公开(公告)号：US10532467B2

公开(公告)日：2020-01-14

申请号：US15412657

申请日：2017-01-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola Diolaiti ,  Daniel H. Gomez ,  Probal Mitra ,  Tabish Mustufa

IPC: G06F19/00 ,  B25J13/06 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  B25J9/16 ,  A61B34/35 ,  B25J13/04 ,  A61B17/00

Abstract: A robotic system has a plurality of user selectable operating modes. To select one of the operating modes, a user performs a distinguishing action which uniquely identifies a desired operating mode among the plurality of user selectable operating modes. A method implemented by a processor in the robotic system identifies the distinguishing action and places the robotic system in the user selected operating mode.

公开(公告)号：US20180206924A1

公开(公告)日：2018-07-26

申请号：US15928940

申请日：2018-03-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Daniel H. Gomez ,  Nicola Diolaiti ,  David Q. Larkin ,  Tabish Mustufa ,  Probal Mitra ,  Paul E. Lilagan

IPC: A61B34/30 ,  B25J9/16 ,  A61B34/00 ,  B25J9/10 ,  A61B5/151 ,  A61B1/018 ,  A61B1/005 ,  A61B34/37 ,  A61B34/35 ,  A61B34/32

CPC classification number: A61B34/30 ,  A61B1/0055 ,  A61B1/018 ,  A61B5/15196 ,  A61B19/2203 ,  A61B19/56 ,  A61B34/25 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B2019/223 ,  A61B2019/2292 ,  A61B2034/252 ,  A61B2034/258 ,  B25J9/10 ,  B25J9/1005 ,  B25J9/16 ,  B25J9/161 ,  B25J9/1656 ,  B25J9/1658 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1679 ,  Y10S901/02 ,  Y10S901/41 ,  Y10S901/47 ,  A61B2019/2269 ,  A61B2019/2207 ,  A61B2019/2223 ,  A61B2019/562 ,  A61B2019/568

Abstract: To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.

公开(公告)号：US09586323B2

公开(公告)日：2017-03-07

申请号：US13768187

申请日：2013-02-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola Diolaiti ,  Daniel H. Gomez ,  Probal Mitra ,  Tabish Mustufa

IPC: B25J13/06 ,  A61B34/30 ,  A61B34/00 ,  B25J9/16 ,  A61B17/00

CPC classification number: B25J13/065 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00207 ,  A61B2017/00973 ,  A61B2034/302 ,  B25J9/1689 ,  B25J13/04 ,  B25J13/06

Abstract: A robotic system has a plurality of user selectable operating modes. To select one of the operating modes, a user performs a distinguishing action which uniquely identifies a desired operating mode among the plurality of user selectable operating modes. A method implemented by a processor in the robotic system identifies the distinguishing action and places the robotic system in the user selected operating mode.

Abstract translation: 机器人系统具有多个用户可选择的操作模式。 为了选择操作模式之一，用户执行唯一地识别多个用户可选择操作模式期望的操作模式的区分动作。 由机器人系统中的处理器实现的方法识别区分动作，并将机器人系统置于用户选择的操作模式。

公开(公告)号：US20220354600A1

公开(公告)日：2022-11-10

申请号：US17835631

申请日：2022-06-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Marc E. Tognaccini ,  Daniel H. Gomez ,  Nicola Diolaiti ,  Tabish Mustufa ,  Probal Mitra ,  Paul E. Lilagan

IPC: A61B34/30 ,  A61B1/018 ,  A61B1/04 ,  A61B34/37 ,  A61B1/00

Abstract: A medical system comprises an entry guide, a display, and a processor. The processor may be configured to receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide. The processor may be configured to generate a view including a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information and a graphical representation of a field of view of the articulatable image capture device extending distally from the distal end portion of the articulatable image capture device. The processor may also cause the view to be displayed on the display.

