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1. 发明申请

WO2019099584A1 MASTER CONTROL DEVICE AND METHODS THEREFOR 审中-公开
公开(公告)号：WO2019099584A1
公开(公告)日：2019-05-23
申请号：PCT/US2018/061143
申请日：2018-11-14
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： THOMPSON, Allen C. , KADOKURA, Grant M. , STEGER, John Ryan
IPC分类号： A61B34/00 , A61B34/35 , A61B34/37 , A61B90/00 , A61B17/00
摘要： Implementations relate to a master control device. In some implementations, a master control device includes a control body comprising a proximal end, a thumb grip portion, and a finger grip portion. The control body has a length configured to engage the proximal end of the control body in the palm of a hand of the user while the hand engages the thumb grip portion with a thumb of the hand and the finger grip portion with a finger of the hand. The control body is configured to allow the proximal end of the control body to be selectively engaged by the palm of the hand and selectively disengaged from the palm of the hand while the hand engages the thumb grip portion with the thumb of the hand and the finger grip portion with the finger of the hand.

2. 发明申请

WO2021041253A1 MOVEABLE DISPLAY UNIT ON TRACK 审中-公开
公开(公告)号：WO2021041253A1
公开(公告)日：2021-03-04
申请号：PCT/US2020/047501
申请日：2020-08-21
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： WALDO, Michael C. , LUKE, Scott O. , SWEENEY, Charles A. , THOMPSON, Allen C. , GOLDBERG, Randal P. , GLASSER, Jason A. , LEE, Peling G. , HINGWE, Pushkar , VERNER, Lawton N. , LYNCH, Goran A. , BLANCHARD, Russell L. E.
IPC分类号： A61B34/00 , A61B90/50 , F16M11/12 , F16M11/18 , F16M11/20 , F16M11/28
摘要： Implementations relate to a moveable display unit on a track. In some implementations, a control unit includes a support linkage including a first support coupled to a second support, a track member coupled to a distal portion of the second support, and a display unit coupled to the track member. The display unit includes a display device. The display unit is linearly translatable in first and second degrees of freedom provided by the support linkage. The display unit is rotatable, with respect to the second support, about a tilt axis in a third degree of freedom defined by the track member.

3. 发明申请

WO2023069745A1 CONTROLLING A REPOSITIONABLE STRUCTURE SYSTEM BASED ON A GEOMETRIC RELATIONSHIP BETWEEN AN OPERATOR AND A COMPUTER-ASSISTED DEVICE 审中-公开
公开(公告)号：WO2023069745A1
公开(公告)日：2023-04-27
申请号：PCT/US2022/047480
申请日：2022-10-21
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： PARASTEGARI, Mohammad Sina , GLASSER, Jason A. , GREENBERG, Olga , GRIFFITHS, Paul G. , LI, Katherine , THOMPSON, Allen C. , WATZA, Keith J.
IPC分类号： G06F3/01 , F16M11/08 , F16M11/18 , F16M11/20 , A61B34/30 , A61B34/20 , A61B90/00
摘要： Techniques for controlling a computer-assisted device based on a geometric parameter representative of a geometric relationship of an operator and a display unit include the following. The computer-assisted device comprises a repositionable structure system configured to support a display unit that displays an image viewable by an operator; an actuator system physically coupled to the repositionable structure system; a sensor system configured to capture sensor data associated with a portion of a head of the operator; and a control system. The control system is configured to: determine, based on sensor data, a geometric parameter of the portion of the head relative to a portion of the computer-assisted device, determine a commanded motion based on the geometric parameter and a target parameter, and command the actuator system to move the repositionable structure based on the commanded motion.

4. 发明申请

WO2019217882A1 MASTER CONTROL DEVICE WITH FINGER GRIP SENSING AND METHODS THEREFOR 审中-公开
公开(公告)号：WO2019217882A1
公开(公告)日：2019-11-14
申请号：PCT/US2019/031813
申请日：2019-05-10
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： THOMPSON, Allen C. , BROGNA, Salvatore J.
IPC分类号： A61B34/00 , A61B34/35 , A61B17/00 , A61B17/29 , A61B34/30
摘要： Implementations relate to a master control device and methods for using such a control device. In some implementations, a master control device includes a control body including a surface. A force sensor is coupled to the control body, the force sensor configured to sense forces applied to the surface of the control body and provide sensor signals in accordance with amounts of the forces received on sides of the control body caused by a pinching of the control body between fingers of a user. At least one sensor is configured to detect at least one of a position and an orientation of the control body in a working environment of the control body.

