 , A61B2034/715
Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A preload system may be coupled to maintain minimum tensions in the tendons.
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公开(公告)号：US20170304014A1
公开(公告)日：2017-10-26
申请号：US15649148
申请日：2017-07-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Giuseppe Maria Prisco
CPC classification number: A61B34/30 , A61B2034/301 , A61B2034/306 , A61B2034/715
Abstract: Control systems and methods for a medical instrument use measurements to determine and control the tensions that actuators apply through instrument transmission systems. The use of tension and feedback allows control of a medical instrument having transmission systems that provide non-negligible compliance between joints and actuators even when the positions of joints cannot be directly related to actuator positions. One embodiment determines joint torques and tensions from differences between desired and measured joint positions. Another embodiment determines joint torques and tensions from differences between desired and measured positions of a tip of the instrument. Determination of tensions from joint torques can be performed using sequential evaluation of joints in an order from a distal end of the instrument toward a proximal end of the instrument.
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Patent Agency Ranking
公开(公告)号：US09743990B2
公开(公告)日：2017-08-29
申请号：US14751636
申请日：2015-06-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Giuseppe Maria Prisco
CPC classification number: A61B34/30 , A61B2034/301 , A61B2034/306 , A61B2034/715
Abstract: A medical instrument system includes a plurality of joints, a plurality of actuators, and a plurality of transmission systems. The transmission systems have proximal ends respectively coupled to the actuators. Each of the transmission systems have a distal end attached to an associated one of the joints to allow the transmission of a force for articulation of the medical instrument system. The system also includes a sensor coupled to measure a configuration of the medical instrument; and a control system coupled to receive configuration data, including a current configuration of a tip of the medical instrument from the sensor and a desired configuration of the tip of the medical instrument. Using the difference between the desired configuration and the current configuration of the tip of the medical instrument, the control system generates control signals for the actuators that cause the actuators to apply a set of tensions to the plurality of transmission systems.
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公开(公告)号：US20170143437A1
公开(公告)日：2017-05-25
申请号：US15428009
申请日：2017-02-08
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Pushkar Hingwe , Arjang M. Hourtash , Amy E. Kerdok , Michael Turner
CPC classification number: A61B34/37 , A61B34/10 , A61B34/30 , A61B2034/104 , Y10S901/15 , Y10S901/29 , Y10S901/41
Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated. position of the joints.
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公开(公告)号：US09585726B2
公开(公告)日：2017-03-07
申请号：US14997249
申请日：2016-01-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Pushkar Hingwe , Arjang M. Hourtash , Amy E. Kerdok , Michael Turner
IPC: G06F19/00
CPC classification number: A61B34/37 , A61B34/10 , A61B34/30 , A61B2034/104 , Y10S901/15 , Y10S901/29 , Y10S901/41
Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.
Abstract translation: 用于操作外科系统的方法，装置和系统。 根据一种方法，测量手术器械的位置，所述手术器械被包括在具有多个关节和第一数量自由度的机械组件中，所述手术器械的位置被测量为 手术器械的第二数量的自由度。 该方法还包括估计每个关节的位置，其中估计每个关节的位置包括将位置测量值应用于机械组件的至少一个运动学模型，运动学模型具有大于 第一数量的自由度。 该方法还包括基于关节的估计位置来控制机械组件。
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公开(公告)号：US20160206386A1
公开(公告)日：2016-07-21
申请号：US14997249
申请日：2016-01-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Pushkar Hingwe , Arjang M. Hourtash , Amy E. Kerdok , Michael Turner
CPC classification number: A61B34/37 , A61B34/10 , A61B34/30 , A61B2034/104 , Y10S901/15 , Y10S901/29 , Y10S901/41
Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.
Abstract translation: 用于操作外科系统的方法，装置和系统。 根据一种方法，测量手术器械的位置，所述手术器械被包括在具有多个关节和第一数量自由度的机械组件中，所述手术器械的位置被测量为 手术器械的第二数量的自由度。 该方法还包括估计每个关节的位置，其中估计每个关节的位置包括将位置测量值应用于机械组件的至少一个运动学模型，运动学模型具有大于 第一数量的自由度。 该方法还包括基于关节的估计位置来控制机械组件。
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20.发明授权公开(公告)号：US09295525B2
公开(公告)日：2016-03-29
申请号：US13966437
申请日：2013-08-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Pushkar Hingwe , Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Arjang M. Hourtash , Amy E. Kerdok , Michael Turner
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/37 , A61B90/361
Abstract: Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.
Abstract translation: 用于通过患者的孔进行微创手术的方法，装置和系统。 根据一种方法，从与外科医生相关联的输入设备接收参数，所述参数指示通过所述孔定向的外科器械的末端执行器的期望状态。 手术器械包括在具有第一组关节的机械组件中。 然后计算指令，以便通过计算用于控制第二组接头的指令来控制机械组件，所述参数包括第一组接头和附加接头，附加接头不在机械组件中。 然后驱动机械组件，以便基于计算出的指令将末端执行器移动到期望状态。
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