公开(公告)号：US11020191B2

公开(公告)日：2021-06-01

申请号：US16317334

申请日：2017-05-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Jeffrey D. Brown ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Probal Mitra ,  Craig R. Ramstad

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B46/10 ,  B25J9/00

Abstract: A controller in a computer-assisted teleoperated surgical system automatically moves a part of the system, in response to a user tapping the part, to facilitate draping of that part. This speeds the draping process and diminishes the likelihood that the sterile surgical drape is damaged or contaminated during the draping of that part of the system.

公开(公告)号：US20190314096A1

公开(公告)日：2019-10-17

申请号：US16317334

申请日：2017-05-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Jeffrey D. Brown ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Probal Mitra ,  Craig R. Ramstad

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B46/10 ,  B25J9/00

Abstract: A controller in a computer-assisted teleoperated surgical system automatically moves a part of the system, in response to a user tapping the part, to facilitate draping of that part. This speeds the draping process and diminishes the likelihood that the sterile surgical drape is damaged or contaminated during the draping of that part of the system.

公开(公告)号：US10368952B2

公开(公告)日：2019-08-06

申请号：US15646685

申请日：2017-07-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Marc E. Tognaccini ,  Daniel H. Gomez ,  Nicola Diolaiti ,  Tabish Mustufa ,  Probal Mitra ,  Paul E. Lilagan

IPC: A61B1/00 ,  A61B34/30 ,  A61B1/018 ,  A61B1/04 ,  A61B34/37 ,  A61B34/10 ,  A61B90/00 ,  A61B34/20 ,  A61B34/35

Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.

公开(公告)号：US12239396B2

公开(公告)日：2025-03-04

申请号：US17835631

申请日：2022-06-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Marc E. Tognaccini ,  Daniel H. Gomez ,  Nicola Diolaiti ,  Tabish Mustufa ,  Probal Mitra ,  Paul E. Lilagan

IPC: A61B5/00 ,  A61B1/00 ,  A61B1/018 ,  A61B1/04 ,  A61B34/30 ,  A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  A61B34/35 ,  A61B90/00

Abstract: A medical system comprises an entry guide, a display, and a processor. The processor may be configured to receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide. The processor may be configured to generate a view including a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information and a graphical representation of a field of view of the articulatable image capture device extending distally from the distal end portion of the articulatable image capture device. The processor may also cause the view to be displayed on the display.

公开(公告)号：US11986262B2

公开(公告)日：2024-05-21

申请号：US18083248

申请日：2022-12-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. Holop ,  Anthony K. McGrogan ,  Jeffrey R. Roeder ,  Daniel H. Gomez ,  Arjang M. Hourtash ,  Thomas Brennan-Marquez ,  Probal Mitra

IPC: A61B34/00 ,  A61B17/34 ,  A61B34/30 ,  A61B34/35 ,  A61B46/10 ,  B25J9/12 ,  B25J9/16 ,  B25J13/06 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B17/3476 ,  A61B34/30 ,  A61B34/71 ,  A61B46/10 ,  B25J9/126 ,  B25J9/1689 ,  B25J13/06 ,  A61B2017/00398 ,  A61B2017/00473 ,  G05B2219/45117

Abstract: A computer-assisted system includes an instrument manipulator assembly including a preload assembly and a motor, an insertion assembly configured to control a position of the instrument manipulator assembly, and a motor controller coupled to the preload assembly. The motor controller is configured to actuate the preload assembly to control an amount of preload applied by the preload assembly to the motor and actuate the preload assembly to apply a low preload in response to detecting that a sterile adapter is mounted to the instrument manipulator assembly.

公开(公告)号：US20210236220A1

公开(公告)日：2021-08-05

申请号：US17236868

申请日：2021-04-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Jeffrey D. Brown ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Probal Mitra ,  Craig R. Ramstad

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B46/10 ,  B25J9/00

Abstract: Techniques for controlling a moveable component include a system, a method, and/or a non-transitory computer-readable medium. A controller coupled to the moveable component is configured to hold the moveable component at a first position, detect a disturbance that moves the moveable component from the first position, in response to a detection of the disturbance, move the moveable component according to a first motion, continue to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected, and in response to a detection of the stop condition, hold the moveable component at a second position.