公开(公告)号：US11679499B2

公开(公告)日：2023-06-20

申请号：US17493918

申请日：2021-10-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dinesh Rabindran ,  Simon P. DiMaio ,  Kollin M. Tierling

IPC: B25J9/16 ,  A61B34/37

CPC classification number: B25J9/1653 ,  A61B34/37 ,  B25J9/1607 ,  B25J9/1641 ,  B25J9/1664 ,  B25J9/1689 ,  B25J9/1694 ,  G05B2219/37388

Abstract: 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.

公开(公告)号：US11161243B2

公开(公告)日：2021-11-02

申请号：US16185687

申请日：2018-11-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh Rabindran ,  Simon P. DiMaio ,  Kollin M. Tierling

IPC: B25J9/16 ,  A61B34/37

Abstract: 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.

公开(公告)号：US20190143513A1

公开(公告)日：2019-05-16

申请号：US16185687

申请日：2018-11-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh Rabindran ,  Simon P. DiMaio ,  Kollin M. Tierling

IPC: B25J9/16

Abstract: 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.

公开(公告)号：US20250152282A1

公开(公告)日：2025-05-15

申请号：US19022811

申请日：2025-01-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon Peter Dimaio ,  Nicholas Leo Bernstein ,  Paul Millman ,  Dinesh Rabindran ,  Alec Paul Robertson

IPC: A61B34/35 ,  A61B17/34 ,  A61B34/30 ,  A61B34/32 ,  A61B46/00 ,  A61B46/10 ,  A61B50/13 ,  A61B50/15 ,  A61B50/33 ,  A61B90/00 ,  A61B90/50 ,  A61B90/57 ,  B25J9/16

Abstract: 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.

公开(公告)号：US12239401B2

公开(公告)日：2025-03-04

申请号：US17364197

申请日：2021-06-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon Peter DiMaio ,  Nicholas Leo Bernstein ,  Paul Millman ,  Dinesh Rabindran ,  Alec Paul Robertson

IPC: A61B34/35 ,  A61B17/34 ,  A61B34/30 ,  A61B34/32 ,  A61B46/00 ,  A61B46/10 ,  A61B50/13 ,  A61B50/15 ,  A61B50/33 ,  A61B90/00 ,  A61B90/50 ,  B25J9/16 ,  A61B90/57

Abstract: 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.

公开(公告)号：US12194635B2

公开(公告)日：2025-01-14

申请号：US18313230

申请日：2023-05-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh Rabindran ,  Simon P. DiMaio ,  Kollin M. Tierling

IPC: B25J9/16 ,  A61B34/37

Abstract: 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.

公开(公告)号：US11980434B2

公开(公告)日：2024-05-14

申请号：US16971277

申请日：2019-02-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh Rabindran ,  Ryan C. Abbott ,  Daniel H. Gomez ,  John Ryan Steger

IPC: A61B18/12 ,  A61B17/29 ,  A61B17/3201 ,  A61B18/14 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  A61B17/34 ,  A61B18/00 ,  A61B34/30

CPC classification number: A61B34/35 ,  A61B17/2909 ,  A61B17/3201 ,  A61B18/1445 ,  A61B34/37 ,  A61B34/71 ,  A61B90/06 ,  B25J9/104 ,  B25J9/1633 ,  B25J9/1641 ,  B25J13/085 ,  A61B17/3421 ,  A61B2018/00595 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/066

Abstract: A system and method of controlling an end effector includes a drive unit having a first actuator and a second actuator, a moveable platform drivably coupled to the first actuator, first and second engagement members drivably coupled to the second actuator; and a control unit. The control unit is configured to actuate the first actuator to drive the platform, detect engagement of the first engagement member with a third engagement member of an instrument, detect engagement of the second engagement member with a fourth engagement member of the instrument, and actuate the second actuator to drive the first and second engagement members. Movement of the third and engagement member causes movement of a degree of freedom of an end effector of the instrument in a first direction. Movement of the fourth engagement member causes movement of the degree of freedom in a second direction opposite the first direction.

公开(公告)号：US11712798B2

公开(公告)日：2023-08-01

申请号：US17512832

申请日：2021-10-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh Rabindran ,  Simon P. DiMaio ,  Kollin M. Tierling

IPC: B25J9/16 ,  B25J9/06 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  G05B19/00 ,  B25J3/04 ,  A61B90/00

CPC classification number: B25J9/1607 ,  A61B34/35 ,  A61B34/37 ,  B25J3/04 ,  B25J9/06 ,  B25J9/163 ,  B25J9/1641 ,  B25J9/1689 ,  G05B19/00 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1694 ,  G05B2219/37388

Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. 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 a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.

公开(公告)号：US20230157783A1

公开(公告)日：2023-05-25

申请号：US17889722

申请日：2022-08-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Kyle R. Miller ,  Joseph D. Bogusky ,  Duane W. Marion ,  Ian E. McDowall ,  Tabish Mustufa ,  Dinesh Rabindran ,  Benjamin J. Schoettgen ,  Jignesh Shah ,  Tao Zhao

IPC: A61B90/00 ,  A61B18/14

CPC classification number: A61B90/39 ,  A61B18/1492 ,  A61B2018/00494

Abstract: A computer-assisted medical device is configured and used to endoluminally navigate to a location in the gastrointestinal system and there treat certain body lumen wall areas while avoiding other body lumen wall areas. Embodiments ablate the inner mucosal layer and sub-mucosal nerve plexus of the stomach, duodenum and jejunum to effect treatment of insulin resistance and metabolic disorders, such as Type II diabetes (T2D), polycystic ovarian syndrome (PCOS), non-alcoholic steatohepatitis (NASH), non-alcoholic fatty liver disease (NAFLD), congestive heart failure (CHF) and obstructive sleep apnea (OSA). Various sensors are used to assist a clinical operator to navigate from the mouth through the pyloric sphincter and into and through the duodenum and/or jejunum. Various sensors are used to map and identify portions of the duodenum and/or jejunum. Various lumen wall ablation devices and methods are described. Various post-treatment assessments are described.

公开(公告)号：US11173597B2

公开(公告)日：2021-11-16

申请号：US16185867

申请日：2018-11-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh Rabindran ,  Simon P. DiMaio ,  Kollin M. Tierling

IPC: B25J9/06 ,  B25J9/16 ,  A61B34/35 ,  A61B34/37 ,  G05B19/00 ,  B25J3/04 ,  A61B34/20 ,  A61B90/00

Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. 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 a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.