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公开(公告)号：US20210322115A1
公开(公告)日：2021-10-21
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 , B25J9/16 , A61B50/13 , A61B90/50 , A61B34/30 , A61B50/33 , A61B50/15 , A61B46/00 , A61B34/32 , A61B46/10 , A61B90/00 , A61B17/34
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.
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公开(公告)号：US10952801B2
公开(公告)日：2021-03-23
申请号：US16495484
申请日：2018-11-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel N. Miller , Dinesh Rabindran , Kollin M. Tierling
Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.
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公开(公告)号：US20190231460A1
公开(公告)日：2019-08-01
申请号：US16327986
申请日：2017-09-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Simon Peter DiMaio , Nicholas Leo Bernstein , Paul Millman , Dinesh Rabindran , Alec Paul Robertson
CPC classification number: A61B34/35 , A61B17/3423 , A61B34/30 , A61B34/32 , A61B46/00 , A61B46/10 , A61B50/13 , A61B50/15 , A61B50/33 , A61B90/08 , A61B90/50 , A61B2090/0808 , A61B2090/0811 , A61B2090/3945 , A61B2090/508 , A61B2090/571 , B25J9/162 , B25J9/1676 , B25J9/1684
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.
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公开(公告)号：US20190143506A1
公开(公告)日：2019-05-16
申请号：US16185867
申请日：2018-11-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
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.
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