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公开(公告)号：US20230277264A1
公开(公告)日：2023-09-07
申请号：US18171246
申请日：2023-02-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gabriel F. Brisson , Niels Smaby , Melody Wu
CPC classification number: A61B34/37 , F16D63/006 , A61B17/00 , A61B34/35 , A61B2090/031
Abstract: A method comprises driving, by a motor, a camshaft of a transmission of a telesurgically operated instrument to a first rotational state of a plurality of rotational states. The camshaft defines a longitudinal axis and rotates about the longitudinal axis. The method further comprises engaging, in the first rotational state, a first input gear of a first effector drivetrain of the transmission with a first gear of the first effector drivetrain via a first power cam of the camshaft. The method further comprises disengaging, in the first rotational state, a first locker arm of the first effector drivetrain from the first gear via a first locker cam of the camshaft.
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公开(公告)号：US20230200792A1
公开(公告)日：2023-06-29
申请号：US18179155
申请日：2023-03-06
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gabriel F. Brisson , Gregory W. Dachs, II , Niels Smaby , Melody Wu
CPC classification number: A61B17/00 , A61B34/35 , A61B2034/302
Abstract: A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.
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公开(公告)号：US20210121164A1
公开(公告)日：2021-04-29
申请号：US17142087
申请日：2021-01-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gabriel F. Brisson , Gregory W. Dachs, II , Niels Smaby , Melody Wu
Abstract: A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.
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公开(公告)号：US20210113284A1
公开(公告)日：2021-04-22
申请号：US17133877
申请日：2020-12-24
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
Abstract: Inter-operative switching of tools in a robotic system includes a system with a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, the first imaging device having a first reference frame; in response to detecting the mounting of the first imaging device, control a tool relative to the first reference frame using a second manipulator of the plurality of manipulators, the tool being mounted to the second manipulator; detect mounting of a second imaging device to a third manipulator of the plurality of manipulators, the second imaging device having a second reference frame; and in response to detecting the mounting of the second imaging device, control the tool relative to the second reference frame using the second manipulator.
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公开(公告)号：US10561470B2
公开(公告)日：2020-02-18
申请号：US14218318
申请日：2014-03-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Nicola Diolaiti , Pushkar Hingwe , Niels Smaby , Nitish Swarup
Abstract: Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.
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Patent Agency Ranking
公开(公告)号：US10483881B2
公开(公告)日：2019-11-19
申请号：US15118264
申请日：2015-02-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Hsien-Hsin Liao , Niels Smaby , Gregory W. Dachs, II , Pushkar Hingwe , Amir Chaghajerdi
IPC: A61B34/30 , A61B34/37 , H02P6/10 , H02P6/08 , H02P23/04 , H02P23/00 , A61B34/35 , A61B90/00 , A61B17/00 , H02P6/14
Abstract: A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.
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公开(公告)号：US20190083185A1
公开(公告)日：2019-03-21
申请号：US16194149
申请日：2018-11-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361
Abstract: A system includes manipulators and a controller. The controller is configured to detect mounting of an imaging device to a first manipulator of the manipulators, determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator, control a tool relative to the first reference frame by controlling a relative position and orientation of a tip of the tool relative to the imaging device in the first reference frame by correlating movement of a master input control to movement of the tool in the first reference frame, detect mounting of the imaging device to a second manipulator of the manipulators, the second manipulator being different from the first manipulator, determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator, and control the tool relative to the second reference frame.
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公开(公告)号：US10098705B2
公开(公告)日：2018-10-16
申请号：US15128234
申请日：2015-03-31
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gabriel F. Brisson , Niels Smaby , Melody Wu
Abstract: A surgical system having a patient side cart having at least one telesurgically operated instrument, the at least one telesurgically operated instrument comprising a surgical end effector having a plurality of effector components. A transmission is coupled to a motor. The drive train includes at least a first effector drive train and a second effector drivetrain. A controller comprises at least one processor for controlling the transmission. The controller is performs a method by locking an output gear of the second effector drivetrain rotating a camshaft to shift coupling of the motor from the first effector drivetrain to the second effector drivetrain; determining that the output gear is aligned by driving the locked output gear using a first torque; determining that the output gear is properly braked by driving the locked output gear using a second torque; disengaging the lock from the output gear; and driving the second effector drivetrain using the motor.
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公开(公告)号：US09687312B2
公开(公告)日：2017-06-27
申请号：US15121723
申请日：2015-03-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory W. Dachs, II , Bruce Michael Schena , Amir Chaghajerdi , Niels Smaby , Tyler Morrissette
IPC: G08B21/00 , A61B46/10 , A61B90/00 , A61B34/30 , A61B34/37 , A61B34/35 , A61B46/00 , A61B90/98 , A61B17/00 , F16H1/20
CPC classification number: A61B46/10 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/40 , A61B90/08 , A61B90/361 , A61B90/98 , A61B2017/00477 , A61B2090/0813 , F16H1/20 , Y10T29/49817 , Y10T403/59
Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first proximal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a distal end of the detection pin. A carriage controller provides an indication that the surgical instrument is coupled to the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than an instrument removal threshold value of less than the instrument threshold value.
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公开(公告)号：US20170172549A1
公开(公告)日：2017-06-22
申请号：US15126061
申请日：2015-03-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Niels Smaby , Gregory W. Dachs, II , Bruce M. Schena
Abstract: A method comprises receiving an input coupling adjacent to a drive input, the drive input being driven by an actuating element, the input coupling being coupled to a joint output, the joint output being connected to a movable object. The method further comprises rotating the actuating element until a resistance torque is experienced by the actuating element and determining, based upon the resistance torque, whether the drive input has engaged the input coupling.
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