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    Detection Pins to Determine Presence of Surgical Instrument and Adapter on Manipulator
    2.
    发明申请
    Detection Pins to Determine Presence of Surgical Instrument and Adapter on Manipulator 审中-公开
    检测引脚用于确定手术器械和适配器在机械手上的存在

    公开(公告)号：US20160361127A1

    公开(公告)日：2016-12-15

    申请号：US15121723

    申请日：2015-03-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby ,  Tyler Morrissette

    IPC: A61B34/35 ,  A61B90/00 ,  A61B90/98 ,  A61B34/37

    CPC classification number: A61B46/10 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/40 ,  A61B90/08 ,  A61B90/361 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2090/0813 ,  F16H1/20 ,  Y10T29/49817 ,  Y10T403/59

    Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first proximal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a distal end of the detection pin. A carriage controller provides an indication that the surgical instrument is coupled to the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than an instrument removal threshold value of less than the instrument threshold value.

    Abstract translation: 仪器托架提供耦合到仪器托架的外科器械的控制。 仪器托架包括耦合到外科器械以提供控制的控制表面。 具有从控制表面延伸的第一近端的检测销联接到仪器托架。 磁体固定在检测销的末端。 托架控制器提供指示，当外科手术器械的运动引起来自霍尔效应传感器的输出信号超过存储在托架控制器中的阈值作为校准过程的一部分时，手术器械耦合到仪器托架 仪表托架的组装。 当检测针运动导致输出信号小于仪器阈值以下的仪器去除阈值时，可能会显示手术仪器取出。

    Systems and methods for end effector position set point correction
    7.
    发明授权
    Systems and methods for end effector position set point correction 有权

    公开(公告)号：US11642127B2

    公开(公告)日：2023-05-09

    申请号：US16760895

    申请日：2018-11-02

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Andrew D. Wilson ,  Amir Chaghajerdi ,  David W. Weir

    IPC: A61B17/072 ,  A61B34/35 ,  A61B17/00

    CPC classification number: A61B17/07207 ,  A61B34/35 ,  A61B2017/00017 ,  A61B2017/00367 ,  A61B2017/07271

    Abstract: End effector position set point correction includes an instrument having an end effector and a control unit. In some embodiments, the control unit actuates the end effector to a first position, determines an actuation level, determines an offset based on the actuation level, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point. In some embodiments, the control unit actuates the end effector, determines an actuation level, and determines whether the actuation level is above a threshold. In response to determining that the actuation level is above the threshold, the control unit determines a position of the end effector, identifies a nominal position associated with the determined position, determines an offset based on the nominal position and the determined position, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point.

    Coupler to transfer motion to surgical instrument from teleoperated actuator
    8.
    发明授权
    Coupler to transfer motion to surgical instrument from teleoperated actuator 有权

    公开(公告)号：US10912616B2

    公开(公告)日：2021-02-09

    申请号：US15121374

    申请日：2015-03-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby

    IPC: A61B34/30 ,  A61B17/00 ,  A61B90/00

    Abstract: A sterile adapter for coupling a surgical instrument and a surgical instrument manipulator includes a bottom component and a coupling component. The bottom component includes a bottom component opening with a bottom lip having a locking mechanism. The coupling component is rotatably coupled to the bottom component. The coupling component includes an engagement feature that engages the surgical instrument manipulator. The coupling component further includes a locking mechanism opening that engages the locking mechanism when the engagement feature has not engaged the surgical instrument manipulator. The coupling component may include a retention tab that is aligned with the keyway to insert the coupling component into the bottom component opening and then misaligned with the keyway to retain the coupling component in the bottom component opening. A ramp may be provided on a leading edge of a pocket to facilitate engaging the coupling component with the surgical instrument manipulator.

    Systems and methods for end effector position set point adjustment
    10.
    发明授权
    Systems and methods for end effector position set point adjustment 有权

    公开(公告)号：US11633185B2

    公开(公告)日：2023-04-25

    申请号：US17370818

    申请日：2021-07-08

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Andrew D. Wilson ,  Amir Chaghajerdi ,  David W. Weir

    IPC: A61B17/072 ,  A61B34/35 ,  A61B17/00

    Abstract: End effector position set point adjustment includes an instrument and a control unit. The instrument includes an end effector and a drive mechanism for actuating the end effector. The control unit is configured to actuate the end effector using the drive mechanism, determine an actual position of the end effector, identify an expected position associated with the determined actual position of the end effector, determine a position offset based on the expected position and the determined actual position of the end effector, adjust a position set point based on the position offset, and actuate the end effector to the adjusted position set point using the drive mechanism.

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