公开(公告)号：US20250090243A1

公开(公告)日：2025-03-20

申请号：US18961863

申请日：2024-11-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ

IPC: A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61G13/02 ,  A61G13/04 ,  A61G13/06 ,  A61G13/10

Abstract: Techniques for registering a teleoperated device to a table include a teleoperated device comprising a control unit and an articulated arm. The control unit is configured to receive information of a first table motion of a table, the first table motion causing a corresponding first arm motion, the first arm motion being of at least a portion of the articulated arm, the table comprising one or more links and one or more joints coupling a base of the table to a top of the table, the first table motion indicating a movement of the top of the table; receive information of the first arm motion; determine a first angular relationship between the table and the first articulated arm based on the first table motion and the first arm motion; and control, using a plurality of actuators, movement of the articulated arm based on the first angular relationship.

公开(公告)号：US20240423751A1

公开(公告)日：2024-12-26

申请号：US18703089

申请日：2022-10-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mohammad Sina PARASTEGARI ,  Jason A. GLASSER ,  Olga GREENBERG ,  Paul G. GRIFFITHS ,  Katherine LI ,  Allen C. THOMPSON ,  Keith J. WATZA

IPC: A61B90/00 ,  A61B34/35 ,  A61B90/60 ,  G06F3/01

Abstract: Techniques for controlling a computer-assisted device based on a geometric parameter representative of a geometric relationship of an operator and a display unit include the following. The computer-assisted device comprises a repositionable structure system configured to support a display unit that displays an image viewable by an operator; an actuator system physically coupled to the repositionable structure system; a sensor system configured to capture sensor data associated with a portion of a head of the operator; and a control system. The control system is configured to: determine, based on sensor data, a geometric parameter of the portion of the head relative to a portion of the computer-assisted device, determine a commanded motion based on the geometric parameter and a target parameter, and command the actuator system to move the repositionable structure based on the commanded motion.

公开(公告)号：US20240358456A1

公开(公告)日：2024-10-31

申请号：US18765417

申请日：2024-07-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel MILLER ,  Nitish SWARUP ,  Michael TURNER ,  Arjang M. HOURTASH ,  Paul G. GRIFFITHS ,  Paul W. MOHR

IPC: A61B34/30 ,  A61B18/00 ,  A61B90/00 ,  B25J9/16 ,  B25J13/08

CPC classification number: A61B34/30 ,  B25J9/1689 ,  B25J9/1694 ,  B25J13/085 ,  B25J13/088 ,  A61B2018/00666 ,  A61B2018/00672 ,  A61B2018/00678 ,  A61B2034/305 ,  A61B2090/035

Abstract: A system and method of breakaway clutching in a device includes a plurality of links coupled by a plurality of joints, a brake coupled to brake a first joint of the plurality of joints, and a control unit operatively coupled to the brake. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to a determination that an external stimulus applied to the plurality of links or the plurality of joints meets at least a first criterion and switches the first joint from the second state to the first state in response to a speed associated with the first joint meeting at least a second criterion. The control unit causes more braking with the first brake in the first state than in the second state.

公开(公告)号：US20240293193A1

公开(公告)日：2024-09-05

申请号：US18658686

申请日：2024-05-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/50 ,  B25J1/02 ,  B25J3/04 ,  B25J9/06 ,  B25J9/16 ,  B25J13/02 ,  B25J19/00

CPC classification number: A61B34/30 ,  A61B34/76 ,  A61B34/77 ,  B25J1/02 ,  B25J3/04 ,  B25J9/1689 ,  B25J13/025 ,  B25J19/0004 ,  A61B34/35 ,  A61B34/37 ,  A61B2090/508 ,  B25J9/06

Abstract: Techniques for providing feedback during manual joint positioning include a computer-assisted device comprising an articulated structure comprising a joint and a brake associated with the joint and a control unit coupled to the articulated structure. To provide feedback during manual positioning of the joint due to manual force applied by an operator, the control unit is configured to determine a target position for the joint, determine kinematics of the joint relative to the target position, lock the joint when the joint is at the target position, release the brake when the kinematics of the joint indicate that the joint is moving towards the target position, and apply the brake when the kinematics of the joint indicate that the joint is moving away from the target position.

