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1. WO2015142907 - AUTOMATIC PUSH-OUT TO AVOID RANGE OF MOTION LIMITS

Publication Number WO/2015/142907
Publication Date 24.09.2015
International Application No. PCT/US2015/021047
International Filing Date 17.03.2015
IPC
A61B 19/00 2006.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
19Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B1/-A61B18/149
CPC
A61B 2090/5025
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
50Supports for surgical instruments, e.g. articulated arms
5025with a counter-balancing mechanism
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 34/32
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
32operating autonomously
A61B 34/35
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
35for telesurgery
A61B 34/70
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
70Manipulators specially adapted for use in surgery
A61B 90/03
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
03Automatic limiting or abutting means, e.g. for safety
Applicants
  • INTUITIVE SURGICAL OPERATIONS, INC. [US]/[US]
Inventors
  • GRIFFITHS, Paul G.
  • MOHR, Paul W.
  • ITKOWITZ, Brandon D.
  • NIXON, Thomas R.
  • DEVENGENZO, Roman
Agents
  • ALLENBY, Christopher B.
Priority Data
61/954,45217.03.2014US
62/019,31130.06.2014US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) AUTOMATIC PUSH-OUT TO AVOID RANGE OF MOTION LIMITS
(FR) POUSSOIR AUTOMATIQUE POUR ÉVITER LES LIMITES D'UNE PLAGE DE MOUVEMENTS
Abstract
(EN)
Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. In some embodiments, actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Systems and methods are also provided to keep one, some, or all joints of the kinematic chain off a hardstop or physical range of motion limit associated with the joint or to otherwise maintain a desired range of motion for one, some, or all joints of the kinematic chain when exiting a set-up mode.
(FR)
La présente invention concerne des dispositifs, des systèmes et des procédés robotiques et/ou chirurgicaux qui comprennent des structures de liaison cinématique et des systèmes de commande associés configurés de façon à faciliter la préparation du système en vue de son utilisation. Dans certains modes de réalisation, des articulations activement entraînées déplaceront une structure de plate-forme qui supporte de multiples manipulateurs en réponse au mouvement de l'un des manipulateurs, facilitant et accélérant l'agencement du système global en déplaçant ces manipulateurs multiples comme une unité en alignement avec l'espace de travail. La présente invention concerne également des systèmes et des procédés destinés à maintenir une, certaines, ou toutes les articulations de la chaîne cinématique à l'écart d'une butée dure ou de la limite physique d'une plage de mouvements associées à l'articulation ou à autrement maintenir une plage souhaitée de mouvements d'une, de certaines, ou de toutes les articulations de la chaîne cinématique au moment de quitter un mode de configuration.
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