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公开(公告)号：US20180193007A1
公开(公告)日：2018-07-12
申请号：US15913602
申请日：2018-03-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Stephen J. Blumenkranz , Giuseppe Maria Prisco
CPC classification number: A61B17/00 , A61B34/30 , A61B34/71 , A61B2034/715
Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
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32.发明申请公开(公告)号：US20160213435A1
公开(公告)日：2016-07-28
申请号：US15003556
申请日：2016-01-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Pushkar Hingwe , Amy E. Kerdok , Michael Turner
CPC classification number: A61B34/37 , A61B34/35 , B25J9/16 , B25J9/1689 , G05B2219/40195 , G05B2219/45123 , Y10S901/02
Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.
Abstract translation: 用于控制机械体运动的方法，装置和系统。 根据一种方法，接收标识机械体的期望运动的期望运动信息，机械体具有第一数量的自由度。 然后通过将接收到的期望运动信息应用于运动学模型来生成多个指令，运动学模型具有大于第一自由度数量的第二数量的自由度，每个指令被配置为控制对应的 第二个自由度之一。 然后传输多个指令的子集用于控制机械体的第一数量的自由度。
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33.发明授权公开(公告)号：US09272416B2
公开(公告)日：2016-03-01
申请号：US13966406
申请日：2013-08-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Pushkar Hingwe , Amy E. Kerdok , Michael Turner
CPC classification number: A61B34/37 , A61B34/35 , B25J9/16 , B25J9/1689 , G05B2219/40195 , G05B2219/45123 , Y10S901/02
Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.
Abstract translation: 用于控制机械体运动的方法，装置和系统。 根据一种方法，接收标识机械体的期望运动的期望运动信息，机械体具有第一数量的自由度。 然后通过将接收到的期望运动信息应用于运动学模型来生成多个指令，运动学模型具有大于第一自由度数量的第二数量的自由度，每个指令被配置为控制对应的 第二个自由度之一。 然后传输多个指令的子集用于控制机械体的第一数量的自由度。
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公开(公告)号：US20150289942A1
公开(公告)日：2015-10-15
申请号：US14751636
申请日：2015-06-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Giuseppe Maria Prisco
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B2034/301 , A61B2034/306 , A61B2034/715
Abstract: Control systems and methods for a medical instrument use measurements to determine and control the tensions that actuators apply through instrument transmission systems. The use of tension and feedback allows control of a medical instrument having transmission systems that provide non-negligible compliance between joints and actuators even when the positions of joints cannot be directly related to actuator positions. One embodiment determines joint torques and tensions from differences between desired and measured joint positions. Another embodiment determines joint torques and tensions from differences between desired and measured positions of a tip of the instrument. Determination of tensions from joint torques can be performed using sequential evaluation of joints in an order from a distal end of the instrument toward a proximal end of the instrument.
Abstract translation: 用于医疗仪器的控制系统和方法使用测量来确定和控制致动器通过仪器传输系统应用的张力。 张力和反馈的使用允许控制具有传动系统的医疗仪器，即使关节的位置不能直接与致动器位置相关，也能在关节和致动器之间提供不可忽视的顺应性。 一个实施例从期望和测量的关节位置之间的差异确定关节扭矩和张力。 另一个实施例由仪器的尖端的期望和测量位置之间的差异确定关节扭矩和张力。 可以通过从仪器的远端朝向仪器的近端的顺序对接头进行顺序评估来确定关节扭矩的张力。
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公开(公告)号：US20250127576A1
公开(公告)日：2025-04-24
申请号：US19005422
申请日：2024-12-30
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Samuel Kwok Wai Au
Abstract: A system comprises a flexible instrument, an input device, an insertion drive system comprising a drive motor, and a control system configured to selectively switch between a computer assisted mode and a manual mode. In the computer assisted mode, the control system causes the drive motor to move the flexible instrument along an insertion axis in response to one or more signals received from the input device. In the manual mode, the control system causes the drive motor to become off or inactive to allow the flexible instrument to be manually moved along the insertion axis.
