公开(公告)号：US11540889B2

公开(公告)日：2023-01-03

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 ,  A61B34/20 ,  A61B34/30 ,  A61B17/00

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.

公开(公告)号：US20230072380A1

公开(公告)日：2023-03-09

申请号：US17989430

申请日：2022-11-17

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.

公开(公告)号：US12089909B2

公开(公告)日：2024-09-17

申请号：US17989430

申请日：2022-11-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/00 ,  A61B17/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35

CPC classification number: A61B34/71 ,  A61B34/35 ,  A61B2017/00017 ,  A61B2017/00314 ,  A61B2017/00398 ,  A61B2034/2061 ,  A61B2034/306 ,  A61B2034/715

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.

公开(公告)号：US20240423740A1

公开(公告)日：2024-12-26

申请号：US18810858

申请日：2024-08-21

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/00 ,  A61B17/00 ,  A61B34/20 ,  A61B34/30 ,  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 a reconfigurable portion and transmission systems, each of which couples the reconfigurable 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 reconfigurable portion, and operating the actuators to apply tensions to the transmission systems based on the difference and based on a nominal tension.

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.