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1. 发明申请

WO2013181507A1 SYSTEMS AND METHODS FOR COMMANDED RECONFIGURATION OF A SURGICAL MANIPULATOR USING THE NULL-SPACE 审中-公开
标题翻译：使用空间空间进行手术操纵手术的指令重建的系统和方法
公开(公告)号：WO2013181507A1
公开(公告)日：2013-12-05
申请号：PCT/US2013/043564
申请日：2013-05-31
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： HOURTASH, Arjang M. , MOHR, Paul W. , HINGWE, Pushkar , MILLMAN, Paul , SCHENA, Bruce Michael , DEVENGENZO, Roman L. , LUKE, Scott
IPC分类号： A61B19/00 , B25J9/06 , B25J17/00 , B25J13/06
CPC分类号： B25J18/007 , A61B34/30 , A61B34/37 , B25J9/1643 , B25J9/1689 , G05B2219/40365
摘要： Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.
摘要翻译：通过在操纵臂的运动学雅可比的零空间内移动操纵器来重新配置外科手术器械的装置，系统和方法。在一个方面，响应于接收到重新配置命令，系统驱动第一组关节并且计算多个关节的速度在零空间内。根据重新配置命令和计算的运动来驱动关节，以便保持末端执行器或仪器轴枢转的远程中心的期望状态。在另一方面，接头还根据计算的末端执行器或雅可比的零垂直空间内的远程中心移动速度被驱动，以便与末端执行器或远程中心的所需运动同时实现期望的重新配置。

2. 发明申请

WO2015142953A1 SYSTEM AND METHOD FOR RECENTERING IMAGING DEVICES AND INPUT CONTROLS 审中-公开
标题翻译：用于重建成像装置和输入控制的系统和方法
公开(公告)号：WO2015142953A1
公开(公告)日：2015-09-24
申请号：PCT/US2015/021105
申请日：2015-03-17
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： ITKOWITZ, Brandon D. , HANUSCHIK, Michael , MOHR, Paul W. , HOURTASH, Arjang M.
IPC分类号： A61B19/00
CPC分类号： A61B34/35 , A61B1/00149 , A61B1/3132 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/74 , A61B90/37 , A61B2034/2057 , A61B2034/301
摘要： A system and method of recentering imaging devices and input controls includes a medical device having one or more end effectors, an imaging device, one or more input controls for teleoperating the one or more end effectors, and a control unit including one or more processors coupled to the end effectors, the imaging device, and the input controls. The control unit suspends teleoperated control of the end effectors by the input controls in response to a recentering request, determines a view recentering move for the imaging device so that the end effectors are contained within a view space of the imaging device, determines one or more input control recentering moves to provide positional and orientational harmony between each of the input controls and a corresponding one of the end effectors, executes the view and input control recentering moves, and reinstates teleoperated control of the end effectors by the input controls.
摘要翻译：重构成像设备和输入控制的系统和方法包括具有一个或多个终端执行器的医疗设备，成像设备，用于远程操作所述一个或多个终端执行器的一个或多个输入控制器，以及包括一个或多个处理器耦合的控制单元到最终效果器，成像装置和输入控件。所述控制单元响应于重新要求暂停所述输入控制器对所述末端执行器的远程操作控制，确定所述成像设备的观察重新移动，使得所述末端执行器被包含在所述成像设备的视图空间内，确定一个或多个输入控制重新移动以提供每个输入控制和相应的一个末端执行器之间的位置和取向协调，执行视图和输入控制重新移动，并且通过输入控件来恢复末端执行器的远程操作控制。

3. 发明申请

WO2014028558A1 PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS 审中-公开
标题翻译：用于操纵手术系统运动的自由度自由度
公开(公告)号：WO2014028558A1
公开(公告)日：2014-02-20
申请号：PCT/US2013/054838
申请日：2013-08-14
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： HINGWE, Pushkar , AU, Samuel Kwok Wai , BONNEAU, Raymond A. , DIOLAITI, Nicola , HOURTASH, Arjang M. , KERDOK, Amy E. , TURNER, Michael
IPC分类号： A61B19/00 , B25J13/08 , B25J13/06 , B25J19/04
CPC分类号： A61B34/30 , A61B34/37 , A61B90/361
摘要： Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.
摘要翻译：用于通过患者的孔进行微创手术的方法，装置和系统。根据一种方法，从与外科医生相关联的输入设备接收参数，所述参数指示通过所述孔定向的外科器械的末端执行器的期望状态。手术器械包括在具有第一组关节的机械组件中。然后计算指令，以便通过计算用于控制第二组接头的指令来控制机械组件，所述参数包括第一组接头和附加接头，附加接头不在机械组件中。然后驱动机械组件，以便基于计算出的指令将末端执行器移动到期望状态。