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Patent Agency Ranking
公开(公告)号：US20240415588A1
公开(公告)日：2024-12-19
申请号：US18814112
申请日：2024-08-23
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Samuel Kwok Wai Au
Abstract: A robotic medical system with a flexible guide tube such as a lung catheter can record the shape of the guide tube in a target configuration. If the shape includes a bend that is sharper than a sharpest permitted bend for insertion or removal of a tool such as a biopsy needle, a control system can find any locations of sharp bends and automatically retract the guide tube to a location associated with a sharp bend. With the tip backed up to that location, the needle can be inserted into or removed from the catheter. The control system can automatically move the catheter between the target configuration and the retracted configuration of the guide tube.
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公开(公告)号：US20230338100A1
公开(公告)日：2023-10-26
申请号：US18306827
申请日：2023-04-25
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Samuel Kwok Wai Au
CPC classification number: A61B34/35 , A61B34/30 , A61B1/00078 , A61B34/71 , A61B34/74 , A61B1/0016 , A61B2034/301 , A61B2034/742 , A61M16/04
Abstract: A medical system including a flexible instrument such as a lung catheter or bronchoscope provides a control mode in which direct manual control of insertion can be used with computer-assisted control of instrument characteristics such as the orientation or rigidity of a portion of the instrument. To facilitate manual insertion control, a mechanism can provide low inertia and friction for movement along an insertion axis. One implementation employs a manual grip of the instrument for control of insertion pressure, a joystick or other input device for computer-assisted steering, and a foot pedal for control of stiffness or compliance in the instrument. Another implementation employs a joystick for computer-assisted steering and for control of stiffness or compliance in the instrument.
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公开(公告)号：US11607107B2
公开(公告)日：2023-03-21
申请号：US16991238
申请日：2020-08-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Samuel Kwok Wai Au
IPC: A61B5/00 , A61B1/00 , A61B5/06 , A61B1/005 , A61B34/37 , A61B34/30 , A61B34/00 , A61M25/00 , A61M25/01 , A61B34/20
Abstract: A medical system comprising a medical instrument including at least one elongated actuation member used to move at least a portion of the medical instrument, a motor coupled to the medical instrument and used to operate the at least one elongated actuation member, and a control system in communication with the medical instrument and with the motor. The control system is configured to receive at least one input from the medical instrument and determine a force on a tip of the medical instrument by applying the at least one input to a lumped model of the medical instrument. The lumped model comprises a mass of the motor and a spring parameter coupling the mass of the motor to a mass of the portion of the medical instrument.
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公开(公告)号：US10939972B2
公开(公告)日：2021-03-09
申请号：US15509062
申请日：2015-09-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Samuel Kwok Wai Au
Abstract: A system includes a flexible guide tube, an actuator coupled to the flexible guide tube and configured to move at least a portion of the flexible guide tube, a processor, and memory storing computer-executable instructions. When executed by the processor, the computer-executable instructions cause the system to: identify at least one factor associated with insertion or removal of a tool configured to be inserted through or removed from the flexible guide tube; identify, in a first configuration of the flexible guide tube and based on the at least one factor, one or more sections of the flexible guide tube having one or more bends that the tool cannot traverse; and command the actuator to automatically move the flexible guide tube to a second configuration without manual steering by a user, wherein the second configuration does not include the one or more bends that the tool cannot traverse.
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公开(公告)号：US10813629B2
公开(公告)日：2020-10-27
申请号：US15824534
申请日：2017-11-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Katherine D. Stoy , Giuseppe Maria Prisco , Samuel Kwok Wai Au , Carolyn M. Fenech
Abstract: A medical device comprises a tube including a wall with a plurality of slits oriented generally transverse to a longitudinal axis of the tube and defined by opposing surfaces. A pair of force transmission elements is actuatable to alter the tube between a flexible state and a stiffened state. A first force transmission element of the pair is coupled to an opposite side of the tube from the second force transmission element of the pair. The surgical device also includes a plurality of routing members coupled to the wall of the tube and configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. Equal tension forces applied to the pair of force transmission elements compress the tube to create the stiffened state by deforming regions of the tube disposed between the plurality of slits.
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