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公开(公告)号：US20250134608A1
公开(公告)日：2025-05-01
申请号：US19005692
申请日：2024-12-30
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Simon P. DiMaio , Gerard J. Labonville , Kollin M. Tierling
IPC: A61B34/35 , A61B1/00 , A61B17/02 , A61B17/068 , A61B17/128 , A61B17/29 , A61B17/32 , A61B17/3201 , A61B18/00 , A61B34/00 , A61B34/37 , A61B90/00 , G05B19/4155 , G16H30/40 , G16H40/67 , H04N23/50 , H04N23/54
Abstract: A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.
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公开(公告)号：US20230286147A1
公开(公告)日：2023-09-14
申请号：US18313230
申请日：2023-05-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
CPC classification number: B25J9/1653 , A61B34/37 , B25J9/1607 , B25J9/1641 , B25J9/1664 , B25J9/1689 , B25J9/1694 , G05B2219/37388
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
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公开(公告)号：US20210177535A1
公开(公告)日：2021-06-17
申请号：US17186391
申请日：2021-02-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Daniel N. Miller , Dinesh Rabindran , Kollin M. Tierling
Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.
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公开(公告)号：US11857280B2
公开(公告)日：2024-01-02
申请号：US17990318
申请日：2022-11-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Simon P. DiMaio , Gerard J. Labonville , Kollin M. Tierling
IPC: G05B19/00 , A61B34/35 , A61B34/37 , G16H40/67 , G16H30/40 , A61B1/00 , G05B19/4155 , H04N23/54 , A61B34/00 , A61B90/00 , A61B17/02 , A61B17/068 , A61B17/128 , A61B17/29 , A61B17/32 , A61B17/3201 , A61B18/00 , H04N23/50
CPC classification number: A61B34/35 , A61B1/00149 , A61B34/37 , G05B19/4155 , G16H30/40 , G16H40/67 , H04N23/54 , A61B17/02 , A61B17/068 , A61B17/1285 , A61B17/29 , A61B17/3201 , A61B17/320068 , A61B34/71 , A61B2018/00595 , A61B2034/741 , A61B2034/742 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61B2090/3762 , A61B2217/005 , A61B2217/007 , G05B2219/40174 , H04N23/555
Abstract: A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.
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公开(公告)号：US20230248454A1
公开(公告)日：2023-08-10
申请号：US18301905
申请日：2023-04-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel N. Miller , Dinesh Rabindran , Kollin M. Tierling
CPC classification number: A61B34/30 , B25J9/1607 , B25J9/1638 , B25J9/1641 , B25J13/08 , B25J15/0019 , A61B2034/2059
Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.
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Patent Agency Ranking
公开(公告)号：US20220080589A1
公开(公告)日：2022-03-17
申请号：US17512832
申请日：2021-10-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： DINESH RABINDRAN , Simon P. DiMaio , Kollin M. Tierling
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.
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公开(公告)号：US11653987B2
公开(公告)日：2023-05-23
申请号：US17186391
申请日：2021-02-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Daniel N. Miller , Dinesh Rabindran , Kollin M. Tierling
CPC classification number: A61B34/30 , B25J9/1607 , B25J9/1638 , B25J9/1641 , B25J13/08 , B25J15/0019 , A61B34/37 , A61B34/74 , A61B34/76 , A61B2034/2059 , A61B2034/301 , A61B2090/066
Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.
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公开(公告)号：US11534252B2
公开(公告)日：2022-12-27
申请号：US16763556
申请日：2018-11-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Simon P. DiMaio , Gerard J. Labonville, II , Kollin M. Tierling
IPC: G16H30/00 , A61B34/35 , A61B34/37 , G16H40/67 , G16H30/40 , A61B1/00 , G05B19/4155 , H04N5/225 , A61B34/00 , A61B90/00 , A61B17/02 , A61B17/068 , A61B17/128 , A61B17/29 , A61B17/32 , A61B17/3201 , A61B18/00
Abstract: A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.
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公开(公告)号：US20220080591A1
公开(公告)日：2022-03-17
申请号：US17493918
申请日：2021-10-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
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公开(公告)号：US10952801B2
公开(公告)日：2021-03-23
申请号：US16495484
申请日：2018-11-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel N. Miller , Dinesh Rabindran , Kollin M. Tierling
Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.
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