公开(公告)号：US09840276B2

公开(公告)日：2017-12-12

申请号：US15463740

申请日：2017-03-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Alan W. Petersen ,  David Robinson ,  Nitish Swarup ,  Mark W. Zimmer ,  Alexander Makhlin ,  Julio Santos-Munne ,  Eric Faulring ,  Thomas Moyer

IPC: B62D6/10 ,  B62D1/12 ,  A61B50/10 ,  A61B50/13 ,  A61B34/35 ,  A61B90/00 ,  A61B50/18 ,  A61B17/00 ,  A61B34/30

CPC classification number: B62D6/10 ,  A61B34/30 ,  A61B34/35 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2017/00123 ,  A61B2017/00482 ,  A61B2050/185 ,  A61B2090/064 ,  B62D1/12

Abstract: A patient side cart for a teleoperated surgical system can include one or more wheels positioned to support the cart for wheeled motion on a ground surface, at least one manipulator portion for holding a surgical instrument, a steering interface having a grasping portion and comprising a sensor positioned to sense turning, fore, and aft forces exerted on the grasping portion to move the cart, wherein the sensor is in signal communication with a drive control system of the patient side cart, and an additional sensor operatively coupled to the drive control system. The additional sensor may be positioned between the steering interface and the wheels on a side of the cart at which the steering interface is positioned, wherein in response to a force exerted on the additional sensor during backward motion of the cart in response to an aft force exerted on the grasping portion, the sensor sends a signal to the drive control system to stop motion of the cart.

公开(公告)号：US20170181801A1

公开(公告)日：2017-06-29

申请号：US15118305

申请日：2015-02-19

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 ,  A61B50/18 ,  A61B34/30

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

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

公开(公告)号：US20170172674A1

公开(公告)日：2017-06-22

申请号：US15125030

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Michael Hanuschik ,  Julie L. Berry ,  Joseph Arsanious ,  Paul W. Mohr ,  Brandon D. Itkowitz ,  Paul G. Griffiths

IPC: A61B34/35 ,  A61B50/13 ,  A61B1/00 ,  A61B46/10

CPC classification number: A61B34/35 ,  A61B1/00149 ,  A61B34/30 ,  A61B34/37 ,  A61B46/10 ,  A61B50/10 ,  A61B50/13 ,  A61B90/13 ,  A61B2017/00292 ,  A61B2034/301 ,  A61B2050/105 ,  A61B2050/185

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.

公开(公告)号：US20170079731A1

公开(公告)日：2017-03-23

申请号：US15126536

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz

IPC: A61B34/35 ,  B25J9/16 ,  B25J9/02

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B2090/035 ,  A61B2090/508 ,  B25J9/02 ,  B25J9/1694 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/46

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In an other aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.

公开(公告)号：US20250152283A1

公开(公告)日：2025-05-15

申请号：US19026071

申请日：2025-01-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Ambarish G. Goswami ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Tao Zhao

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B90/00

Abstract: A robotic system comprises a display that is viewable by an operator. The robotic system also includes an input device movable by the operator and a control system. The control system is configured to determine whether an alignment target is located in an error region, the alignment target associated with a tool supported by the first manipulator, and the error region associated with an imaging device supported by the second manipulator, and in response to a determination that the alignment target is located in the error region, disable an operator-guided registration mode for performing an operator-guided registration.

公开(公告)号：US12186033B2

公开(公告)日：2025-01-07

申请号：US18364879

申请日：2023-08-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz

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

Abstract: Techniques for registering a computer-assisted device to a table include a computer-assisted device having an articulated arm and a control unit. The control unit is configured to receive information of a first motion of a table, the first motion comprising a first rotation about a first axis and causing a second motion of a point associated with the articulated arm; receive information of the second motion; receive information of a third motion of the table, the third motion of the table comprising a second rotation about a second axis different from the first axis and causing a fourth motion of the point; receive information of the fourth motion; determine a relationship between the computer-assisted device and the table based on a position of the point, the first rotation, the second motion, the second rotation, and the fourth motion; and control motion of the articulated arm based on the relationship.

公开(公告)号：US12035987B2

公开(公告)日：2024-07-16

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: G06F17/00 ,  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：US11779415B2

公开(公告)日：2023-10-10

申请号：US17569405

申请日：2022-01-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Goran A. Lynch ,  Paul G. Griffiths ,  Michael Turner

IPC: A61B34/32 ,  A61B34/30 ,  A61B17/00 ,  B25J9/16 ,  A61B90/50 ,  A61B34/20

CPC classification number: A61B34/32 ,  A61B17/00234 ,  A61B34/30 ,  B25J9/1664 ,  A61B2017/00123 ,  A61B2017/00991 ,  A61B2034/2059 ,  A61B2090/508

Abstract: A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector, determine a deviation threshold based on at least one parameter selected from the group consisting of a mode of operation of the first end effector and a mode of operation of the computer-assisted device, and in response to determining that the actual motion of the at least one structure deviates from a desired motion of the at least one structure by more than the deviation threshold, halt motion of the first repositionable arm and the first end effector or halt motion of the second repositionable arm and the second end effector.

公开(公告)号：US11684448B2

公开(公告)日：2023-06-27

申请号：US17224049

申请日：2021-04-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Goran A. Lynch ,  Daniel N. Miller

IPC: A61B90/50 ,  A61B34/30 ,  A61B34/35 ,  B25J9/16 ,  B25J9/00 ,  B25J9/06 ,  B25J19/00 ,  A61B34/37

CPC classification number: A61B90/50 ,  A61B34/30 ,  A61B34/35 ,  B25J9/0087 ,  B25J9/06 ,  B25J9/1641 ,  B25J9/1664 ,  B25J9/1689 ,  B25J19/0004 ,  A61B34/37 ,  A61B2034/305 ,  A61B2090/508 ,  Y10S901/02

Abstract: A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.

公开(公告)号：US11246669B2

公开(公告)日：2022-02-15

申请号：US16069875

申请日：2016-12-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Goran A. Lynch ,  Paul G. Griffiths ,  Michael Turner

IPC: A61B34/00 ,  A61B34/32 ,  A61B34/30 ,  A61B17/00 ,  B25J9/16 ,  A61B90/50 ,  A61B34/20

Abstract: A system and method for rapid halt and recovery of motion deviations in a medical device includes a computer-assisted medical device having a first repositionable arm having one or more first repositionable elements, a second repositionable arm having one or more second repositionable elements, and a control unit communicably coupled to the first and second repositionable arms. The control unit is configured to control motion of the first repositionable arm and the first end effector based on a desired motion, monitor an actual motion of the first repositionable arm and the first end effector, determine whether the actual motion deviates from the desired motion by more than a predetermined threshold, and halt motion of the first repositionable arm and the first end effector, or of the second repositionable arm and the second end effector, when the actual motion deviates from the desired motion by more than the predetermined threshold.