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1. 发明申请

WO2015142943A1 SYSTEM AND METHOD FOR MAINTAINING A TOOL POSE 审中-公开
标题翻译：用于维护工具的系统和方法
公开(公告)号：WO2015142943A1
公开(公告)日：2015-09-24
申请号：PCT/US2015/021089
申请日：2015-03-17
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： ITKOWITZ, Brandon D. , SWARUP, Nitish , GRIFFITHS, Paul G. , LYNCH, Goran
IPC分类号： A61B19/00
CPC分类号： A61B34/70 , A61B1/00149 , A61B34/30 , A61B2017/00017 , A61B2034/2059 , A61B2034/301 , A61B2034/304 , A61B2034/305 , B25J9/1607 , B25J9/1633
摘要： A system and method of maintaining a tool pose for a computer-assisted medical device with an articulated arm including one or more first joints and one or more second joints, a tool distal to the first joints and the second joints, and a control unit coupled to the first joints and the second joints. The control unit maintains a pose of the tool during movement of the first joints using the second joints by determining a reference coordinate frame for the tool, determining a reference transform of the tool in the reference coordinate frame prior to the movement of the first joints, determining an actual transform of the tool in the reference coordinate frame while the first joints are being moved, determining differences between the reference transform and the actual transform, and maintaining the pose of the tool by driving the second joints based on the differences.
摘要翻译：一种用于维持具有关节臂的计算机辅助医疗装置的工具姿势的系统和方法，所述关节臂包括一个或多个第一关节和一个或多个第二关节，远离所述第一关节和所述第二关节的工具，以及控制单元，到第一关节和第二关节。所述控制单元通过确定所述工具的参考坐标系来确定所述工具在所述第一关节运动期间的姿态，并且在所述第一关节移动之前确定所述参考坐标系中的所述工具的参考变换，确定在移动第一关节时参考坐标系中的工具的实际变换，确定参考变换和实际变换之间的差异，并且基于差异来驱动第二关节来保持工具的姿态。

2. 发明申请

WO2016069661A1 MEDICAL DEVICE WITH ACTIVE BRAKE RELEASE CONTROL 审中-公开
标题翻译：具有主动制动释放控制的医疗装置
公开(公告)号：WO2016069661A1
公开(公告)日：2016-05-06
申请号：PCT/US2015/057671
申请日：2015-10-27
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： SWARUP, Nitish , GRIFFITHS, Paul G. , LYNCH, Goran , MILLER, Daniel
IPC分类号： A61B19/00
CPC分类号： A61B90/50 , A61B34/30 , A61B34/35 , A61B34/37 , A61B2034/305 , A61B2090/508 , B25J9/0087 , B25J9/06 , B25J9/1664 , B25J9/1689 , B25J19/0004 , Y10S901/02
摘要： A computer-assisted medical device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send a command to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner. In some embodiments the predetermined staggered manner prevents the simultaneous release of the plurality of breaks. In some examples, the predetermined staggered manner causes each brake in the plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to begin a gradual release within a predetermined time of each other.
摘要翻译：计算机辅助医疗装置包括具有多个关节的关节臂和联接到关节臂的控制单元。控制单元被配置为向铰接臂中的多个制动器发送命令，以预定的交错方式开始释放多个制动器。在一些实施例中，预定的交错方式防止多个断裂的同时释放。在一些示例中，预定的交错方式使得多个制动器中的每个制动器在彼此的预定时间内释放。在一些实施例中，第一预定交错方式使得第一多个制动器中的每个制动器在彼此的预定时间内释放。在一些实施例中，第一预定交错方式使得第一组多个制动器中的每个制动器在彼此的预定时间内开始逐渐释放。

3. 发明申请

WO2016069659A1 SYSTEM AND METHOD FOR INSTRUMENT DISTURBANCE COMPENSATION 审中-公开
标题翻译：仪器扰动补偿系统及方法
公开(公告)号：WO2016069659A1
公开(公告)日：2016-05-06
申请号：PCT/US2015/057669
申请日：2015-10-27
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： SWARUP, Nitish , GRIFFITHS, Paul G. , LYNCH, Goran , MILLER, Daniel
IPC分类号： A61B19/00
CPC分类号： B25J9/1641 , A61B34/30 , A61B34/35 , A61B90/361 , A61B2034/2059 , A61B2034/305 , A61B2090/373 , A61B2090/508 , B25J9/06 , B25J9/1607 , B25J9/1653 , B25J9/1682 , B25J19/0004 , B25J19/021 , Y10S901/02
摘要： A computer-assisted medical device including a first joint set on an articulated arm, a second joint set on the articulated arm, and a control unit coupled to the first joint set and second joint set. The control unit determines a disturbance to the first joint set caused by a release of one or more brakes and compensates for the disturbance using the second joint set to reduce motion to a position of a point of interest on the articulated arm. In some embodiments, the control unit compensates for the disturbance by determining an initial position for the point of interest with respect to a reference point, determining a predicted motion for the point of interest based on the disturbance to the first joint set, and sending a drive command to the second joint set to move the point of interest in a direction opposite to the predicted motion.
摘要翻译：一种计算机辅助医疗装置，包括在关节臂上设置的第一关节，在关节臂上设置第二关节，以及联接到第一关节组和第二关节组的控制单元。所述控制单元确定由一个或多个制动器的释放引起的对所述第一关节组的干扰，并使用所述第二关节组来补偿所述扰动，以将运动减小到关节臂上的兴趣点的位置。在一些实施例中，控制单元通过相对于参考点确定针对兴趣点的初始位置来补偿干扰，基于对第一联合集合的干扰来确定针对兴趣点的预测运动，以及发送驱动命令到第二关节组，以与预测的运动相反的方向移动感兴趣点。

