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公开(公告)号：US10052167B2
公开(公告)日：2018-08-21
申请号：US15428009
申请日：2017-02-08
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Pushkar Hingwe , Arjang M. Hourtash , Amy E. Kerdok , Michael Turner
CPC classification number: A61B34/37 , A61B34/10 , A61B34/30 , A61B2034/104 , Y10S901/15 , Y10S901/29 , Y10S901/41
Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.
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公开(公告)号：US09949799B2
公开(公告)日：2018-04-24
申请号：US15057069
申请日：2016-02-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Pushkar Hingwe , Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Arjang M. Hourtash , Amy E. Kerdok , Michael Turner
CPC classification number: A61B34/30 , A61B34/37 , A61B90/361
Abstract: Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.
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公开(公告)号：US09861447B2
公开(公告)日：2018-01-09
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.
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公开(公告)号：US09259280B2
公开(公告)日：2016-02-16
申请号：US13966494
申请日：2013-08-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Pushkar Hingwe , Arjang M. Hourtash , Amy E. Kerdok , Michael Turner
CPC classification number: A61B34/37 , A61B34/10 , A61B34/30 , A61B2034/104 , Y10S901/15 , Y10S901/29 , Y10S901/41
Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.
Abstract translation: 用于操作外科系统的方法，装置和系统。 根据一种方法，测量手术器械的位置，所述手术器械被包括在具有多个关节和第一数量自由度的机械组件中，所述手术器械的位置被测量为 手术器械的第二数量的自由度。 该方法还包括估计每个关节的位置，其中估计每个关节的位置包括将位置测量值应用于机械组件的至少一个运动学模型，运动学模型具有大于 第一数量的自由度。 该方法还包括基于关节的估计位置来控制机械组件。
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公开(公告)号：US20140052152A1
公开(公告)日：2014-02-20
申请号：US13966494
申请日：2013-08-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Pushkar Hingwe , Arjang M. Hourtash , Amy E. Kerdok , Michael Turner
IPC: A61B19/00
CPC classification number: A61B34/37 , A61B34/10 , A61B34/30 , A61B2034/104 , Y10S901/15 , Y10S901/29 , Y10S901/41
Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.
Abstract translation: 用于操作外科系统的方法，装置和系统。 根据一种方法，测量手术器械的位置，所述手术器械被包括在具有多个关节和第一数量自由度的机械组件中，所述手术器械的位置被测量为 手术器械的第二数量的自由度。 该方法还包括估计每个关节的位置，其中估计每个关节的位置包括将位置测量值应用于机械组件的至少一个运动学模型，运动学模型具有大于 第一数量的自由度。 该方法还包括基于关节的估计位置控制机械组件。
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Patent Agency Ranking
46.发明申请公开(公告)号：US20140052151A1
公开(公告)日：2014-02-20
申请号：US13966437
申请日：2013-08-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Pushkar Hingwe , Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Arjang M. Hourtash , Amy E. Kerdok , Michael Turner
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/37 , A61B90/361
Abstract: Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.
Abstract translation: 用于通过患者的孔进行微创手术的方法，装置和系统。 根据一种方法，从与外科医生相关联的输入设备接收参数，所述参数指示通过所述孔定向的外科器械的末端执行器的期望状态。 手术器械包括在具有第一组关节的机械组件中。 然后计算指令，以便通过计算用于控制第二组接头的指令来控制机械组件，所述参数包括第一组接头和附加接头，附加接头不在机械组件中。 然后驱动机械组件，以便基于计算出的指令将末端执行器移动到期望状态。
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公开(公告)号：US20240122587A1
公开(公告)日：2024-04-18
申请号：US18532598
申请日：2023-12-07
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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公开(公告)号：US20240115331A1
公开(公告)日：2024-04-11
申请号：US18535819
申请日：2023-12-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Giuseppe Maria Prisco
IPC: A61B34/30
CPC classification number: A61B34/30 , A61B2034/715
Abstract: An instrument system includes actuators, an instrument, and a control system. The instrument includes joints and transmission systems that couple the joints with the actuators. A first joint is distal to a second joint, a first transmission system passes through the second joint to couple to the first joint, and a second transmission system couples to the second joint. The control system is programmed to determine a first tension to be applied by the first transmission system, determine a first estimate of an interaction response that results at the second joint from applying the first tension by the first transmission system, determine a second tension to be applied by the second transmission system based on a first set of parameters, the first set of parameters including the first estimate, and command the actuators such that the first and second transmission systems apply the first and second tensions, respectively.
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公开(公告)号：US11871914B2
公开(公告)日：2024-01-16
申请号：US17111667
申请日：2020-12-04
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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公开(公告)号：US11684758B2
公开(公告)日：2023-06-27
申请号：US16863067
申请日：2020-04-30
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Samuel Kwok Wai Au , Caitlin Q. Donhowe , Carolyn M. Fenech , Catherine J. Mohr , Giuseppe Maria Prisco
IPC: A61M25/06 , A61B1/00 , A61B1/005 , A61B1/018 , A61B5/06 , A61B10/02 , A61M25/00 , A61B1/01 , A61B10/04 , A61M25/01 , A61B34/20 , A61B17/22 , A61B5/00 , A61B34/30 , A61B17/00
CPC classification number: A61M25/0662 , A61B1/00006 , A61B1/0052 , A61B1/00078 , A61B1/00154 , A61B1/01 , A61B1/018 , A61B5/06 , A61B5/065 , A61B10/02 , A61B10/04 , A61M25/003 , A61M25/0074 , A61M25/0113 , A61B1/0057 , A61B5/062 , A61B5/6852 , A61B2017/00292 , A61B2017/00323 , A61B2017/00809 , A61B2017/22074 , A61B2034/2051 , A61B2034/2055 , A61B2034/2061 , A61B2034/301 , A61M25/0147 , A61M2025/0034 , A61M2025/0166
Abstract: A robotic system comprises an instrument including proximal distal sections. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to record a position of a working configuration of the distal tip, determine, based on a sensor signal, a movement of the distal tip in response to insertion of a probe into the main lumen, and generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal to return the distal tip towards the working configuration recorded before the movement occurred.
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