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Patent Agency Ranking
公开(公告)号：US20240390068A1
公开(公告)日：2024-11-28
申请号：US18670002
申请日：2024-05-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Steven Manuel , Daniel H. Gomez , Daniel N. Miller , John Ryan Steger , Prasad V. Upadrasta , Zhuoqun Xu , Chun hua Zheng , Pavel Chtcheprov
Abstract: A computer-assisted system can comprise an instrument configured to be at least partially inserted through a body wall from an external workspace to an internal workspace within a body; and a controller configured to generate a first three-dimensional model of the internal workspace in which a first portion of the instrument is inserted during performance of a medical procedure using the instrument, generate a second three-dimensional model of an external workspace in which a second portion of the instrument is located during the performance of the medical procedure, based on the first three-dimensional model and the second three-dimensional model, determine an internal geometry within the internal workspace defining a reachable volume within the internal workspace within which the instrument may be positioned, and provide output related to performance of the medical procedure based on the determined internal geometry.
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公开(公告)号：US11684448B2
公开(公告)日：2023-06-27
申请号：US17224049
申请日：2021-04-06
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish Swarup , Paul G. Griffiths , Goran A. Lynch , Daniel N. Miller
CPC classification number: A61B90/50 , A61B34/30 , A61B34/35 , B25J9/0087 , B25J9/06 , B25J9/1641 , B25J9/1664 , B25J9/1689 , B25J19/0004 , A61B34/37 , A61B2034/305 , A61B2090/508 , Y10S901/02
Abstract: A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.
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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
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Daniel N. Miller , Dinesh Rabindran , Kollin M. Tierling
CPC classification number: A61B34/30 , B25J9/1607 , B25J9/1638 , B25J9/1641 , B25J13/08 , B25J15/0019 , A61B34/37 , A61B34/74 , A61B34/76 , A61B2034/2059 , A61B2034/301 , A61B2090/066
Abstract: 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：US10952801B2
公开(公告)日：2021-03-23
申请号：US16495484
申请日：2018-11-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel N. Miller , Dinesh Rabindran , Kollin M. Tierling
Abstract: 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：US10272569B2
公开(公告)日：2019-04-30
申请号：US15522073
申请日：2015-10-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish Swarup , Paul G. Griffiths , Goran A. Lynch , Daniel N. Miller
IPC: G06F19/00 , B25J9/16 , A61B34/30 , B25J9/06 , B25J19/00 , B25J19/02 , A61B90/00 , A61B34/20 , A61B34/35 , A61B90/50
Abstract: A computer-assisted medical device including a first joint set on an articulated arm, a second joint set on the articulated arm, and a control unit coupled to the first joint set and second joint set. The control unit determines a disturbance to the first joint set caused by a release of one or more brakes and compensates for the disturbance using the second joint set to reduce motion to a position of a point of interest. In some embodiments, the control unit compensates for the disturbance by determining an initial position for the point of interest with respect to a reference point, determining a predicted motion for the point of interest based on the disturbance to the first joint set, and sending a drive command to the second joint set to move the point of interest in a direction opposite to the predicted motion.
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