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1.发明申请公开(公告)号：US20250025248A1
公开(公告)日：2025-01-23
申请号：US18909164
申请日：2024-10-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Goran A. LYNCH , Paul G. GRIFFITHS , Michael TURNER
Abstract: Techniques for rapid halt of repositionable arms include a computer-assisted device comprising 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 communicably coupled to the first repositionable arm and the second repositionable arm. The control unit is 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 composite deviation between a plurality of kinematic or dynamic values of the actual motion and the plurality of kinematic or dynamic values of a desired motion of the at least one structure, determine whether the composite deviation is greater than a deviation threshold, and in response to the composite deviation being greater than the deviation threshold: halt motion of the first repositionable arm or the second repositionable arm.
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公开(公告)号：US20240423733A1
公开(公告)日：2024-12-26
申请号：US18822851
申请日：2024-09-03
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
Abstract: A teleoperation system includes an input device configured to by manually manipulated by an operator, a first manipulator configured to support an imaging device, a second manipulator configured to support an attachment selected from the group consisting of: an instrument and a tissue probe, a display device; and a control system. The imaging device has a field of view. The control system is configured to receive a first image of a workspace captured by the imaging device; determine a movement command based on movement of the input device; and in response to a first determination that the movement command is for teleoperating the attachment while the attachment is inserted into the workspace in a first direction that is non-corresponding to a second direction of the field of view, cause the display device to display a second image indicative of a tip of the attachment overlayed with the first image.
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公开(公告)号：US20210186633A1
公开(公告)日：2021-06-24
申请号：US17196870
申请日：2021-03-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel MILLER , Nitish SWARUP , Michael TURNER , Arjang M. HOURTASH , Paul G. GRIFFITHS , Paul W. MOHR
Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold, wherein movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint, switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold, and prevents the switching of the first joint from the first state to the second state when the arm is in a predetermined mode.
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公开(公告)号：US20200214778A1
公开(公告)日：2020-07-09
申请号：US16824575
申请日：2020-03-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Michael TURNER
Abstract: A system includes a manually movable input control configured to generate signals when a movement of one or more mechanical degrees of freedom of the input control is detected and a control module. The control module is configured to determine whether a movement of the input control is anticipated to cause an instrument to move outside of a safe range of movement of the instrument and command the system to switch from an operating mode to a safe mode in response to determining that the movement of the input control is anticipated to cause the instrument to move outside of the safe range of movement of the instrument. The instrument is separate from the input control. In the operating mode the instrument moves in response to movement of the input control. In the safe mode the instrument does not move in response to movement of the input control.
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5.发明公开公开(公告)号：US20230397963A1
公开(公告)日：2023-12-14
申请号：US18457218
申请日：2023-08-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Goran A. LYNCH , Paul G. GRIFFITHS , Michael TURNER
CPC classification number: A61B34/32 , A61B34/30 , A61B17/00234 , B25J9/1664 , 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 between the actual motion and a desired motion of the at least one structure; and in response to determining that the deviation is greater than a deviation threshold, select whether to halt motion of the first repositionable arm and the first end effector or the second repositionable arm and the second end effector based on a mode of operation of the first repositionable arm the first end effector, the second repositionable arm, or a mode of operation of the second end effector.
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Patent Agency Ranking
6.发明申请公开(公告)号：US20220125532A1
公开(公告)日：2022-04-28
申请号：US17569405
申请日：2022-01-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Goran A. LYNCH , Paul G. GRIFFITHS , Michael TURNER
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.
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公开(公告)号：US20140343569A1
公开(公告)日：2014-11-20
申请号：US14276934
申请日：2014-05-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Michael TURNER
CPC classification number: A61B34/77 , A61B17/28 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B2090/065
Abstract: A teleoperated surgical system includes a surgical instrument with an end effector and a master input device. A servomechanism may be operatively coupled to the end effector to apply a force to the end effector, and at least one processor may operatively couple the servomechanism to the master input device to apply a grip force with the first and second gripping elements in response to input at the master input device. The applied grip force may be based at least in part on a mechanical advantage of the surgical instrument end effector.
Abstract translation: 远程手术系统包括具有端部执行器和主输入装置的手术器械。 伺服机构可以可操作地联接到末端执行器以向末端执行器施加力，并且至少一个处理器可以将伺服机构可操作地耦合到主输入装置，以响应于输入施加与第一和第二抓握元件的握力 在主输入设备。 所施加的抓握力可以至少部分地基于外科器械末端执行器的机械优点。
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公开(公告)号：US20240374327A1
公开(公告)日：2024-11-14
申请号：US18781130
申请日：2024-07-23
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Michael TURNER
Abstract: A system includes a manually manipulatable input control and a control module. The control module is configured to determine whether there is uncontrolled movement of the component based on whether a movement of the input control includes a change in a roll angle of the input control, the movement of the input control includes a change in a grip separation of the input control, or a first mechanical degree of freedom of the input control affected by gravity has moved while a second mechanical degree of freedom of the input control not affected by gravity has not moved. The control module is further configured to command the system to switch to a safe mode in response to determining that there is uncontrolled movement of the input control. The safe mode includes a mode in which an instrument does not move in response to movement of the input control.
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公开(公告)号：US20240358456A1
公开(公告)日：2024-10-31
申请号：US18765417
申请日：2024-07-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel MILLER , Nitish SWARUP , Michael TURNER , Arjang M. HOURTASH , Paul G. GRIFFITHS , Paul W. MOHR
CPC classification number: A61B34/30 , B25J9/1689 , B25J9/1694 , B25J13/085 , B25J13/088 , A61B2018/00666 , A61B2018/00672 , A61B2018/00678 , A61B2034/305 , A61B2090/035
Abstract: A system and method of breakaway clutching in a device includes a plurality of links coupled by a plurality of joints, a brake coupled to brake a first joint of the plurality of joints, and a control unit operatively coupled to the brake. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to a determination that an external stimulus applied to the plurality of links or the plurality of joints meets at least a first criterion and switches the first joint from the second state to the first state in response to a speed associated with the first joint meeting at least a second criterion. The control unit causes more braking with the first brake in the first state than in the second state.
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公开(公告)号：US20230255704A1
公开(公告)日：2023-08-17
申请号：US18306046
申请日：2023-04-24
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel MILLER , Nitish SWARUP , Michael TURNER , Arjang M. HOURTASH , Paul G. GRIFFITHS , Paul W. MOHR
CPC classification number: A61B34/30 , B25J9/1689 , B25J9/1694 , B25J13/085 , B25J13/088 , A61B2018/00666
Abstract: A system and method of breakaway clutching in a device includes an arm having a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold. Movement of the first joint is more restricted in the first state than in the second state. The control unit further switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. The first threshold is based on at least one first property of the arm. The speed threshold is based on at least one second property of the arm.
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