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    Motor assembly
    33.
    发明授权
    Motor assembly 有权

    公开(公告)号：US11185378B2

    公开(公告)日：2021-11-30

    申请号：US16361095

    申请日：2019-03-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Weir ,  Melody Wu ,  Kevin Durant ,  Grant Duque

    IPC: A61B34/30 ,  H02K11/00 ,  A61B34/35 ,  A61B18/14 ,  A61B17/00 ,  A61B90/00

    Abstract: A motor assembly and method of operating the motor assembly include a motor, a memory to store calibrated parameters of the motor, and electronics coupled to the memory and the motor. The electronics are configured to retrieve the calibrated parameters from the memory, provide the calibrated parameters to an external system, and receive control signals for driving the motor from the external system. The control signals are based on the calibrated parameters. The calibrated parameters include a motor speed versus no-load current relationship for the motor determined by a procedure that includes performing an initial calibration of the motor, wearing in the motor after performing the initial calibration, performing a final calibration of the motor after wearing in the motor, and storing the calibrated parameters in the memory based on the initial calibration and the final calibration.

    Methods and systems for controlling staple firing
    34.
    发明授权
    Methods and systems for controlling staple firing 有权

    公开(公告)号：US10758226B2

    公开(公告)日：2020-09-01

    申请号：US15836506

    申请日：2017-12-08

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Weir ,  Kevin Durant ,  Patrick Flanagan ,  David W. Robinson

    IPC: A61B17/072 ,  A61B17/068 ,  A61B17/115 ,  A61B17/00 ,  A61B90/00

    Abstract: Systems and methods for controlling staple firing include an end effector including a first jaw and a second jaw holding staples, a drive system configured to apply a force or torque to cause staple firing to occur, and a processor. The processor is configured to monitor the applied force or torque and control application of the force or torque by the drive system based on a comparison of the applied force or torque to an acceptable range of force or torque. In some embodiments, the processor is further configured to determine one or more of a position of the first jaw and the second jaw or a displacement of the drive system and control application of the force or torque by the drive system based on one or more of the position of the first jaw and the second jaw or the displacement of the drive system.

    CLAMPING INSTRUMENT
    35.
    发明申请
    CLAMPING INSTRUMENT 审中-公开

    公开(公告)号：US20190261988A1

    公开(公告)日：2019-08-29

    申请号：US16412018

    申请日：2019-05-14

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Weir ,  Melody Wu ,  Kevin Durant ,  Grant Duque

    IPC: A61B17/072 ,  A61B90/00 ,  A61B90/90 ,  A61B90/92 ,  A61B90/98 ,  A61B17/068 ,  A61B34/30 ,  A61B50/13 ,  A61B50/33

    Abstract: Systems include an end effector having a first jaw and a second jaw, a motor system configured to actuate the end effector, and a processor. The processor is configured to determine a maximum tip deflection for the end effector, determine a torque limit based on the maximum tip deflection, and operate, subject to the torque limit, the end effector using the motor system. In some embodiments, the maximum tip deflection is determined based a type of staple cartridge being used by the end effector. In some embodiments, the type of staple cartridge identifies a length of staples fired by the end effector. In some embodiments, the firing of the staples is stalled when an applied torque exceeds the torque limit. In some embodiments, the processor is further configured to fire staples subject to the torque limit.

    RESTORING INSTRUMENT CONTROL INPUT POSITION/ORIENTATION DURING MIDPROCEDURE RESTART
    37.
    发明申请
    RESTORING INSTRUMENT CONTROL INPUT POSITION/ORIENTATION DURING MIDPROCEDURE RESTART 审中-公开

    公开(公告)号：US20190060012A1

    公开(公告)日：2019-02-28

    申请号：US16111565

    申请日：2018-08-24

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Weir ,  Joseph M. Arsanious ,  Gabriel F. Brisson ,  Niels Smaby

    IPC: A61B34/35 ,  B25J9/16 ,  A61B34/30 ,  A61B90/00

    Abstract: A robotic system comprises a robotic assembly comprising a drive mechanism, a sensor assembly, and a controller communicatively coupled to the sensor assembly. The controller has at least one processor configured to execute a method. The method comprises recording a position of the drive mechanism to non-volatile memory during use of the robotic assembly and receiving a request to initiate a mid-procedure restart of the robotic assembly after a mid-procedure shut-down of the robotic assembly. The method also comprises determining whether a post-shutdown position of the drive mechanism is within an accepted tolerance with respect to a pre-shutdown position of the drive mechanism and preventing further use of the robotic assembly in response to a determination that the post-shutdown position of the drive mechanism is not within the accepted tolerance with respect to the pre-shutdown position of the drive mechanism.

    SYSTEM AND METHOD FOR VARIABLE VELOCITY SURGICAL INSTRUMENT
    38.
    发明申请
    SYSTEM AND METHOD FOR VARIABLE VELOCITY SURGICAL INSTRUMENT 审中-公开

    公开(公告)号：US20190053801A1

    公开(公告)日：2019-02-21

    申请号：US16072329

    申请日：2017-01-27

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Matthew A. Wixey ,  Gabriel F. Brisson ,  William A. Burbank ,  Patrick Flanagan ,  Pushkar Hingwe ,  David W. Weir ,  Donald F. Wilson, JR.

    IPC: A61B17/072 ,  A61B90/00

    Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.

    SYSTEM AND METHOD FOR REDUCING BLADE EXPOSURES
    40.
    发明申请
    SYSTEM AND METHOD FOR REDUCING BLADE EXPOSURES 审中-公开

    公开(公告)号：US20180161052A1

    公开(公告)日：2018-06-14

    申请号：US15573031

    申请日：2016-05-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Weir ,  Julie L. Berry ,  Melissa D. Lippiatt ,  Daniel P. Saraliev ,  Melody Wu

    IPC: A61B17/285 ,  A61B17/32 ,  A61B18/14

    Abstract: A system and method of reducing blade exposures includes a surgical cutting. The surgical cutting instrument includes an end effector located at a distal end of the surgical cutting instrument, one or more drive units, a shaft coupled to the drive unit, an articulated wrist coupling the end effector to the shaft, and one or more drive mechanisms in the shaft for coupling force or torque from the drive units to the end effector and the articulated wrist. The end effector includes opposable gripping jaws and a cutting blade. To perform a cutting operation, the surgical cutting instrument measures a jaw angle between the gripping jaws, measures articulation of the articulated wrist, corrects the jaw angle based on the articulation of the articulated wrist, determines a restriction on the cutting operation based on the corrected jaw angle, and performs or prevents the cutting operation based on the restriction.

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