4. 发明申请

WO2016044574A1 SYSTEMS AND METHODS FOR UTILIZING AUGMENTED JACOBIAN TO CONTROL MANIPULATOR JOINT MOVEMENT 审中-公开
标题翻译：用于控制操纵器接头运动的系统和方法
公开(公告)号：WO2016044574A1
公开(公告)日：2016-03-24
申请号：PCT/US2015/050655
申请日：2015-09-17
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： HOURTASH, Arjang M. , SWARUP, Nitish , HINGWE, Pushkar
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/74 , A61B34/77 , B25J9/1607 , G05B2219/45123
摘要： Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.
摘要翻译：用于提供操纵器的末端执行器的指令运动的装置，系统和方法，同时提供操纵器的一个或多个关节的期望运动。方法包括增加雅可比，使得从雅可比计算出的关节运动与命令的末端执行器运动同时执行一个或多个辅助任务和/或期望的关节运动，一个或多个辅助任务和/或延伸到零空间的期望的关节运动。辅助任务和期望的关节运动包括禁止一个或多个关节的移动，抑制相邻的操纵器之间或操纵器和患者表面之间的碰撞，命令的一个或多个关节的重新配置或各种其它任务或其组合。可以使用从增强雅可比的伪逆解算出的联合速度来提供这种关节运动。本文提供了使用这种方法的系统的各种配置。

5. 发明申请

WO2015142930A1 SYSTEM AND METHOD FOR BREAKAWAY CLUTCHING IN AN ARTICULATED ARM 审中-公开
标题翻译：系统和方法，用于在ARM中进行断点切换
公开(公告)号：WO2015142930A1
公开(公告)日：2015-09-24
申请号：PCT/US2015/021074
申请日：2015-03-17
申请人： INTUITIVE SURGICAL OPERATIONS, INC. , MILLER, Daniel , SWARUP, Nitish , TURNER, Michael
发明人： MILLER, Daniel , SWARUP, Nitish , TURNER, Michael , HOURTASH, Arjang M. , GRIFFITHS, Paul G. , MOHR, Paul W.
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B2018/00666 , A61B2018/00672 , A61B2018/00678 , A61B2034/305 , A61B2090/035 , B25J9/1689 , B25J9/1694 , B25J13/085 , B25J13/088
摘要： A system and method of breakaway clutching in a computer-assisted medical device includes an articulated arm having one or more first joints and a control unit coupled to the articulated arm and having one or more processors. The control unit operates each of the first joints in multiple states. The multiple states include a locked state, wherein movement of respective first joints is restricted, and a float state, wherein movement of the respective first joints is permitted. The control unit further switches one or more second joints selected from the first joints from the locked state to the float state when a stimulus on the second joints exceeds one or more unlock thresholds and switches the second joints from the float state to the locked state when a velocity of each of the second joints is below one or more lock thresholds.
摘要翻译：计算机辅助医疗装置中的分离离合器的系统和方法包括具有一个或多个第一关节的关节臂和连接到关节臂并具有一个或多个处理器的控制单元。控制单元以多种状态操作每个第一关节。多个状态包括锁定状态，其中相应的第一关节的运动被限制，并且浮动状态，其中允许相应的第一关节的运动。当第二关节上的刺激超过一个或多个解锁阈值并且将第二关节从浮动状态切换到锁定状态时，控制单元还将从第一关节中选择的一个或多个第二关节从锁定状态切换到浮动状态，每个第二关节的速度低于一个或多个锁定阈值。

6. 发明申请

WO2013181503A1 MANIPULATOR ARM-TO-PATIENT COLLISION AVOIDANCE USING A NULL-SPACE 审中-公开
标题翻译：使用空白空间的操纵臂对患者的碰撞避免
公开(公告)号：WO2013181503A1
公开(公告)日：2013-12-05
申请号：PCT/US2013/043557
申请日：2013-05-31
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： HOURTASH, Arjang M. , HINGWE, Pushkar , SCHENA, Bruce Michael , DEVENGENZO, Roman L.
IPC分类号： A61B19/00 , B25J9/06 , B25J13/08 , B25J19/02
CPC分类号： A61B34/30 , A61B34/37 , A61B2034/305 , B25J9/1607 , B25J9/1676 , G05B2219/39135 , G05B2219/40202 , G05B2219/40371 , G05B2219/40471 , G05B2219/40492 , G05B2219/45117
摘要： Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.
摘要翻译：用于通过在零空间内移动操纵器来避免操纵器臂和外部患者表面之间的碰撞的装置，系统和方法。响应于确定避免几何和障碍物表面之间的距离对应于机械手对病人的距离小于期望的距离，系统计算操纵器的一个或多个关节或连杆的运动在该空间雅各布增加这个距离。根据重新配置命令和计算的运动来驱动关节，以保持末端执行器的期望状态。在一个方面，接头还根据在雅可比的空垂直空间内的计算的末端执行器移位运动来驱动，以实现末端执行器或远程中心的期望运动，同时通过移动来避免与患者之间的碰撞零空间内的关节。

