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1. 发明授权

US07899578B2 Medical robotic system with sliding mode control 有权
标题翻译：具滑动模式控制的医疗机器人系统
公开(公告)号：US07899578B2
公开(公告)日：2011-03-01
申请号：US12247346
申请日：2008-10-08
申请人： Giuseppe M. Prisco , David Q. Larkin
发明人： Giuseppe M. Prisco , David Q. Larkin
IPC分类号： B25J13/08
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译：医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统主操纵器。该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。

2. 发明授权

US09008842B2 Medical robotic system with sliding mode control 有权
标题翻译：具滑动模式控制的医疗机器人系统
公开(公告)号：US09008842B2
公开(公告)日：2015-04-14
申请号：US13013346
申请日：2011-01-25
申请人： Giuseppe M. Prisco , David Q. Larkin
发明人： Giuseppe M. Prisco , David Q. Larkin
IPC分类号： B25J13/00 , A61B19/00 , B25J9/16
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译：医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统主操纵器。该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。

3. 发明授权

US09119652B2 Medical robotic system with sliding mode control 有权
公开(公告)号：US09119652B2
公开(公告)日：2015-09-01
申请号：US13014150
申请日：2011-01-26
申请人： Giuseppe M. Prisco , David Q. Larkin
发明人： Giuseppe M. Prisco , David Q. Larkin
IPC分类号： B25J13/00 , A61B19/00 , B25J9/16
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

4. 发明授权

US07453227B2 Medical robotic system with sliding mode control 有权
标题翻译：具滑动模式控制的医疗机器人系统
公开(公告)号：US07453227B2
公开(公告)日：2008-11-18
申请号：US11613962
申请日：2006-12-20
申请人： Giuseppe M. Prisco , David Q Larkin
发明人： Giuseppe M. Prisco , David Q Larkin
IPC分类号： B25J13/08
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译：医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统主操纵器。该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。

5. 发明申请

US20070142823A1 Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator 有权
标题翻译：用于减少内部产生的摩擦和惯性阻力的控制系统，以手动定位外科手术器械
公开(公告)号：US20070142823A1
公开(公告)日：2007-06-21
申请号：US11479144
申请日：2006-06-30
申请人： Giuseppe M. Prisco , David Q. Larkin , William C. Nowlin
发明人： Giuseppe M. Prisco , David Q. Larkin , William C. Nowlin
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/75 , A61B90/361 , B25J9/1638 , B25J9/1641 , B25J9/1689 , G05B2219/41213 , G05B2219/41426 , Y10S901/02 , Y10S901/15 , Y10S901/28 , Y10S901/30
摘要： A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.
摘要翻译：机器人控制系统被置于离合器模式中，使得保持手术器械的从操作器暂时脱离主操纵器的控制，以允许手术器械在患者体内的手术部位手动定位。在处理器中实现的控制系统补偿在定位期间经历的内部产生的摩擦和惯性阻力，从而使得移动者更容易移动，并且从控制的角度来看稳定。每个控制系统使用饱和转矩指令信号来驱动从动操纵器中的联合马达，该饱和转矩指令信号使用估计的接头角速度产生以补偿非线性粘性力，库仑摩擦，齿槽效应以及接受关节的惯性力，通过从与关节相关联的传感器接收到的采样位移测量，由控制系统中的观察者产生的加速度和外部施加的扭矩。

6. 发明授权

US07741802B2 Medical robotic system with programmably controlled constraints on error dynamics 有权
标题翻译：医疗机器人系统具有可编程控制的误差动力学约束
公开(公告)号：US07741802B2
公开(公告)日：2010-06-22
申请号：US11613882
申请日：2006-12-20
申请人： Giuseppe M. Prisco , David J. Rosa , David. Q Larkin
发明人： Giuseppe M. Prisco , David J. Rosa , David. Q Larkin
IPC分类号： B25J9/18
CPC分类号： B25J9/1689 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , B25J9/1633 , G05B2219/45123 , Y10T74/20305 , Y10T74/20317 , Y10T74/20329
摘要： A medical robotic system has a robot arm holding an instrument for performing a medical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes at least one joint controller that includes a controller having programmable parameters for setting a steady-state velocity error and a maximum acceleration error for the joint's movement relative to a set point in response to an externally applied and released force.
摘要翻译：医疗机器人系统具有握持用于执行医疗程序的仪器的机器人手臂，以及用于根据主操纵器的用户操纵来控制手臂及其乐器的移动的控制系统。控制系统包括至少一个联合控制器，其包括控制器，该控制器具有用于响应于外部施加和释放的力而设定稳态速度误差和关节相对于设定点的运动的最大加速度误差的可编程参数。

7. 发明授权

US08768516B2 Control of medical robotic system manipulator about kinematic singularities 有权
标题翻译：关于运动学奇异性的医疗机器人系统操纵器的控制
公开(公告)号：US08768516B2
公开(公告)日：2014-07-01
申请号：US12494695
申请日：2009-06-30
申请人： Nicola Diolaiti , Giuseppe M. Prisco
发明人： Nicola Diolaiti , Giuseppe M. Prisco
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： G05B19/402 , A61B34/30 , B25J9/1689 , B25J9/1697 , G05B2219/39257 , G05B2219/40195 , G05B2219/40242 , G05B2219/45117 , G06F19/00 , G06F19/3418 , G06F19/3481 , G16H50/50
摘要： A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide relative to a remote center, and a controller configured to manage operation of the entry guide manipulator in response to operator manipulation of one or more input devices. As the entry guide manipulator approaches a yaw/roll singularity, the controller modifies its operation to allow continued movement of the entry guide manipulator without commanding excessive joint velocities while maintaining proper orientation of the entry guide.
摘要翻译：医疗机器人系统包括入口引导件，其具有从其远端延伸的可关节运动的仪器，进入引导操纵器，其提供入口引导件相对于远程中心的可控四自由度移动;以及控制器，其被配置为管理入口引导操纵器响应于操作者操纵一个或多个输入设备。当进入引导机械手接近偏航/滚转奇异性时，控制器修改其操作以允许入口引导操纵器的继续移动，而不会指示过大的关节速度，同时保持进入引导件的适当取向。

