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    Damping a Telesurgical System
    22.
    发明申请
    Damping a Telesurgical System 审中-公开

    公开(公告)号：US20190231463A1

    公开(公告)日：2019-08-01

    申请号：US16376915

    申请日：2019-04-05

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Roman L. Devengenzo ,  Bruce M. Schena ,  David W. Robinson

    IPC: A61B34/37

    CPC classification number: A61B34/37 ,  B25J17/0208 ,  B25J19/0091

    Abstract: Methods and systems for damping vibrations in a surgical system are disclosed herein. The damping of these vibrations can increase the precision of surgery performed using the surgical system. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive damper and can mitigate a vibration arising in one or more of the set-up linkages. The damper can additionally prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. In some embodiments the damper is a squeeze film damper. In some embodiments, the squeeze film damper includes an insert having a plurality of first protrusions, a cup configured to receive the insert, and the cup having a having a plurality of second protrusions interdigitated with the plurality of first protrusions.

    Manipulator arm-to-patient collision avoidance using a null-space
    25.
    发明授权
    Manipulator arm-to-patient collision avoidance using a null-space 有权

    公开(公告)号：US10194997B2

    公开(公告)日：2019-02-05

    申请号：US15640045

    申请日：2017-06-30

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Pushkar Hingwe ,  Bruce M. Schena ,  Roman L. Devengenzo

    IPC: G06F19/00 ,  A61B34/30 ,  B25J9/16 ,  A61B34/37

    Abstract: Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.

    METHODS OF HOOK AND PIVOT ELECTRO-MECHANICAL INTERFACE FOR TELEOPERATED SURGICAL ARMS
    29.
    发明申请
    METHODS OF HOOK AND PIVOT ELECTRO-MECHANICAL INTERFACE FOR TELEOPERATED SURGICAL ARMS 审中-公开

    公开(公告)号：US20170135774A1

    公开(公告)日：2017-05-18

    申请号：US15419585

    申请日：2017-01-30

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Bruce M. Schena

    IPC: A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  B25J19/00

    CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2017/00526 ,  B25J19/0029

    Abstract: A robotic medical system that includes a quick-connect/disconnect feature to facilitate the connecting and disconnecting of a robotic medical arm to and from a set-up arm is disclosed. The robotic medical system includes a robotic medical arm including an interface having a downward-oriented hook located at an upper portion thereof, and an electrical connector located at a lower portion thereof. The system further includes a set-up arm including an interface having an upward-oriented hook located at an upper portion thereof, and an electrical connector located at a lower portion thereof. To connect the robotic medical arm to the set-up arm, a user links the downward-oriented hook to the upward-oriented hook, and pivots the robotic medical arm until the respective electrical connectors mate with each other. To disconnect the robotic medical arm from the set-up arm, a user pivots the robotic medical arm to disconnect the electrical connectors, and then de-links the hooks.

    CENTER ROBOTIC ARM WITH FIVE-BAR SPHERICAL LINKAGE FOR ENDOSCOPIC CAMERA
    30.
    发明申请
    CENTER ROBOTIC ARM WITH FIVE-BAR SPHERICAL LINKAGE FOR ENDOSCOPIC CAMERA 审中-公开
    用于内窥镜照相机的五杆式球形球机

    公开(公告)号：US20130338434A1

    公开(公告)日：2013-12-19

    申请号：US13915564

    申请日：2013-06-11

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Bruce M. Schena

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

    CPC classification number: A61B1/04 ,  A61B1/00149 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  B25J17/0258 ,  B25J18/007 ,  Y10T74/20305

    Abstract: A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.

    Abstract translation: 机器手臂包括一个平行的球形五杆连杆机构与一个远程的球形旋转中心。 机器手臂可移动地支撑内窥镜照相机。 两个外侧连杆枢轴连接在一起。 两个外侧链路中的至少一个支持内窥镜相机。 两个内联链路分别枢转地联接到两个外侧链路，使得两个内联链路能够彼此交叉。 两个内部链接可移动地支撑两个外部链接。 地面连杆枢转地连接到两个内侧链节。 地面连接可移动地支撑两个内部链接。

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