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1. 发明公开

EP4257073A3 SYSTEM AND METHOD FOR FORCE OR TORQUE LIMIT COMPENSATION 审中-实审
公开(公告)号：EP4257073A3
公开(公告)日：2023-12-27
申请号：EP23194251.7
申请日：2016-05-13
申请人： Intuitive Surgical Operations, Inc.
发明人： WU, Melody , WEIR, David W.
IPC分类号： A61B17/285 , A61B34/30 , A61B17/072
摘要： A system and method of force or torque limit compensation includes a surgical instrument for use with a computer-assisted medical device. The surgical instrument includes an end effector located at a distal end of the instrument, a drive unit for operating a degree of freedom of the instrument, a shaft coupled to the drive unit, and one or more drive mechanisms in the shaft for coupling force or torque from the drive unit to the end effector and the articulated wrist. To control the degree of freedom, the instrument is configured to determine a current position of the degree of freedom, determine a force or torque limit compensation based on the current position, alter one or more force or torque limits based on the force or torque limit compensation, and adjust the degree of freedom subject to the one or more force or torque limits.

2. 发明授权

EP3294182B1 SYSTEM FOR FORCE OR TORQUE LIMIT COMPENSATION 有权
公开(公告)号：EP3294182B1
公开(公告)日：2020-04-01
申请号：EP16797008.6
申请日：2016-05-13
申请人： Intuitive Surgical Operations, Inc.
发明人： WU, Melody , WEIR, David W.
IPC分类号： A61B34/20 , A61B34/00 , A61B17/285 , A61B17/3205 , A61B17/32 , A61B18/08 , A61B18/14 , B25J9/16 , A61B17/00 , A61B17/072 , A61B34/32 , A61B34/35 , A61B34/30 , A61B90/00 , A61B34/10

3. 发明授权

EP3125812B1 CONTROL INPUT ACCURACY FOR TELEOPERATED SURGICAL INSTRUMENT 有权
公开(公告)号：EP3125812B1
公开(公告)日：2019-01-23
申请号：EP15773874.1
申请日：2015-03-31
申请人： Intuitive Surgical Operations, Inc.
发明人： BRISSON, Gabriel F. , SMABY, Niels , WU, Melody
IPC分类号： A61B34/37 , A61B90/00

4. 发明授权

EP3294185B1 SYSTEM FOR REDUCING BLADE EXPOSURES 有权
公开(公告)号：EP3294185B1
公开(公告)日：2020-04-01
申请号：EP16797003.7
申请日：2016-05-13
申请人： Intuitive Surgical Operations, Inc.
发明人： WEIR, David W. , WU, Melody , SARALIEV, Daniel P. , LIPPIATT, Melissa D. , BERRY, Julie L.
IPC分类号： A61B34/30 , A61B17/32 , A61B34/00 , A61B17/285

5. 发明公开

EP3492036A1 CONTROL INPUT ACCURACY FOR TELEOPERATED SURGICAL INSTRUMENT 有权
公开(公告)号：EP3492036A1
公开(公告)日：2019-06-05
申请号：EP19150570.0
申请日：2015-03-31
申请人： Intuitive Surgical Operations, Inc.
发明人： BRISSON, Gabriel F. , SMABY, Niels , WU, Melody
IPC分类号： A61B34/37 , F16D63/00 , A61B90/00 , A61B17/072
摘要： A surgical system having a patient side cart having at least one telesurgically operated instrument, the at least one telesurgically operated instrument comprising a surgical end effector having a plurality of effector components. A transmission is coupled to a motor. The drive train includes at least a first effector drive train and a second effector drivetrain. A controller comprises at least one processor for controlling the transmission. The controller is performs a method by locking an output gear of the second effector drivetrain rotating a camshaft to shift coupling of the motor from the first effector drivetrain to the second effector drivetrain; determining that the output gear is aligned by driving the locked output gear using a first torque; determining that the output gear is properly braked by driving the locked output gear using a second torque; disengaging the lock from the output gear; and driving the second effector drivetrain using the motor.

6. 发明公开

EP3307190A1 SYSTEMS AND METHODS FOR INSTRUMENT ENGAGEMENT 有权
标题翻译：用于仪器接合的系统和方法
公开(公告)号：EP3307190A1
公开(公告)日：2018-04-18
申请号：EP16808433.3
申请日：2016-06-10
申请人： Intuitive Surgical Operations, Inc.
发明人： BRISSON, Gabriel F. , DACHS, Gregory W., II , SMABY, Niels , WU, Melody
IPC分类号： A61B34/00 , A61B34/30 , A61B90/00
CPC分类号： A61B34/30 , A61B2017/00477 , A61B2090/066
摘要： A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after the rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after the rotating of the first drive output in the second rotational direction.