8. 发明申请

US20100228265A1 Operator Input Device for a Robotic Surgical System 有权
标题翻译：机器人手术系统的操作员输入装置
公开(公告)号：US20100228265A1
公开(公告)日：2010-09-09
申请号：US12400728
申请日：2009-03-09
申请人： Giuseppe M. Prisco
发明人： Giuseppe M. Prisco
IPC分类号： A61B19/00 , G06F19/00 , B25J9/00
CPC分类号： B25J9/1689 , A61B34/30 , A61B34/77 , A61B2034/301 , G05B2219/39387 , G05B2219/39389 , G05B2219/45117 , Y10T74/20305
摘要： A robotic surgical system includes a master controller with an input handle and robotic manipulator assemblies including a surgical end effector and an endoscopic camera. The input handle is translatable to provide a position and rotatable to provide an orientation. A control system couples the master controller to the first and second manipulator assemblies. The control system moves the surgical end effector in response to the position and orientation of the input handle. The control system moves the input handle to orient the input handle to correspond to an orientation of the surgical end effector from a viewpoint of the endoscopic camera during the repositioning of at least one of the input handle position, the end effector, or the endoscopic camera. The control system may move the surgical end effector only in a first mode and orients the input handle only in a second mode.
摘要翻译：机器人手术系统包括具有输入手柄的主控制器和包括手术端部执行器和内窥镜照相机的机器人操纵器组件。输入手柄可平移以提供位置并且可旋转以提供取向。控制系统将主控制器耦合到第一和第二操纵器组件。控制系统响应于输入手柄的位置和方向移动外科末端执行器。在重新定位输入手柄位置，末端执行器或内窥镜摄像机中的至少一个的情况下，控制系统移动输入手柄以使输入手柄对准于从内窥镜照相机的角度看的手术末端执行器的取向。控制系统可以仅在第一模式中移动手术末端执行器，并且仅在第二模式中定向输入手柄。

9. 发明申请

US20090248038A1 FORCE AND TORQUE SENSING IN A SURGICAL ROBOT SETUP ARM 有权
标题翻译：手术机器人手臂中的力和扭矩感测
公开(公告)号：US20090248038A1
公开(公告)日：2009-10-01
申请号：US12060004
申请日：2008-03-31
申请人： Stephen J. Blumenkranz , Giuseppe M. Prisco , Simon Peter DiMaio , Gregory William Dachs, II , Hanifa Dostmohamed , Christopher J. Hasser , Gary S. Guthart
发明人： Stephen J. Blumenkranz , Giuseppe M. Prisco , Simon Peter DiMaio , Gregory William Dachs, II , Hanifa Dostmohamed , Christopher J. Hasser , Gary S. Guthart
IPC分类号： A61B19/00
CPC分类号： B25J13/085 , A61B34/30 , A61B34/37 , A61B34/71 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , G05B2219/40582
摘要： An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a robotic surgical manipulator system, a robotic surgical system, and a method for improved sensing of forces on a robotic surgical instrument and/or manipulator arm are disclosed.
摘要翻译：提供了一种用于改善力和转矩检测和反馈给执行远程外科手术的外科医生的装置，系统和方法。在一个实施例中，公开了一种机器人手术操纵器系统，机器人手术系统和用于改进对机器人手术器械和/或操纵臂上的力的感测的方法。

10. 发明授权

US08918207B2 Operator input device for a robotic surgical system 有权
标题翻译：机器人手术系统的操作员输入装置
公开(公告)号：US08918207B2
公开(公告)日：2014-12-23
申请号：US12400728
申请日：2009-03-09
申请人： Giuseppe M. Prisco
发明人： Giuseppe M. Prisco
IPC分类号： G06F19/00 , B25J9/16 , A61B19/00
CPC分类号： B25J9/1689 , A61B34/30 , A61B34/77 , A61B2034/301 , G05B2219/39387 , G05B2219/39389 , G05B2219/45117 , Y10T74/20305
摘要： A robotic surgical system includes a master controller with an input handle and robotic manipulator assemblies including a surgical end effector and an endoscopic camera. The input handle is translatable to provide a position and rotatable to provide an orientation. A control system couples the master controller to the first and second manipulator assemblies. The control system moves the surgical end effector in response to the position and orientation of the input handle. The control system moves the input handle to orient the input handle to correspond to an orientation of the surgical end effector from a viewpoint of the endoscopic camera during the repositioning of at least one of the input handle position, the end effector, or the endoscopic camera. The control system may move the surgical end effector only in a first mode and orients the input handle only in a second mode.
摘要翻译：机器人手术系统包括具有输入手柄的主控制器和包括手术端部执行器和内窥镜照相机的机器人操纵器组件。输入手柄可平移以提供位置并且可旋转以提供取向。控制系统将主控制器耦合到第一和第二操纵器组件。控制系统响应于输入手柄的位置和方向移动外科末端执行器。在重新定位输入手柄位置，末端执行器或内窥镜照相机中的至少一个的情况下，控制系统移动输入手柄以使输入手柄对准于从内窥镜照相机的视点观察手术末端执行器的方向。控制系统可以仅在第一模式中移动手术末端执行器，并且仅在第二模式中定向输入手柄。

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