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公开(公告)号：US20190388167A1
公开(公告)日：2019-12-26
申请号：US16563342
申请日：2019-09-06
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel Miller , Nitish Swarup , Michael Turner , Arjang M. Hourtash , Paul G. Griffiths , Paul W. Mohr
Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm and including one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold and switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. Movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint. In some embodiments, the external stimulus applied to the arm is a stimulus detected on the first joint or a stimulus detected on a second joint of the arm
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公开(公告)号：US09387045B2
公开(公告)日：2016-07-12
申请号：US14276934
申请日：2014-05-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Michael Turner
CPC classification number: A61B34/77 , A61B17/28 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B2090/065
Abstract: A teleoperated surgical system includes a surgical instrument with an end effector and a master input device. A servomechanism may be operatively coupled to the end effector to apply a force to the end effector, and at least one processor may operatively couple the servomechanism to the master input device to apply a grip force with the first and second gripping elements in response to input at the master input device. The applied grip force may be based at least in part on a mechanical advantage of the surgical instrument end effector.
Abstract translation: 远程手术系统包括具有端部执行器和主输入装置的手术器械。 伺服机构可以可操作地联接到末端执行器以向末端执行器施加力，并且至少一个处理器可以将伺服机构可操作地耦合到主输入装置，以响应于输入施加与第一和第二抓握元件的握力 在主输入设备。 所施加的抓握力可以至少部分地基于外科器械末端执行器的机械优点。
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23.发明授权公开(公告)号：US11779415B2
公开(公告)日：2023-10-10
申请号：US17569405
申请日：2022-01-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Goran A. Lynch , Paul G. Griffiths , Michael Turner
CPC classification number: A61B34/32 , A61B17/00234 , A61B34/30 , B25J9/1664 , A61B2017/00123 , A61B2017/00991 , A61B2034/2059 , A61B2090/508
Abstract: A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector, determine a deviation threshold based on at least one parameter selected from the group consisting of a mode of operation of the first end effector and a mode of operation of the computer-assisted device, and in response to determining that the actual motion of the at least one structure deviates from a desired motion of the at least one structure by more than the deviation threshold, halt motion of the first repositionable arm and the first end effector or halt motion of the second repositionable arm and the second end effector.
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24.发明授权公开(公告)号：US11246669B2
公开(公告)日：2022-02-15
申请号：US16069875
申请日：2016-12-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Goran A. Lynch , Paul G. Griffiths , Michael Turner
Abstract: A system and method for rapid halt and recovery of motion deviations in a medical device includes a computer-assisted medical device having a first repositionable arm having one or more first repositionable elements, a second repositionable arm having one or more second repositionable elements, and a control unit communicably coupled to the first and second repositionable arms. The control unit is configured to control motion of the first repositionable arm and the first end effector based on a desired motion, monitor an actual motion of the first repositionable arm and the first end effector, determine whether the actual motion deviates from the desired motion by more than a predetermined threshold, and halt motion of the first repositionable arm and the first end effector, or of the second repositionable arm and the second end effector, when the actual motion deviates from the desired motion by more than the predetermined threshold.
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公开(公告)号：US10646291B2
公开(公告)日：2020-05-12
申请号：US15503358
申请日：2015-08-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Michael Turner
Abstract: A teleoperated surgical system includes a component such as a master control or a multi-jointed mechanical system that is configured for manual manipulation and a detection module configured to analyze movement of the component and detect uncontrolled movement of the component. Uncontrolled movement may be identified by detecting movement only on joints that gravity can move, but no movement on joints that are not subject to movement caused by gravity. In response to detection of uncontrolled movement of the component, the detection module can cause the system to switch to a safe mode of operation.
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Patent Agency Ranking
公开(公告)号：US10052167B2
公开(公告)日：2018-08-21
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：US20180214223A1
公开(公告)日：2018-08-02
申请号：US15503358
申请日：2015-08-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Michael Turner
CPC classification number: A61B34/35 , A61B17/00 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/75 , A61B2017/00075
Abstract: A teleoperated surgical system includes a component such as a master control or a multi-jointed mechanical system that is configured for manual manipulation and a detection module configured to analyze movement of the component and detect uncontrolled movement of the component. Uncontrolled movement may be identified by detecting movement only on joints that gravity can move, but no movement on joints that are not subject to movement caused by gravity. In response to detection of uncontrolled movement of the component, the detection module can cause the system to switch to a safe mode of operation.
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公开(公告)号：US09949799B2
公开(公告)日：2018-04-24
申请号：US15057069
申请日：2016-02-29
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
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.
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公开(公告)号：US09861447B2
公开(公告)日：2018-01-09
申请号：US15003556
申请日：2016-01-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Pushkar Hingwe , Amy E. Kerdok , Michael Turner
CPC classification number: A61B34/37 , A61B34/35 , B25J9/16 , B25J9/1689 , G05B2219/40195 , G05B2219/45123 , Y10S901/02
Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.
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公开(公告)号：US09259280B2
公开(公告)日：2016-02-16
申请号：US13966494
申请日：2013-08-14
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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