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Method for handling an operator command exceeding a medical device state limitation in a medical robotic system

IPC분류정보
국가/구분 United States(US) Patent 등록
국제특허분류(IPC7판)
  • A61B-017/00
  • A61B-019/00
  • B25J-003/04
  • B25J-009/16
출원번호 US-0613926 (2006-12-20)
등록번호 US-9241767 (2016-01-26)
발명자 / 주소
  • Prisco, Giuseppe
  • Rosa, David J.
출원인 / 주소
  • INTUITIVE SURGICAL OPERATIONS, INC.
인용정보 피인용 횟수 : 1  인용 특허 : 27

초록

A medical robotic system has a robotic arm holding a medical device, and a control system for controlling movement of the arm according to operator manipulation of an input device. If the medical device is being commanded to a state exceeding a limitation by a threshold amount, then the control syst

대표청구항

1. A method implemented by a processor for handling an operator command received from a master input device to command a slave manipulator, the method comprising: using the processor to automatically determine whether the slave manipulator is being commanded by the operator command to a commanded st

이 특허에 인용된 특허 (27)

  1. Kato Yoshifumi,JPX ; Miyamoto Noboru,JPX ; Sugiura Masanori,JPX ; Fujitsuna Masami,JPX, Apparatus for controlling dynamic system in sliding mode and feedforward control.
  2. Daggett Kenneth E. (Murrysville PA) Onaga Eimei M. (Brookfield Center CT) Casler ; Jr. Richard J. (Newtown CT) Booth Barrett L. (Brookfield CT), Basic digital multi-axis robot control having modular performance expansion capability.
  3. Gunter D. Niemeyer ; Gary S. Guthart ; William C. Nowlin ; Nitish Swarup ; Gregory K. Toth ; Robert G. Younge, Camera referenced control in a minimally invasive surgical apparatus.
  4. Niemeyer, Gunter D.; Guthart, Gary S.; Nowlin, William C.; Swarup, Nitish; Toth, Gregory K.; Younge, Robert G., Camera referenced control in a minimally invasive surgical apparatus.
  5. Kono, Katsumi; Suzuki, Toshinari; Tanaka, Yoshikazu; Hibino, Ryoichi; Ono, Eiichi; Osawa, Masataka, Control apparatus and method of control system having sliding resistance.
  6. Romano, Paul M.; Supino, Louis; Settje, Christopher T., Disk storage system employing a discrete-time sliding mode controller for servo control.
  7. Kawai, Takayoshi; Suhara, Shinsuke; Tsuchiya, Yusuke, Electric-component mounting method, electric-component treating method, and electric-component mounting apparatus.
  8. Nowlin, William C.; Guthart, Gary S.; Younge, Robert G.; Cooper, Thomas G.; Gerbi, Craig; Blumenkranz, Steven J.; Hoornaert, Dean F., Grip strength with tactile feedback for robotic surgery.
  9. Glassman Edward (New York NY) Hanson William A. (Mountain View CA) Kazanzides Peter (Davis CA) Mittelstadt Brent D. (Placerville CA) Musits Bela L. (Hopewell Junction NY) Paul Howard A. (Loomis CA) T, Image-directed robotic system for precise robotic surgery including redundant consistency checking.
  10. Prisco, Giuseppe M.; Rosa, David J.; Larkin, David. Q, Medical robotic system with programmably controlled constraints on error dynamics.
  11. Prisco, Giuseppe M.; Larkin, David Q., Medical robotic system with sliding mode control.
  12. Prisco,Giuseppe M.; Larkin,David Q, Medical robotic system with sliding mode control.
  13. Wang Yulun ; Uecker Darrin R. ; Laby Keith Phillip ; Wilson Jeff ; Jordan Steve ; Wright James, Method and apparatus for performing minimally invasive cardiac procedures.
  14. Jacobus Charles J. (Ann Arbor MI) Riggs Alan J. (Ann Arbor MI) Taylor Mark J. (Ann Arbor MI), Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor.
  15. Sanchez, Dan; Uecker, Darrin; Svanidze, Oleg; Wright, James; Wang, Yulun, Microwrist system for surgical procedures.
  16. Daggett Kenneth E. (Murrysville PA) Onaga Eimei M. (Brookfield Center CT) Casler ; Jr. Richard J. (Newtown CT) Booth Barrett L. (Brookfield CT), Modular robot control system.
  17. Casler ; Jr. Richard J. (Newtown CT) Penkar Rajan C. (Woodbury CT), Multiaxis robot control having improved continuous path operation.
  18. Drunk Gerhard (Stuttgart DEX) Langen Achim (Stuttgart DEX) Forster Stefan (Stuttgart DEX) Hug Christoph (Stuttgart DEX) Mllerschn Joachim (Stuttgart DEX), Process for navigating an unmanned vehicle and a vehicle for the same.
  19. Gerbi, Craig Richard; Duval, Eugene F.; Minami, Don; Hager, Bob; Salisbury, J. Kenneth; Madhani, Akhil; Stern, John; Guthart, Gary S., Removable infinite roll master grip handle and touch sensor for robotic surgery.
  20. Nowlin,William C.; Guthart,Gary S.; Salisbury, Jr.,J. Kenneth; Niemeyer,Gunter D., Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery.
  21. William C. Nowlin ; Gary S. Guthart ; J. Kenneth Salisbury, Jr. ; Gunter D. Niemeyer, Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery.
  22. Onaga Eimei M. (Brookfield Center CT) Casler ; Jr. Richard J. (Newton CT) Penkar Rajan C. (Woodbury CT) Lancraft Roy E. (Southbury CT) Sha Chi (Pittsburgh PA), Robot control system having adaptive feedforward torque control for improved accuracy.
  23. Seraji Homayoun (La Crescenta CA), Robust high-performance control for robotic manipulators.
  24. Venkataraman Subramanian T. (Cerritos CA) Gulati Sandeep (Alhambra CA), Sliding mode control method having terminal convergence in finite time.
  25. Gamble Jonathan B. (West Sussex GB2), Sliding mode control system.
  26. Green, Philip S., Surgical method.
  27. Backes Paul G. (La Crescenta CA) Tso Kam S. (Los Angeles CA), Telerobot control system.

이 특허를 인용한 특허 (1)

  1. De La Riviere, Jean-Baptiste; Chartier, Christophe; Hachet, Martin; Bossavit, Benoit; Casiez, Gery, System for colocating a touch screen and a virtual object, and device for manipulating virtual objects implementing such a system.
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