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公开(公告)号：US11076925B2
公开(公告)日：2021-08-03
申请号：US16327986
申请日：2017-09-07
发明人： Simon Peter DiMaio , Nicholas Leo Bernstein , Paul Millman , Dinesh Rabindran , Alec Paul Robertson
IPC分类号： 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
摘要： 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.
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公开(公告)号：US20210177535A1
公开(公告)日：2021-06-17
申请号：US17186391
申请日：2021-02-26
摘要： 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.
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公开(公告)号：US20190216555A1
公开(公告)日：2019-07-18
申请号：US16331460
申请日：2017-09-07
发明人： Simon Peter DiMaio , Nicholas Leo Bernstein , Paul Millman , Dinesh Rabindran , Alec Paul Robertson
CPC分类号： A61B34/30 , A61B34/00 , A61B50/13 , A61B90/03 , A61B90/50 , A61B2034/2048 , A61B2034/2059 , B25J9/126 , B25J9/1664 , B25J9/1689
摘要： 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.
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公开(公告)号：US12082887B2
公开(公告)日：2024-09-10
申请号：US17790892
申请日：2021-01-05
CPC分类号： A61B34/20 , A61B34/35 , B25J9/1697 , A61B2034/2055 , G05B2219/39008 , G05B2219/39022 , G05B2219/40598 , G05B2219/40611
摘要： Systems and methods for inter-arm registration include a computer-assisted system having a control unit coupled to a repositionable arm of a computer-assisted device. The control unit is configured to: receive, from an imaging device, successive images of an instrument mounted to the repositionable arm; determine an observed velocity of a feature of the instrument; determine an expected velocity of the feature of the instrument based on kinematics of the repositionable arm; transform the observed velocity and/or the expected velocity to a common coordinate system using a registration transform; determine an error between directions of the observed and expected velocities in the common coordinate system; and update the registration transform based on the determined error. In some embodiments, the instrument is a medical instrument and the imaging device is an endoscope. In some embodiments, the control unit is further configured to control the instrument using the registration transform.
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25.发明公开公开(公告)号：US20240277430A1
公开(公告)日：2024-08-22
申请号：US18646127
申请日：2024-04-25
发明人： Sophia R. Hannaford , Marisa C. Babb , Simon P. DiMaio , Craig Gotsill , Omid Mohareri , Dinesh Rabindran
摘要： A system is configured to direct a manipulator cart to navigate, in a first bifurcated navigation control mode, from an initial location to an intermediate location; and direct the manipulator cart to navigate, in a second bifurcated navigation control mode, from the intermediate location to a target location. In the first bifurcated navigation control mode, the system is configured to autonomously control a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart using a primary control interface configured to facilitate operator control of both steering and propulsion of the manipulator cart. In the second bifurcated navigation control mode, the system is configured to autonomously control the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart using a secondary control interface configured to facilitate operator control of the propulsion and not the steering of the manipulator cart.
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公开(公告)号：US11897127B2
公开(公告)日：2024-02-13
申请号：US17287430
申请日：2019-10-16
CPC分类号： B25J9/02 , B25J9/0084 , B25J9/1697 , B25J15/0071
摘要： 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.
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公开(公告)号：US11653987B2
公开(公告)日：2023-05-23
申请号：US17186391
申请日：2021-02-26
IPC分类号： B25J13/08 , A61B34/30 , B25J9/16 , B25J15/00 , A61B34/20 , A61B34/37 , A61B34/00 , A61B90/00
CPC分类号： A61B34/30 , B25J9/1607 , B25J9/1638 , B25J9/1641 , B25J13/08 , B25J15/0019 , A61B34/37 , A61B34/74 , A61B34/76 , A61B2034/2059 , A61B2034/301 , A61B2090/066
摘要： 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.
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公开(公告)号：US20220241038A1
公开(公告)日：2022-08-04
申请号：US17610348
申请日：2020-05-29
发明人： Sophia R. Hannaford , Marisa C. Babb , Simon P. DiMaio , Craig Gotsill , Omid Mohareri , Dinesh Rabindran
摘要： A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location. The system directs the manipulator cart to navigate, in a first bifurcated navigation control mode associated with a primary control interface that facilitates both operator control of steering and propulsion, along at least part of a first portion of the path from the initial to an intermediate location. The system further directs the manipulator cart to navigate, in a second bifurcated navigation control mode associated with a secondary control interface that facilitates operator control of propulsion but not steering, along at least part of a second portion of the path from the intermediate to the target location. In the first and second bifurcated navigation control modes, the system autonomously controls the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart.
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公开(公告)号：US20220080591A1
公开(公告)日：2022-03-17
申请号：US17493918
申请日：2021-10-05
摘要： A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
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公开(公告)号：US20220022980A1
公开(公告)日：2022-01-27
申请号：US17494300
申请日：2021-10-05
发明人： Simon Peter DiMaio , Nicholas Leo Bernstein , Paul Millman , Dinesh Rabindran , Alec Paul Robertson
摘要： 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.
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