公开(公告)号：US20200078109A1

公开(公告)日：2020-03-12

申请号：US16316939

申请日：2017-07-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： John Ryan Steger ,  Brian M. Crews ,  Craig R. Gerbi ,  Tyler J. Morrisette ,  Margaret M. Nixon ,  Joseph P. Orban, III ,  Theodore W. Rogers ,  Alain Sadaka ,  Charles E. Swinehart ,  Michael Turner ,  Kerry S. Wang

IPC: A61B34/35

Abstract: A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.

公开(公告)号：US20210386494A1

公开(公告)日：2021-12-16

申请号：US17459120

申请日：2021-08-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： John Ryan Steger ,  Brian M. Crews ,  Craig R. Gerbi ,  Tyler J. Morrissette ,  Margaret M. Nixon ,  Joseph P. Orban, III ,  Theodore W. Rogers ,  Alain Sadaka ,  Charles E. Swinehart ,  Michael Turner ,  Kerry S. Wang

IPC: A61B34/35

Abstract: A teleoperational system receives a movement command in response to movement of an input device, in response to determining an instrument is being controlled based on the movement of the input device, maps the movement command to a first movement of the instrument in an instrument frame using a first mapping, and in response to determining a tissue probe is being controlled based on the movement of the input device, maps the movement command to a second movement of the tissue probe in a tissue probe frame using a second mapping. The first mapping maps motion in an input direction in the input frame to an instrument direction in the instrument frame. The second mapping maps motion in the input direction to a tissue probe direction in the tissue probe frame. The instrument direction corresponding with the input direction. The tissue probe direction not corresponding with the input direction.

公开(公告)号：US12114947B2

公开(公告)日：2024-10-15

申请号：US17459120

申请日：2021-08-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： John Ryan Steger ,  Brian M. Crews ,  Craig R. Gerbi ,  Tyler J. Morrissette ,  Margaret M. Nixon ,  Joseph P. Orban, III ,  Theodore W. Rogers ,  Alain Sadaka ,  Charles E. Swinehart ,  Michael Turner ,  Kerry S. Wang

IPC: A61B34/35 ,  A61B1/313 ,  A61B17/00 ,  A61B17/42 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B1/3132 ,  A61B2017/00477 ,  A61B17/4241 ,  A61B2034/302 ,  A61B2090/3941 ,  A61B2090/3945 ,  A61B2090/3983

Abstract: A teleoperational system receives a movement command in response to movement of an input device, in response to determining an instrument is being controlled based on the movement of the input device, maps the movement command to a first movement of the instrument in an instrument frame using a first mapping, and in response to determining a tissue probe is being controlled based on the movement of the input device, maps the movement command to a second movement of the tissue probe in a tissue probe frame using a second mapping. The first mapping maps motion in an input direction in the input frame to an instrument direction in the instrument frame. The second mapping maps motion in the input direction to a tissue probe direction in the tissue probe frame. The instrument direction corresponding with the input direction. The tissue probe direction not corresponding with the input direction.

公开(公告)号：US11129683B2

公开(公告)日：2021-09-28

申请号：US16316939

申请日：2017-07-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： John Ryan Steger ,  Brian M. Crews ,  Craig R. Gerbi ,  Tyler J. Morrissette ,  Margaret M. Nixon ,  Joseph P. Orban, III ,  Theodore W. Rogers ,  Alain Sadaka ,  Charles E. Swinehart ,  Michael Turner ,  Kerry S. Wang

IPC: A61B34/35 ,  A61B34/30 ,  A61B90/00 ,  A61B1/313 ,  A61B17/42 ,  A61B17/00

Abstract: A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.