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1.发明授权公开(公告)号：US10285764B2
公开(公告)日：2019-05-14
申请号：US15118305
申请日：2015-02-19
发明人： Paul G. Griffiths , Paul W. Mohr , Nitish Swarup , Michael Costa , David Q. Larkin , Thomas G. Cooper
摘要： 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.
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公开(公告)号：US20180263718A1
公开(公告)日：2018-09-20
申请号：US15985529
申请日：2018-05-21
发明人： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
CPC分类号： A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
摘要： Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.
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3.发明申请公开(公告)号：US20170181801A1
公开(公告)日：2017-06-29
申请号：US15118305
申请日：2015-02-19
发明人： Paul G. Griffiths , Paul W Mohr , Nitish Swarup , Michael Costa , David Q. Larkin , Thomas G. Cooper
CPC分类号： A61B34/35 , A61B34/30 , A61B50/10 , A61B50/18 , A61B2017/00017 , A61B2034/304 , A61B2050/105
摘要： 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.
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公开(公告)号：US11974828B2
公开(公告)日：2024-05-07
申请号：US17685317
申请日：2022-03-02
发明人： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
CPC分类号： A61B34/70 , A61B34/30 , A61B2034/304 , A61B34/32 , A61B90/50 , A61B2090/508 , Y10S901/02
摘要： Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode; transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure; while in the set-up mode, determine an input displacement of a link from an initial positional relationship relative to a portion of the kinematic structure to a displaced positional relationship relative to the portion of the kinematic structure; and while in the set-up mode and in response to the determined input displacement, drive the kinematic structure so that the link returns toward the initial positional relationship relative to the portion of the kinematic structure.
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5.发明授权公开(公告)号：US11723733B2
公开(公告)日：2023-08-15
申请号：US17321115
申请日：2021-05-14
发明人： Paul G. Griffiths , Paul W. Mohr , Nitish Swarup , Michael Costa , David Q. Larkin , Thomas G. Cooper
CPC分类号： A61B34/35 , A61B34/30 , A61B50/10 , A61B50/18 , A61B2017/00017 , A61B2034/304 , A61B2050/105
摘要： Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.
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6.发明授权公开(公告)号：US11033345B2
公开(公告)日：2021-06-15
申请号：US16355517
申请日：2019-03-15
发明人： Paul G. Griffiths , Paul W. Mohr , Nitish Swarup , Michael Costa , David Q. Larkin , Thomas G. Cooper
摘要： A tele-operated system includes a platform, a manipulator supported by the platform, a support structure supporting the platform, and a processor. In a platform movement mode the processor is configured to sense a manual movement of a link of the manipulator relative to the platform that moves the link from a first to a second positional relationship relative to the platform wherein a difference between the first and second positional relationships includes a displacement having components in first, second, and third directions that are perpendicular to one another, calculate, in response to the sensed manual movement, a command for the support structure that causes the link to move in the first direction so as to reduce the displacement in the first direction and does not change the displacement in the second direction, and transmit the command to the support structure so as to move the platform and the manipulator.
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公开(公告)号：US11298200B2
公开(公告)日：2022-04-12
申请号：US16842592
申请日：2020-04-07
发明人： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
摘要： Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.
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公开(公告)号：US10646297B2
公开(公告)日：2020-05-12
申请号：US15985529
申请日：2018-05-21
发明人： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
摘要： Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.
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公开(公告)号：US09999476B2
公开(公告)日：2018-06-19
申请号：US14995523
申请日：2016-01-14
发明人： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
CPC分类号： A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
摘要： 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.
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10.发明申请Movable Surgical Mounting Platform Controlled By Manual Motion of Robotic Arms 审中-公开可移动手术安装平台由机器人手动运动控制公开(公告)号：US20160199142A1
公开(公告)日：2016-07-14
申请号：US14995523
申请日：2016-01-14
发明人： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
CPC分类号： A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
摘要： 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.
摘要翻译： 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括主动驱动，无源或两者的混合的关节，并且可以采用设置模式，其中一个或多个关节被主动地驱动以响应于一个人的手动关节 或更多的运动链的其他关节。 在示例性实施例中，主动驱动的关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为一个单元的那些多个操纵器移动到与工作空间对准来促进和加速整个系统的布置 。 可以通过支撑操纵器相对于平台的被动安装关节系统来提供手动独立定位机械手。
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