7. 发明申请

WO2023023186A1 TECHNIQUES FOR FOLLOWING COMMANDS OF AN INPUT DEVICE USING A CONSTRAINED PROXY 审中-公开
公开(公告)号：WO2023023186A1
公开(公告)日：2023-02-23
申请号：PCT/US2022/040644
申请日：2022-08-17
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： HOURTASH, Arjang M.
IPC分类号： B25J9/16 , A61B34/37
摘要： Disclosed techniques include a computer-assisted device having an input control, a functional structure, and a processing system. The functional structure is configured to include a repositionable structure, and the repositionable structure is configured to support an instrument. The processing system is configured to receive a movement command from the input control, update a pose of a proxy based on the movement command and a proxy constraint, and cause the functional structure to move based on the updated pose of the proxy. In some embodiments, the input control controls a pose of a virtual leader device. The processing system updates a pose of a proxy based on the pose of the virtual leader device, updates a pose of a virtual follower device based on the updated pose of the proxy, and causes the functional structure to move based on the pose of the virtual follower device.

8. 发明申请

WO2021061105A1 METHOD AND SYSTEM FOR CONTROLLING INSTRUMENT GRIP BEHAVIOR 审中-公开
公开(公告)号：WO2021061105A1
公开(公告)日：2021-04-01
申请号：PCT/US2019/052693
申请日：2019-09-24
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： HOURTASH, Arjang M. , DRAPER, Christine E. , EDWARDS, Caroline A. , IKEDA, Michael , CALLEROS, Erasmo Lopez
IPC分类号： A61B34/00 , A61B34/30 , A61B17/29
摘要： A computer-assisted medical system includes a robotic manipulator arm configured to support an instrument. The instrument includes an instrument shaft and jaws disposed at a distal end of the instrument shaft. The computer-assisted medical system further includes a controller coupled to the manipulator arm. The controller includes a computer processor and is configured to track a movement of the instrument along an insertion axis of the instrument, and coordinate a size of a jaw aperture defined by the jaws with the movement of the instrument along the insertion axis to reach a target aperture.

9. 发明申请

WO2014028563A1 PHANTOM DEGREES OF FREEDOM IN JOINT ESTIMATION AND CONTROL 审中-公开
标题翻译：自由度在联合估计和控制中的PHANTOM度
公开(公告)号：WO2014028563A1
公开(公告)日：2014-02-20
申请号：PCT/US2013/054845
申请日：2013-08-14
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： AU, Samuel Kwok Wai , BONNEAU, Raymond A. , DIOLAITI, Nicola , HINGWE, Pushkar , HOURTASH, Arjang M. , KERDOK, Amy E. , TURNER, Michael
IPC分类号： A61B19/00 , B25J13/08 , B25J19/02 , B25J9/06
CPC分类号： A61B34/37 , A61B34/10 , A61B34/30 , A61B2034/104 , Y10S901/15 , Y10S901/29 , Y10S901/41
摘要： Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.
摘要翻译：用于操作外科系统的方法，装置和系统。根据一种方法，测量手术器械的位置，所述手术器械被包括在具有多个关节和第一数量自由度的机械组件中，所述手术器械的位置被测量为手术器械的第二数量的自由度。该方法还包括估计每个关节的位置，其中估计每个关节的位置包括将位置测量值应用于机械组件的至少一个运动学模型，运动学模型具有大于第一数量的自由度。该方法还包括基于关节的估计位置来控制机械组件。

10. 发明申请

WO2014028557A1 PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES 审中-公开
标题翻译：用于操纵机械运动的自由度自由度
公开(公告)号：WO2014028557A1
公开(公告)日：2014-02-20
申请号：PCT/US2013/054834
申请日：2013-08-14
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： HOURTASH, Arjang M. , AU, Samuel Kwok Wai , BONNEAU, Raymond A. , DIOLAITI, Nicola , HINGWE, Pushkar , KERDOK, Amy E. , TURNER, Michael
IPC分类号： B25J13/00 , A61B19/00 , B25J18/00
CPC分类号： A61B34/37 , A61B34/35 , B25J9/16 , B25J9/1689 , G05B2219/40195 , G05B2219/45123 , Y10S901/02
摘要： Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.
摘要翻译：用于控制机械体运动的方法，装置和系统。根据一种方法，接收标识机械体的期望运动的期望运动信息，机械体具有第一数量的自由度。然后通过将接收到的期望运动信息应用于运动学模型来生成多个指令，运动学模型具有大于第一自由度数量的第二数量的自由度，每个指令被配置为控制对应的第二个自由度之一。然后传输多个指令的子集用于控制机械体的第一数量的自由度。

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