公开(公告)号：US20220000571A1

公开(公告)日：2022-01-06

申请号：US17289999

申请日：2019-10-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Xingchi HE

IPC: A61B34/00 ,  A61B34/10 ,  A61B90/00 ,  B25J15/04

Abstract: A system and method of assisting tool exchange includes a computer-assisted device having a manipulator configured to have at least one tool of multiple tools mounted thereon and a control unit coupled to the manipulator. The control unit is configured to detect initiation of a tool exchange, locate a source of a replacement tool to be mounted to the manipulator, determine, based on the located source, a configuration of the manipulator that facilitates mounting of the replacement tool to the manipulator, and command movement of the manipulator into the configuration. In some embodiments, the control unit is configured to determine the configuration further based on a type of the source of the replacement tool. In some embodiments, to locate the source of the replacement tool, the control unit is configured to locate at least a part of an assistant or locate a tool holding device.

公开(公告)号：US20250032207A1

公开(公告)日：2025-01-30

申请号：US18911123

申请日：2024-10-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Xingchi HE

IPC: A61B34/00 ,  A61B34/10 ,  A61B90/00 ,  B25J15/04

Abstract: Techniques for assisting tool exchange include a manipulator and one or more processors. The one or more processors are configured to detect initiation of a tool exchange and in response to detecting the initiation of the tool exchange: determine a location of a source of a replacement tool; command retraction of a first tool along an insertion degree of freedom of the first tool, the first tool being mounted to the manipulator; command movement of the manipulator from a first configuration into a second configuration, the first configuration being a current configuration of the manipulator, the second configuration being determined based on the determined location of the replacement tool; detect mounting of the replacement tool to the manipulator; command movement of the manipulator into the first configuration; and command insertion of the replacement tool along the insertion degree of freedom.

公开(公告)号：US20230019316A1

公开(公告)日：2023-01-19

申请号：US17954230

申请日：2022-09-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Xingchi HE ,  Brandon D. Itkowitz

IPC: G06F3/01 ,  B25J9/16 ,  G06F3/0346

Abstract: Systems and methods of assisting operator engagement with input devices include an input device configured to be operated by a hand of an operator, a repositionable structure coupled to the input device, a hand detection system, and a control unit. The control unit is configured to detect a position and an orientation of the hand using the hand detection system, determine, based on the position of the hand, a target position for the input device, wherein moving the input device from a current position of the input device to the target position moves the input device closer to a grasping position for the hand, and in response to determining that an orientation difference between the orientation of the hand and a current orientation of the input device is not greater than a threshold orientation difference, cause one or more actuators to move the input device toward the target position.

公开(公告)号：US20210132701A1

公开(公告)日：2021-05-06

申请号：US17147386

申请日：2021-01-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Xingchi HE ,  Brandon D. ITKOWITZ

IPC: G06F3/01 ,  B25J9/16 ,  G06F3/0346

Abstract: A system and method of assisting operator engagement with input devices includes a repositionable structure configured to support a physical input device, a hand detection system, and a control unit. The repositionable structure includes one or more actuators. The physical input device is configured to be operated by a hand of an operator. The control unit is configured to detect the hand of the operator using the hand detection system and in response to a trigger condition, command the one or more actuators to move the input device from a first orientation to a second orientation, wherein the second orientation is closer to a grasping orientation of the hand than the first orientation is to the grasping orientation of the hand.