公开(公告)号：US20240115332A1

公开(公告)日：2024-04-11

申请号：US18544238

申请日：2023-12-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Jason HEMPHILL ,  Goran A. LYNCH ,  Daniel N. MILLER ,  Patrick O'GRADY ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61B34/00 ,  A61G13/02

CPC classification number: A61B34/30 ,  A61B34/25 ,  A61G13/02

Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes articulating means; means for receiving, via a means for communicatively coupling the computer-assisted device with a table means, a table movement request from a table command means, the table means being separate from the computer-assisted device; means for determining whether the table movement request should be allowed; and means for allowing the table means to perform the table movement request based on determining that the table movement request should be allowed.

公开(公告)号：US20240025050A1

公开(公告)日：2024-01-25

申请号：US18256469

申请日：2021-12-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mohammad Sina PARASTEGARI ,  Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: B25J9/16 ,  A61B90/50 ,  A61B34/35 ,  A61B90/00

CPC classification number: B25J9/1689 ,  A61B90/50 ,  A61B34/35 ,  A61B90/37 ,  B25J9/1697

Abstract: Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system coupled to the repositionable structure. The control system is configured to: determine a position of a reference point offset from a display unit, convert the position of the reference point to a target position of another reference point offset from the imaging device, determine a movement command of the first repositionable structure that moves the imaging device such that the another reference point moves toward the target position, and cause actuation of the repositionable structure based on the movement command.

公开(公告)号：US20240008942A1

公开(公告)日：2024-01-11

申请号：US18037896

申请日：2021-11-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mohammad Sina PARASTEGARI ,  Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/37 ,  A61B34/00 ,  A61B90/00 ,  A61B17/00

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B90/06 ,  A61B17/00 ,  A61B2017/00216 ,  A61B2017/00973 ,  A61B2090/065

Abstract: Embodiments relate to a computer-assisted robotic system, In some embodiments, the system includes a head input device, the head input device comprising a head input sensor configured to provide head input signals indicative of a an operator's head inputs, and a foot input device comprising a foot input sensor configured to provide foot input signals indicative of the operator's foot inputs. The system further includes a controller, configured to process the head input signals and the foot input signals, and identify, based on the processed head and foot input signals, that the operator has provided a combination of head and foot inputs corresponding to a steerable viewer mode activation command. The controller is further configured to cause the robotic system to enter a steerable viewer mode in response to identifying that the operator has provided a combination.

公开(公告)号：US20230329815A1

公开(公告)日：2023-10-19

申请号：US18340943

申请日：2023-06-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Paul W. MOHR ,  Nitish SWARUP ,  Michael COSTA ,  David Q. LARKIN ,  Thomas G. COOPER

IPC: A61B34/35 ,  A61B50/10 ,  A61B34/30 ,  A61B50/18 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B50/10 ,  A61B34/30 ,  A61B50/18 ,  A61B2050/105 ,  A61B2034/304 ,  A61B2017/00017

Abstract: Techniques for controlling a system include a first structural means supporting a manipulating means, a second structural means supporting the first structural means, and a processing means. The processing means is configured to determine, relative to the first structural means, a first position of a reference location on the system entering into the first mode, the reference location being associated with a linking means of the manipulating means; and while the system in the first mode: detect a manual movement of the reference location that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location from the first position in a second direction,; and, in response, command the second structural means to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

公开(公告)号：US20230263584A1

公开(公告)日：2023-08-24

申请号：US18309453

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61G13/02

CPC classification number: A61B34/30 ,  A61G13/02

Abstract: A computer-assisted device includes an articulated arm configured to support an end effector and a control unit. When coupled to the articulated arm and a table, the control unit is configured to detect movement of the articulated arm caused by movement of the table, determine a movement of the table based on motion data received from the table, and drive one or more first joints of the articulated arm based on the movement of the articulated arm and the determined movement of the table.

公开(公告)号：US20230255704A1

公开(公告)日：2023-08-17

申请号：US18306046

申请日：2023-04-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel MILLER ,  Nitish SWARUP ,  Michael TURNER ,  Arjang M. HOURTASH ,  Paul G. GRIFFITHS ,  Paul W. MOHR

IPC: A61B34/30 ,  B25J9/16 ,  B25J13/08

CPC classification number: A61B34/30 ,  B25J9/1689 ,  B25J9/1694 ,  B25J13/085 ,  B25J13/088 ,  A61B2018/00666

Abstract: A system and method of breakaway clutching in a device includes an arm having a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold. Movement of the first joint is more restricted in the first state than in the second state. The control unit further switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. The first threshold is based on at least one first property of the arm. The speed threshold is based on at least one second property of the arm.