公开(公告)号：US20160199143A1

公开(公告)日：2016-07-14

申请号：US15073811

申请日：2016-03-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Paul W. MOHR ,  Alan W. PETERSEN ,  David ROBINSON ,  Nitish SWARUP ,  Mark W. ZIMMER ,  Alexander MAKHLIN ,  Julio SANTOS-MUNNE ,  Eric FAULRING ,  Thomas MOYER

IPC: A61B50/13 ,  A61B34/35

CPC classification number: B62D6/10 ,  A61B34/30 ,  A61B34/35 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2017/00123 ,  A61B2017/00482 ,  A61B2050/185 ,  A61B2090/064 ,  B62D1/12

Abstract: A patient side cart for a teleoperated surgical system includes at least one manipulator portion for holding a surgical instrument and a steering interface. The steering interface may include at least one sensor positioned to sense turning, fore, and aft forces exerted by a user to move the cart. The steering interface may further include a coupling mechanism to removably couple the steering interface with the patient side cart. The at least one sensor may be placed in signal communication with a drive control system of the patient side cart when the steering interface is in a coupled state with the patient side cart.

Abstract translation: 用于远程手术的外科系统的患者侧车包括至少一个用于保持手术器械和操纵界面的操纵器部分。 转向界面可以包括至少一个传感器，其被定位成感测用户施加的转动，前后力以移动推车。 转向接口还可以包括联接机构，用于可拆卸地将转向接口与患者侧车辆联接。 当转向接口处于与患者侧车的联接状态时，至少一个传感器可被放置成与患者侧车的驱动控制系统进行信号通信。

公开(公告)号：US20160022360A1

公开(公告)日：2016-01-28

申请号：US14808639

申请日：2015-07-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Arjang M. HOURTASH ,  Paul W. MOHR ,  David W. ROBINSON ,  Nitish SWARUP ,  John W. ZABINSKI ,  Mark W. ZIMMER

IPC: A61B19/02 ,  G05D1/00

CPC classification number: G05D1/0011 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2050/185 ,  B25J5/007

Abstract: A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.

Abstract translation: 用于远程手术的外科系统的患者侧车可以包括用于保持外科器械，转向接口和驱动系统的至少一个操纵臂部分。 转向接口可以被配置为检测用户对转向接口施加的力，指示远程手术系统的期望运动。 驱动系统可以包括至少一个从动轮，控制模块和模型部分。 控制模块可以接收来自转向接口的信号作为输入，该信号对应于由用户施加到转向接口的力。 控制模块可以被配置为输出对应于从转向接口接收到的信号的期望运动信号。 模型部分可以包括患者侧车的运动行为的模型，模型部分输出运动指令输出以驱动从动轮。

公开(公告)号：US20140297130A1

公开(公告)日：2014-10-02

申请号：US14209239

申请日：2014-03-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Arjang M. HOURTASH ,  Paul W. MOHR ,  David ROBINSON ,  Nitish SWARUP ,  John ZABINSKI ,  Mark ZIMMER

IPC: B62D6/00

CPC classification number: A61B19/0248 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2050/185 ,  B25J5/007 ,  G05D1/0011

Abstract: A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.

Abstract translation: 用于远程手术的外科系统的患者侧车可以包括用于保持外科器械，转向接口和驱动系统的至少一个操纵臂部分。 转向接口可以被配置为检测用户对转向接口施加的力，指示远程手术系统的期望运动。 驱动系统可以包括至少一个从动轮，控制模块和模型部分。 控制模块可以接收来自转向接口的信号作为输入，该信号对应于由用户施加到转向接口的力。 控制模块可以被配置为输出对应于从转向接口接收到的信号的期望运动信号。 模型部分可以包括患者侧车的运动行为的模型，模型部分输出运动指令输出以驱动从动轮。

公开(公告)号：US20240358462A1

公开(公告)日：2024-10-31

申请号：US18765427

申请日：2024-07-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/35 ,  A61B17/00 ,  A61B18/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B17/00234 ,  A61B2018/00898 ,  A61B2034/2059

Abstract: Techniques for monitoring a computer-assisted device include a plurality of manipulators, each manipulator being configured to support an instrument, each manipulator having a control point; and a control unit. The control unit is configured to: determine a first spatial configuration of the plurality of control points, the first spatial configuration being prior to a movement of a table separate from the computer-assisted device, and the movement of the table causing motion of at least one control point; determine the movement of the table; determine, based on the movement of the table and the first spatial configuration, an expected spatial configuration of the plurality of control points; determine, based on a comparison of the expected spatial configuration with an actual spatial configuration of the plurality of control points, whether to perform a remedial action; and perform the remedial action in response to a determination to perform the remedial action.

