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    Systems and methods for grasp adjustment based on grasp properties
    51.
    发明授权
    Systems and methods for grasp adjustment based on grasp properties 有权

    公开(公告)号：US11523839B2

    公开(公告)日：2022-12-13

    申请号：US16366854

    申请日：2019-03-27

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Ashley Lynne Wellman ,  David W. Weir ,  Matthew A. Wixey

    IPC: A61B34/00 ,  A61B34/30 ,  A61B17/28 ,  A61B17/22 ,  A61B34/35 ,  A61B34/20 ,  A61B90/00

    Abstract: Systems and methods for grasp adjustment based on grasp properties include a computer-assisted device. The device includes a two-jawed end effector located at a distal end of the device, a drive unit for operating the two-jawed end effector, and an image processing unit. The image processing unit is configured to receive imaging data of the end effector and recognize the end effector and a material grasped by the end effector in the received imaging data. The device is configured to adjust a force magnitude limit or a torque magnitude limit of the drive unit based on the received imaging data. In some embodiments, the image processing unit is further configured to determine one or more of a position, an orientation, a size, or a shape of the material based on the received imaging data. In some embodiments, at least one jaw of the end effector includes fiducial indicia.

    Stapler reload detection and identification
    52.
    发明授权
    Stapler reload detection and identification 有权

    公开(公告)号：US11364029B2

    公开(公告)日：2022-06-21

    申请号：US16331692

    申请日：2017-09-08

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： William Burbank ,  Matthew A. Wixey ,  Nicholas Ragosta ,  David W. Weir ,  Emily Cooper ,  Melody Wu

    IPC: A61B17/00 ,  A61B17/068 ,  A61B17/072 ,  A61B34/00 ,  A61B90/00 ,  A61B34/30 ,  A61B34/35

    Abstract: Surgical devices, systems, and related methods provide automated assessment of the status of a surgical instrument. A surgical device is configured to staple tissue via a replaceable stapler cartridge. The surgical device includes a pusher member configured to articulate the stapler cartridge to deploy staples. The surgical device includes an actuation mechanism that articulates the pusher member and a control unit configured to control operation of the actuation mechanism to attempt move the pusher member from a first position to a second position subject to an output limit for the actuation mechanism and determine an attribute of the stapler cartridge based on an amount of movement of the pusher member achieved. The determined attribute can indicate a type of the stapler cartridge selected from different stapler cartridges, whether the stapler cartridge has already been fired, or that no stapler cartridge is mounted to the surgical device.

    Cartridge Status and Presence Detection
    55.
    发明申请
    Cartridge Status and Presence Detection 有权

    公开(公告)号：US20210022738A1

    公开(公告)日：2021-01-28

    申请号：US17066110

    申请日：2020-10-08

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： David W. Weir ,  Kevin Durant ,  William Burbank ,  Patrick Flanagan

    IPC: A61B17/072 ,  A61B34/37 ,  A61B50/13 ,  A61B34/30

    Abstract: Surgical systems configured to determine whether a surgical cartridge is present and unfired. A surgical system includes a surgical instrument, a drive source, a sensor and a controller. The surgical instrument is configured to receive and support a surgical cartridge. The drive source is drivingly coupled with an actuation output. The sensor is configured to generate a sensor output indicative of movement of the actuation output. The controller controls the drive source to attempt to actuate the actuation output opposite to the firing direction by a predetermined amount. The controller determines that the surgical cartridge is present and unfired when the resulting actuation amount of the actuation output is less than a threshold actuation amount.

    TENSION CONTROL IN ACTUATION OF JOINTED INSTRUMENTS
    56.
    发明申请
    TENSION CONTROL IN ACTUATION OF JOINTED INSTRUMENTS 审中-公开

    公开(公告)号：US20200275984A1

    公开(公告)日：2020-09-03

    申请号：US16762665

    申请日：2018-09-10

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Gabriel F. Brisson ,  Nicola Diolaiti ,  David W. Weir ,  Dimitrios Chatzigeorgiou

    IPC: A61B34/00 ,  A61B34/35

    Abstract: A medical instrument system includes actuators, a medical instrument, and a control system operably connected to the actuators. The medical instrument includes an end portion and transmission systems, each of which couples the end portion to an actuator of the actuators such that the actuators are operable to drive the transmission systems to move the end portion. The control system is configured to execute operations including determining a difference between a current configuration of the end portion and a desired configuration of the end portion, and operating the actuators to apply tensions to the transmission systems based on the difference and based on constant offset tensions. The constant offset tensions are independent of current tensions experienced by the transmission systems.

    MOTOR ASSEMBLY
    59.
    发明申请
    MOTOR ASSEMBLY 审中-公开
    电机总成

    公开(公告)号：US20140200851A1

    公开(公告)日：2014-07-17

    申请号：US14154087

    申请日：2014-01-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Weir ,  Melody Wu ,  Kevin Durant ,  Grant Duque

    IPC: G01R31/34 ,  H02K11/00

    CPC classification number: H02K11/0094 ,  A61B18/1445 ,  A61B34/30 ,  A61B2017/00725 ,  A61B2018/1455 ,  A61B2090/031 ,  G05B2219/2617 ,  G05B2219/45117 ,  G05B2219/45119

    Abstract: A motor assembly is presented. A motor assembly can include at least one motor; a memory to store calibrated parameters related to the at least one motor; and electronics coupled to the memory, the at least one motor, the electronics including interfaces to couple with a clamping device and a system to control the operation of the at least one motor. The calibrated parameters are determined for the at least one motor with a procedure that includes performing an initial calibration of the at least one motor; wearing in the at least one motor; performing a final calibration of the at least one motor; and storing calibration data in the memory. In some embodiments, the at least one motor can include a clamping motor and/or a firing motor. In some embodiments, lifetime parameters are stored in the memory.

    Abstract translation: 提出了电机组件。 马达组件可以包括至少一个马达; 用于存储与所述至少一个电动机相关的校准参数的存储器; 以及耦合到所述存储器的电子器件，所述至少一个电动机，所述电子器件包括与夹持装置耦合的接口和用于控制所述至少一个电动机的操作的系统。 通过包括执行至少一个电动机的初始校准的过程，为至少一个电动机确定校准参数; 穿在至少一个电机上; 执行所述至少一个电动机的最终校准; 并将校准数据存储在存储器中。 在一些实施例中，所述至少一个马达可以包括夹紧马达和/或击发马达。 在一些实施例中，寿命参数被存储在存储器中。

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