5. 发明申请

WO2019099504A1 MASTER CONTROL DEVICE WITH MULTI-FINGER GRIP AND METHODS THEREFOR 审中-公开
公开(公告)号：WO2019099504A1
公开(公告)日：2019-05-23
申请号：PCT/US2018/061031
申请日：2018-11-14
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： THOMPSON, Allen C. , HUBLER, Robert B.
IPC分类号： A61B34/00 , A61B34/35 , A61B34/37 , A61B90/00 , A61B17/00
摘要： Implementations relate to a master control device. In some implementations, a master control device includes a thumb grip member including a thumb grip receptive to a thumb of a hand of a user. The master control device includes a finger grip member coupled to the thumb grip member at a proximal end of the master control device and extending toward a distal end of the master control device, where the finger grip member includes a finger grip receptive to multiple fingers of the hand. The thumb grip member and finger grip member are moveable in a pinching configuration with respect to each other. The master control device includes a sensor coupled to at least one of the thumb grip member or finger grip member to sense relative positions of the thumb grip member and finger grip member with respect to each other in the pinching configuration.

6. 发明申请

WO2023069636A1 ADJUSTABLE HEADREST FOR A DISPLAY UNIT 审中-公开
公开(公告)号：WO2023069636A1
公开(公告)日：2023-04-27
申请号：PCT/US2022/047301
申请日：2022-10-20
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： SWEENEY, Charles A. , NOOHI BEZANJANI, Ehsan , PARASTEGARI, Sina , THOMPSON, Allen C.
IPC分类号： A61B34/35 , A61B90/60
摘要： A display unit of a user control system of a telesurgical system includes a support structure, a headrest, and a lens. The headrest is movably connected to the support structure. The lens is below the headrest and includes an optical axis. The headrest is movable to a plurality of positions along a position adjustment axis that is parallel to the optical axis. And, the headrest includes a curved user-facing surface that is shaped to receive a user's head in a way that comfortably aligns the user's eye horizontally and vertically with the optical axis of the lens.

7. 发明申请

WO2021041249A1 MOVEABLE DISPLAY SYSTEM 审中-公开
公开(公告)号：WO2021041249A1
公开(公告)日：2021-03-04
申请号：PCT/US2020/047494
申请日：2020-08-21
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： SWEENEY, Charles A. , LUKE, Scott O. , WALDO, Michael C. , THOMPSON, Allen C. , GOLDBERG, Randal P. , LEE, Peling G. , HINGWE, Pushkar , VERNER, Lawton N. , LYNCH, Goran A. , BLANCHARD, Russell L. E.
IPC分类号： A61B34/00 , A61B90/50 , F16M11/12 , F16M11/18 , F16M11/20 , F16M11/28
摘要： Implementations relate to a moveable display system. In some implementations, a control unit includes a first support and a second support coupled to the first support. The second support is linearly translatable along a first axis in a first degree of freedom with respect to the first support, and at least a portion of the second support is linearly translatable along a second axis in a second degree of freedom with respect to the first support. The control unit includes a display unit rotatably coupled to the second support. The display unit is rotatable about a third axis in a third degree of freedom with respect to the second support, and the display unit includes a display device.

8. 发明申请

WO2017120027A1 TELESCOPING CANNULA ARM 审中-公开
标题翻译：伸缩式CANNULA ARM
公开(公告)号：WO2017120027A1
公开(公告)日：2017-07-13
申请号：PCT/US2016/067694
申请日：2016-12-20
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： THOMPSON, Allen C. , GOMEZ, Daniel H. , NANGREAVES, Kirk
IPC分类号： A61B34/00 , A61B34/30 , A61B17/34 , A61B17/00
CPC分类号： A61B34/30 , A61B17/3421 , A61B90/50 , A61B2017/00991
摘要： A surgical system includes a link of a manipulator arm and a telescoping cannula mount assembly. The link includes a curved end. The telescoping cannula mount assembly is positioned in the curved end of the link. The telescoping cannula mount assembly includes a curved cannula mount arm. In a first state, the curved cannula mount arm is parked within the curved end of the link. In a second state, the curved cannula mount arm extends from the curved end of the link and is locked in an extended position. The telescoping cannula mount assembly also includes a mechanical arm retraction system. The mechanical arm retraction system couples the curved cannula mount arm to the curved end of the link. The mechanical arm retraction system is configured to automatically move the curved cannula mount arm from the second state to the first state.
摘要翻译：手术系统包括操纵臂和伸缩套管安装组件的连杆。链接包括弯曲的一端。伸缩套管安装组件位于连杆的弯曲端。伸缩套管安装组件包括弯曲的套管安装臂。在第一状态下，弯曲套管安装臂停放在连杆的弯曲端内。在第二状态中，弯曲套管安装臂从连杆的弯曲端延伸并锁定在延伸位置。伸缩套管安装组件还包括机械臂收回系统。机械臂收回系统将弯曲套管安装臂连接到连杆的弯曲端。机械臂收回系统被配置为自动地将弯曲的套管安装臂从第二状态移动到第一状态。

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