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    Coupler to Transfer Motion to Surgical Instrument From Teleoperated Actuator
    45.
    发明申请
    Coupler to Transfer Motion to Surgical Instrument From Teleoperated Actuator 审中-公开
    耦合器将运动转移到来自遥控执行器的手术仪器

    公开(公告)号：US20160361131A1

    公开(公告)日：2016-12-15

    申请号：US15121374

    申请日：2015-03-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby

    IPC: A61B90/00 ,  A61B34/35

    CPC classification number: A61B34/30 ,  A61B2017/00477 ,  A61B2090/0813

    Abstract: A sterile adapter for coupling a surgical instrument and a surgical instrument manipulator includes a bottom component and a coupling component. The bottom component includes a bottom component opening with a bottom lip having a locking mechanism. The coupling component is rotatably coupled to the bottom component. The coupling component includes an engagement feature that engages the surgical instrument manipulator. The coupling component further includes a locking mechanism opening that engages the locking mechanism when the engagement feature has not engaged the surgical instrument manipulator. The coupling component may include a retention tab that is aligned with the keyway to insert the coupling component into the bottom component opening and then misaligned with the keyway to retain the coupling component in the bottom component opening. A ramp may be provided on a leading edge of a pocket to facilitate engaging the coupling component with the surgical instrument manipulator.

    Abstract translation: 用于联接外科器械和外科器械操纵器的无菌适配器包括底部部件和联接部件。 底部部件包括具有带有锁定机构的底部唇部的底部部件开口。 联接部件可旋转地联接到底部部件。 联接部件包括接合外科器械操纵器的接合特征。 联接部件还包括当接合特征未接合外科器械操纵器时与锁定机构接合的锁定机构开口。 联接部件可以包括与键槽对准的保持突片，以将联接部件插入底部部件开口中，然后与键槽不对准，以将联接部件保持在底部部件开口中。 斜槽可以设置在口袋的前缘上，以便于使联接部件与手术器械操纵器接合。

    Method for Engaging Surgical Instrument with Teleoperated Actuator
    46.
    发明申请
    Method for Engaging Surgical Instrument with Teleoperated Actuator 审中-公开
    使用遥控执行机构手术器械的方法

    公开(公告)号：US20160361126A1

    公开(公告)日：2016-12-15

    申请号：US15121718

    申请日：2015-03-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Bruce Michael Schena ,  Niels Smaby ,  Gregory W. Dachs, II

    IPC: A61B34/35 ,  A61B90/00 ,  A61B34/37

    Abstract: A teleoperated surgical system has an instrument manipulator that includes a first carriage driver and a second carriage driver that each provide independent rotary motion. Each carriage driver includes a first engagement feature. A surgical instrument includes two instrument drivers that each receive the rotary motion from one of the two carriage drivers. Each instrument driver includes a second engagement feature that engages the first engagement feature to positively couple the carriage driver to the instrument driver. The instrument drivers are rotationally coupled together. A manipulator controller controls rotation of the two carriage drivers and imparts a motion to the second carriage driver that is contrary to the rotation of the first carriage driver until the first engagement features positively engage the second engagement features. The surgical instrument may include an instrument shaft that can rotate indefinitely. The instrument drivers may be rotationally coupled to the instrument shaft.

    Abstract translation: 远程手术系统具有仪器操纵器，其包括第一滑架驱动器和第二滑架驱动器，每个驱动器提供独立的旋转运动。 每个滑架驱动器包括第一接合特征。 手术器械包括两个仪器驱动器，每个仪器驱动器从两个滑架驱动器之一接收旋转运动。 每个仪器驱动器包括第二接合特征，其接合第一接合特征以将滑架驱动器正向联接到仪器驱动器。 仪器驱动器旋转耦合在一起。 操纵器控制器控制两个滑架驱动器的旋转，并且向第二滑架驱动器施加与第一滑架驱动器的旋转相反的运动，直到第一接合特征积极地接合第二接合特征。 手术器械可以包括能够无限旋转的器械轴。 仪器驱动器可以旋转地联接到仪器轴。

    Software Configurable Manipulator Degrees of Freedom
    47.
    发明申请
    Software Configurable Manipulator Degrees of Freedom 审中-公开
    软件可配置机器人自由度

    公开(公告)号：US20140276951A1

    公开(公告)日：2014-09-18

    申请号：US14218318

    申请日：2014-03-18

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang Hourtash ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Niels Smaby ,  Nitish Swarup

    IPC: A61B19/00

    CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B2034/2059

    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.

    Abstract translation: 用于控制机器人系统的多个操纵器组件的方法，装置和系统。 根据一种方法，经由第一操纵器组件的关节空间界面元件和关节之间的第一映射，在多个连接器输入元件的多个关节空间界面元件处接收第一多个传感器信号。 连接器输入元件一次可操作以仅耦合到一个操纵器组件。 然后接收的第一传感器信号用联合控制器处理，以便控制第一操纵器组件。 然后，经由与第一映射不同的第二映射，在联合空间接口元件处从连接器输入元件接收第二多个传感器信号。 然后接收的第二传感器信号用联合控制器处理，以便控制与第一操纵器组件不同的第二操纵器组件。

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