4. 发明申请

WO2021041248A1 HEAD MOVEMENT CONTROL OF A VIEWING SYSTEM 审中-公开
公开(公告)号：WO2021041248A1
公开(公告)日：2021-03-04
申请号：PCT/US2020/047493
申请日：2020-08-21
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： PARASTEGARI, Sina , LYNCH, Goran
IPC分类号： B25J9/16 , A61B34/00 , A61B34/37
摘要： A computer- assisted medical system includes a display unit configured to provide images to an operator of the display unit, a headrest configured to receive a mechanical input provided by a head of the operator in mechanical contact with the headrest, a headrest sensor interfacing with the headrest and configured to provide sensor signals based on the mechanical input, and a controller. The controller includes a computer processor, and is configured to process the sensor signals to obtain a driving input, drive, by the driving input, a virtual mass to obtain a simulated virtual mass movement, and cause movement of the headrest, the movement of the headrest tracking the virtual mass movement.

5. 发明申请

WO2020028356A1 HARD STOP PROTECTION SYSTEM AND METHOD 审中-公开
公开(公告)号：WO2020028356A1
公开(公告)日：2020-02-06
申请号：PCT/US2019/044123
申请日：2019-07-30
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： HOURTASH, Arjang , LYNCH, Goran
IPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/00 , B25J9/16
摘要： Disclosed herein are apparatus and method for resisting external articulation of one or more joints of a manipulator assembly when the joints are approaching mechanical limits. For example, an articulable system may include a joint mechanism, an actuator coupled to the joint mechanism, a sensor system for sensing a joint state and a controller. The controller can operate the articulable system in an external articulation facilitation mode. The controller can command the actuator to resist movement of the joint in response to the joint state indicating the joint is moving toward a mechanical limit location with a joint velocity meeting a first velocity criterion. The controller can also command the actuator resist movement of the joint at a second joint position when the joint velocity meets a second criterion.

6. 发明申请

WO2016069660A1 SYSTEM AND METHOD FOR MONITORING CONTROL POINTS DURING REACTIVE MOTION 审中-公开
标题翻译：用于在反应动作期间监控控制点的系统和方法
公开(公告)号：WO2016069660A1
公开(公告)日：2016-05-06
申请号：PCT/US2015/057670
申请日：2015-10-27
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： GRIFFITHS, Paul G. , ITKOWITZ, Brandon D. , LYNCH, Goran
IPC分类号： A61B19/00
CPC分类号： A61B34/35 , A61B17/00234 , A61B34/20 , A61B34/30 , A61B34/32 , A61B34/37 , A61B2018/00898 , A61B2034/2059
摘要： A system and method of monitoring control points during reactive motion includes a computer-assisted medical device. The computer-assisted medical device includes one or more articulated arms each having a control point and a control unit coupled to the one or more articulated arms. The one or more articulated arms and corresponding control points are configured to track movement of a surgical table. The control unit monitors a spatial configuration of the one or more control points by determining an expected spatial configuration of the one or more control points during the movement of the surgical table, determining an actual spatial configuration of the one or more control points during the movement of the surgical table, and determining a difference between the expected spatial configuration and the actual spatial configuration.
摘要翻译：在反应运动期间监视控制点的系统和方法包括计算机辅助医疗装置。计算机辅助医疗装置包括一个或多个关节臂，每个臂具有控制点和联接到该一个或多个关节臂的控制单元。一个或多个关节臂和相应的控制点被配置为跟踪手术台的运动。控制单元通过在手术台移动期间确定一个或多个控制点的预期空间配置来确定一个或多个控制点的空间配置，确定在运动期间一个或多个控制点的实际空间配置并确定预期空间配置和实际空间配置之间的差异。

7. 发明申请

WO2016069648A1 SYSTEM AND METHOD FOR INTEGRATED SURGICAL TABLE 审中-公开
标题翻译：综合外科手术系统与方法
公开(公告)号：WO2016069648A1
公开(公告)日：2016-05-06
申请号：PCT/US2015/057656
申请日：2015-10-27
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： ITKOWITZ, Brandon D. , GRIFFITHS, Paul G. , HEMPHILL, Jason , LYNCH, Goran , MILLER, Daniel , O'GRADY, Patrick , SWARUP, Nitish , ZIAEI, Kam
IPC分类号： A61G13/02
CPC分类号： A61B34/30 , A61B34/25 , A61G13/02
摘要： A system and method for an integrated surgical table includes a medical device including an articulated arm having one or more first and second joints and a control unit. The articulated arm has at least a cannula, an endoscope, or an instrument mounted distal to the first and second joints, which is inserted into a patient at a body opening. The control unit unlocks the first joints, receives a surgical table movement request, determines whether the surgical table movement request should be granted, allows the surgical table to perform the requested movement based on the determining, uses the first joints to allow the articulated arm to track movement of the body opening based on forces applied by a body wall at the body opening, and compensates for changes in a pose of the cannula, endoscope, or instrument due to the tracked movement by performing compensating motions in the second joints.
摘要翻译：一种用于综合外科手术台的系统和方法包括一种包括具有一个或多个第一和第二关节的关节臂和控制单元的医疗装置。所述铰接臂至少具有套管，内窥镜或安装在所述第一和第二关节的远侧的仪器，所述第一和第二关节被插入到身体开口处的患者体内。控制单元解锁第一关节，接收外科手术台移动请求，确定是否应该允许手术台移动请求，允许外科手术台基于确定来执行所请求的移动，使用第一关节允许铰接臂基于身体开口处的身体壁施加的力来跟踪身体开口的运动，并且通过在第二关节中执行补偿运动来补偿由于跟踪的运动引起的套管，内窥镜或器械的姿势的变化。

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