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1. 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。

2. 发明申请

WO2018013965A1 SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL INSTRUMENT 审中-公开
标题翻译：用于控制外科手术器械的系统和方法
公开(公告)号：WO2018013965A1
公开(公告)日：2018-01-18
申请号：PCT/US2017/042204
申请日：2017-07-14
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： STEGER, John Ryan , CREWS, Brian M. , GERBI, Craig R. , MORRISSETTE, Tyler J. , NIXON, Margaret M. , ORBAN, Joseph P., III , ROGERS, Theodore W. , SADAKA, Alain , SWINEHART, Charles E. , TURNER, Michael , WANG, Kerry S.
IPC分类号： A61B34/35 , A61B34/00 , A61B90/00
摘要： A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.
摘要翻译：遥操作医疗系统包括输入装置和被配置为与仪器耦合并移动仪器的操纵器。该系统还包括包含一个或多个处理器的控制系统。响应于确定所述器械以与所述工作空间的视野相对应的方向插入到器械工作空间中，所述控制系统被配置为根据第一映射将所述输入器件的移动映射到所述器械的移动。响应于确定所述器械以与所述视场不对应的方向插入到所述器械工作空间中，所述控制系统被配置为根据第二映射将所述输入器件的移动映射到所述器械的移动。第二种映射包括针对仪器的至少一个运动方向的第一映射的反演。

3. 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。

4. 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。

5. 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。

6. 发明申请

WO2017127202A1 SYSTEM AND METHOD FOR RAPID HALT AND RECOVERY OF MOTION DEVIATIONS IN MEDICAL DEVICE REPOSITIONABLE ARMS 审中-公开
标题翻译：用于医疗设备可重复使用的臂的快速暂停和运动偏差恢复的系统和方法
公开(公告)号：WO2017127202A1
公开(公告)日：2017-07-27
申请号：PCT/US2016/067755
申请日：2016-12-20
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： LYNCH, Goran, A. , GRIFFITHS, Paul, G. , TURNER, Michael
IPC分类号： A61B90/00 , A61B34/00 , A61B34/30
CPC分类号： A61B34/30 , A61B34/32 , A61B2090/508
摘要： A system and method for rapid halt and recovery of motion deviations in a medical device includes a computer-assisted medical device having a first repositionable arm having one or more first repositionable elements, a second repositionable arm having one or more second repositionable elements, and a control unit communicably coupled to the first and second repositionable arms. The control unit is configured to control motion of the first repositionable arm and the first end effector based on a desired motion, monitor an actual motion of the first repositionable arm and the first end effector, determine whether the actual motion deviates from the desired motion by more than a predetermined threshold, and halt motion of the first repositionable arm and the first end effector, or of the second repositionable arm and the second end effector, when the actual motion deviates from the desired motion by more than the predetermined threshold.
摘要翻译：
一种系统和快速停止，并在医疗装置运动偏差的回收方法包括：具有具有一个或多个第一可重新定位的元件，具有一个第二重定位臂的第一可重新定位的臂计算机辅助医疗装置或更多个第二可重定位元件，以及可通信地耦合到第一可重定位臂和第二可重定位臂的控制单元。控制单元构造成基于期望的运动来控制第一可重定位臂和第一端部执行器的运动，监视第一可重定位臂和第一端部执行器的实际运动，通过以下方式确定实际运动是否偏离期望运动超过预定阈值，并且所述第一可重新定位的臂的停止运动和第一末端执行器，或者所述第二可重新定位的臂和第二端部执行器，当实际运动由大于预定阈值更多的从所期望的运动偏离的。

7. 发明申请

WO2016025440A1 DETECTING UNCONTROLLED MOVEMENT 审中-公开
标题翻译：检测不受控制的运动
公开(公告)号：WO2016025440A1
公开(公告)日：2016-02-18
申请号：PCT/US2015/044590
申请日：2015-08-11
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： TURNER, Michael
IPC分类号： A61B19/00
CPC分类号： A61B34/37 , A61B34/30 , A61B34/35 , A61B34/74 , A61B34/75 , A61B2017/00075
摘要： A teleoperated surgical system includes a component such as a master control or a multi- jointed mechanical system that is configured for manual manipulation and a detection module configured to analyze movement of the component and detect uncontrolled movement of the component. Uncontrolled movement may be identified by detecting movement only on joints that gravity can move, but no movement on joints that are not subject to movement caused by gravity. In response to detection of uncontrolled movement of the component, the detection module can cause the system to switch to a safe mode of operation.
摘要翻译：远程手术系统包括诸如主控制或被配置为手动操作的多关节机械系统的组件，以及被配置为分析部件的运动并检测部件的不受控制的运动的检测模块。不受控制的运动可以通过仅在重力可以移动的关节上检测运动来识别，但是不会因重力而不受运动的运动。响应于检测到组件的不受控制的运动，检测模块可以使系统切换到安全的操作模式。

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