7. 发明公开

EP3692940A1 A COMPUTER ASSISTED MEDICAL DEVICE USING TORQUE LIMIT COMPENSATION 有权
公开(公告)号：EP3692940A1
公开(公告)日：2020-08-12
申请号：EP20159150.0
申请日：2016-05-13
申请人： Intuitive Surgical Operations, Inc.
发明人： WU, Melody , WEIR, David W.
IPC分类号： A61B34/20 , A61B34/00 , A61B17/285 , A61B17/3205 , A61B17/32 , A61B18/08 , A61B18/14 , B25J9/16 , A61B17/00 , A61B17/072 , A61B34/32 , A61B34/35 , A61B34/30 , A61B90/00 , A61B34/10
摘要： A system and method of force or torque limit compensation includes a surgical instrument for use with a computer-assisted medical device. The surgical instrument includes an end effector located at a distal end of the instrument, a drive unit for operating a degree of freedom of the instrument, a shaft coupled to the drive unit, and one or more drive mechanisms in the shaft for coupling force or torque from the drive unit to the end effector and the articulated wrist. To control the degree of freedom, the instrument is configured to determine a current position of the degree of freedom, determine a force or torque limit compensation based on the current position, alter one or more force or torque limits based on the force or torque limit compensation, and adjust the degree of freedom subject to the one or more force or torque limits.

8. 发明公开

EP4257073A2 SYSTEM AND METHOD FOR FORCE OR TORQUE LIMIT COMPENSATION 审中-实审
公开(公告)号：EP4257073A2
公开(公告)日：2023-10-11
申请号：EP23194251.7
申请日：2016-05-13
申请人： Intuitive Surgical Operations, Inc.
发明人： WU, Melody , WEIR, David W.
IPC分类号： A61B90/00
摘要： A system and method of force or torque limit compensation includes a surgical instrument for use with a computer-assisted medical device. The surgical instrument includes an end effector located at a distal end of the instrument, a drive unit for operating a degree of freedom of the instrument, a shaft coupled to the drive unit, and one or more drive mechanisms in the shaft for coupling force or torque from the drive unit to the end effector and the articulated wrist. To control the degree of freedom, the instrument is configured to determine a current position of the degree of freedom, determine a force or torque limit compensation based on the current position, alter one or more force or torque limits based on the force or torque limit compensation, and adjust the degree of freedom subject to the one or more force or torque limits.

9. 发明公开

EP4190264A1 SYSTEMS AND METHODS FOR INSTRUMENT ENGAGEMENT 审中-实审
公开(公告)号：EP4190264A1
公开(公告)日：2023-06-07
申请号：EP23152546.0
申请日：2016-06-10
申请人： Intuitive Surgical Operations, Inc.
发明人： BRISSON, Gabriel, F. , DACHS, Gregory W., II , SMABY, Niels , WU, Melody
IPC分类号： A61B34/00 , A61B34/30 , A61B90/00 , A61B17/00
摘要： A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after the rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after the rotating of the first drive output in the second rotational direction.

10. 发明公开

EP3125812A1 CONTROL INPUT ACCURACY FOR TELEOPERATED SURGICAL INSTRUMENT 有权
标题翻译： STEUERUNGSEINGANGGENAUIGKEITFÜRTELEBETRIEBENES CHIRURGISCHES INSTRUMENT
公开(公告)号：EP3125812A1
公开(公告)日：2017-02-08
申请号：EP15773874.1
申请日：2015-03-31
申请人： Intuitive Surgical Operations, Inc.
发明人： BRISSON, Gabriel F. , SMABY, Niels , WU, Melody
IPC分类号： A61B90/00
CPC分类号： A61B34/37 , A61B2090/031
摘要： A surgical system having a patient side cart having at least one telesurgically operated instrument, the at least one telesurgically operated instrument comprising a surgical end effector having a plurality of effector components. A transmission is coupled to a motor. The drive train includes at least a first effector drive train and a second effector drivetrain. A controller comprises at least one processor for controlling the transmission. The controller is performs a method by locking an output gear of the second effector drivetrain rotating a camshaft to shift coupling of the motor from the first effector drivetrain to the second effector drivetrain; determining that the output gear is aligned by driving the locked output gear using a first torque; determining that the output gear is properly braked by driving the locked output gear using a second torque; disengaging the lock from the output gear; and driving the second effector drivetrain using the motor.
摘要翻译：具有患者侧推车的外科系统具有至少一个远程外科手术器械，所述至少一个远程外科手术器械包括具有多个效应器部件的外科末端执行器。变速器联接到电动机。传动系至少包括第一效应器传动系和第二效应传动系。控制器包括用于控制传输的至少一个处理器。控制器通过锁定旋转凸轮轴的第二效应器传动系统的输出齿轮来执行一种方法，以将马达从第一效应器传动系耦合到第二效应传动系; 通过使用第一扭矩驱动所述锁定的输出齿轮来确定所述输出齿轮对准; 通过使用第二扭矩驱动锁定的输出齿轮来确定输出齿轮被适当地制动; 使锁与输出齿轮脱离; 并使用马达驱动第二执行器传动系。

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