公开(公告)号：US20240315786A1

公开(公告)日：2024-09-26

申请号：US18732286

申请日：2024-06-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61G13/02

CPC classification number: A61B34/30 ,  A61G13/02

Abstract: A computer-assisted device includes an articulating means configured to support an end effector and a processing means. When coupled to the articulating means and a patient supporting means, the processing means is configured to configure a first joint of the articulating means to a first mode to allow movement of the first joint in response to an external force on the articulating means, detect movement of the first joint, determine a movement of the patient supporting means, and drive a second joint of the articulating means based on the movement of the first joint and the movement of the patient supporting means.

公开(公告)号：US20240024049A1

公开(公告)日：2024-01-25

申请号：US18256476

申请日：2021-12-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mohammad Sina PARASTEGARI ,  Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/35 ,  A61B34/00 ,  A61B90/50 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/74 ,  A61B34/77 ,  A61B34/76 ,  A61B90/50 ,  A61B90/37 ,  A61B2034/301

Abstract: Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system configured to determine a position of a first reference point associated with a first input modality; in a first mode, determine a position of a target reference point for the imaging device based on the first reference point; in a second mode, determine a position of a second reference point associated with a second input modality, and determine the position of the target reference point based on the position of the first reference point and the position of the second reference point; determine a movement of the first repositionable structure that moves the imaging device such that a third reference point associated with the imaging device moves toward the target reference point; and cause actuation of the repositionable structure based on the movement.

公开(公告)号：US20230397963A1

公开(公告)日：2023-12-14

申请号：US18457218

申请日：2023-08-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Goran A. LYNCH ,  Paul G. GRIFFITHS ,  Michael TURNER

IPC: A61B34/32 ,  A61B34/30 ,  A61B17/00 ,  B25J9/16

CPC classification number: A61B34/32 ,  A61B34/30 ,  A61B17/00234 ,  B25J9/1664 ,  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 between the actual motion and a desired motion of the at least one structure; and in response to determining that the deviation is greater than a deviation threshold, select whether to halt motion of the first repositionable arm and the first end effector or the second repositionable arm and the second end effector based on a mode of operation of the first repositionable arm the first end effector, the second repositionable arm, or a mode of operation of the second end effector.

公开(公告)号：US20230301735A1

公开(公告)日：2023-09-28

申请号：US18320331

申请日：2023-05-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B2034/2059 ,  A61B2018/00898

Abstract: Techniques for monitoring control points of a computer-assisted device include one or more articulated arms having one or more control points and a control unit coupled to the one or more articulated arms. Each control point of the one or more control points is located based on a kinematic configuration of the one or more articulated arms. The control unit is configured to determine, during a movement of a table that causes a change in the kinematic configuration of the one or more articulated arms, an actual spatial configuration of the one or more control points; determine, based on a comparison of the actual spatial configuration with an expected spatial configuration of the one or more control points, whether to perform a remedial action; and perform the remedial action in response to a determination to perform the remedial action.

公开(公告)号：US20220125532A1

公开(公告)日：2022-04-28

申请号：US17569405

申请日：2022-01-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Goran A. LYNCH ,  Paul G. GRIFFITHS ,  Michael TURNER

IPC: A61B34/32 ,  A61B34/30 ,  A61B17/00 ,  B25J9/16

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.

公开(公告)号：US20220031417A1

公开(公告)日：2022-02-03

申请号：US17404289

申请日：2021-08-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Arjang M. HOURTASH ,  Paul W. MOHR ,  David W. ROBINSON ,  Nitish SWARUP ,  John W. ZABINSKI ,  Mark W. ZIMMER

IPC: A61B50/10 ,  B25J5/00 ,  A61B50/18 ,  A61B50/13 ,  G05D1/00

Abstract: A cart for supporting one or more instruments for a computer-assisted, remote procedure can include a base and a support structure extending from the base and adjustable to different configurations, the support structure being configured to support one or more instruments to perform a remote procedure. The cart can further include a steering interface configured to be grasped by a user and a sensor mechanism configured to detect a force applied to the steering interface. The cart also can include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and information about a configuration of the support structure, the control module operably coupled to output a movement command based on the received input from the sensor mechanism and the information about the configuration of the support structure. A driven wheel may be mounted to the base and configured to impart wheeled motion to the cart in response to the movement command.