Patents by Inventor Nitish Swarup

Nitish Swarup has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 10939969
    Abstract: Systems and methods are provided for the elimination/mitigation of vibration arising from a mode transition during robotic operation include a moveable robotic mechanism and a processor configured to control the robotic mechanism. The processor is configured to detect a request for a mode transition, wherein the request for the mode transition designates a new mode that is different than a current mode, determine initial parameters of the robotic mechanism, calculate a smoothing curve, and move the robotic mechanism according to the smoothing curve. The initial parameters include a position and a velocity of the robotic mechanism. The smoothing curve transitions between the current mode and the new mode and is C3 continuous. In some embodiments, to calculate the smoothing curve, the processor is configured to establish a first command position, calculate a step value, and set a second command position based on the first command position and the step value.
    Type: Grant
    Filed: November 29, 2018
    Date of Patent: March 9, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nitish Swarup, David W. Robinson
  • Patent number: 10905507
    Abstract: A system includes a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, determine a first reference frame for the first imaging device based on the mounting of the first imaging device to the first manipulator, detect mounting of a second imaging device to a second manipulator of the plurality of manipulators, select the first imaging device as a reference imaging device, and in response to selecting the first imaging device as the reference imaging device, control the second imaging device relative to the first reference frame. In some embodiments, the controller is configured to select the first imaging device as the reference imaging device in response to the first imaging device being mounted prior to the second imaging device operator selection or based on a type of the first imaging device.
    Type: Grant
    Filed: July 9, 2020
    Date of Patent: February 2, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Niels Smaby, Gregory W. Dachs, II, Nicola Diolaiti, Pushkar Hingwe, Thomas R. Nixon, Bruce M. Schena, Nitish Swarup
  • Patent number: 10881479
    Abstract: A cart for supporting one or more instruments during a computer-assisted remote procedure can comprise a base; a steering interface having a portion configured to be grasped by a user; a sensor mechanism configured to detect a force applied to the steering interface by a user; and a switch operable between an engaged position and a disengaged position. The cart may further include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and, on the condition that the switch is in the engaged position, to output a movement command based on the received input from the sensor mechanism. A driven wheel mounted to the base of the cart may be configured to impart motion to the cart in response to the movement command.
    Type: Grant
    Filed: November 20, 2018
    Date of Patent: January 5, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul G. Griffiths, Arjang M. Hourtash, Paul W. Mohr, David W. Robinson, Nitish Swarup, John W. Zabinski, Mark W. Zimmer
  • Publication number: 20200360099
    Abstract: A system includes a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, determine a first reference frame for the first imaging device based on the mounting of the first imaging device to the first manipulator, detect mounting of a second imaging device to a second manipulator of the plurality of manipulators, select the first imaging device as a reference imaging device, and in response to selecting the first imaging device as the reference imaging device, control the second imaging device relative to the first reference frame. In some embodiments, the controller is configured to select the first imaging device as the reference imaging device in response to the first imaging device being mounted prior to the second imaging device operator selection or based on a type of the first imaging device.
    Type: Application
    Filed: July 9, 2020
    Publication date: November 19, 2020
    Inventors: Niels Smaby, Gregory W. Dachs, II, Nicola Diolaiti, Pushkar Hingwe, Thomas R. Nixon, Bruce M. Schena, Nitish Swarup
  • Publication number: 20200298406
    Abstract: A system and method of collision avoidance includes determining a position and an orientation, the position and the orientation being of a repositionable arm or of an instrument, the repositionable arm being configured to support the instrument; determining, based on the position and the orientation, a plurality of first virtual boundaries around the repositionable arm or the instrument; determining a second virtual boundary around an object; determining a first overlap force on the repositionable arm due to a first overlap between the second virtual boundary and a virtual boundary of the plurality of first virtual boundaries; determining a tip force on a distal end of the instrument based on the first overlap force; and applying the tip force as a first feedback force on the instrument or the repositionable arm.
    Type: Application
    Filed: June 8, 2020
    Publication date: September 24, 2020
    Inventors: Paul G. GRIFFITHS, Nitish SWARUP
  • Publication number: 20200289213
    Abstract: A method of operating a robotic system involves servoing a multitude of joints of the robotic system in a first joint velocity space. The movement of the multitude of joints in the first velocity space moves a remote center or an end effector of the robotic system. The method further involves floating the multitude of joints in a second velocity space. The movement of the multitude of joints in the second velocity space moves the end effector or the remote center, respectively. The method further involves controlling motion of the multitude of joints in a third velocity space. The movement of the multitude of joints in the third velocity space does not move the end effector and does not move the remote center.
    Type: Application
    Filed: April 27, 2020
    Publication date: September 17, 2020
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Nitish Swarup, Arjang M. Hourtash
  • Patent number: 10743953
    Abstract: A system includes manipulators and a controller. The controller is configured to detect mounting of an imaging device to a first manipulator of the manipulators, determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator, control a tool relative to the first reference frame by controlling a relative position and orientation of a tip of the tool relative to the imaging device in the first reference frame by correlating movement of a master input control to movement of the tool in the first reference frame, detect mounting of the imaging device to a second manipulator of the manipulators, the second manipulator being different from the first manipulator, determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator, and control the tool relative to the second reference frame.
    Type: Grant
    Filed: November 16, 2018
    Date of Patent: August 18, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Niels Smaby, Gregory W. Dachs, II, Nicola Diolaiti, Pushkar Hingwe, Thomas R. Nixon, Bruce M. Schena, Nitish Swarup
  • Publication number: 20200229880
    Abstract: A computer-assisted device includes an articulated arm configured to support an end effector and a control unit configured to, when coupled to the articulated arm and a table: determine a virtual coordinate frame before a first joint of the articulated arm is set to a floating mode, configure the first joint to the floating mode, detect movement of the first joint, determine a movement of the table, and drive a second joint of the articulated arm based on the movement of the first joint and the movement of the table. In some embodiments, the virtual coordinate frame is based on a pose of an imaging device and/or is detached from the imaging device. In some embodiments, the control unit is further configured to maintain the virtual coordinate frame in fixed relationship to a top of the table based on motion data received from the table.
    Type: Application
    Filed: March 4, 2020
    Publication date: July 23, 2020
    Inventors: Brandon D. ITKOWITZ, Paul G. GRIFFITHS, Nitish SWARUP, Kamyar ZIAEI
  • Publication number: 20200229883
    Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.
    Type: Application
    Filed: April 7, 2020
    Publication date: July 23, 2020
    Inventors: Paul GRIFFITHS, Paul MOHR, Nitish SWARUP, Michael COSTA, David LARKIN, Thomas COOPER, Michael HANUSCHIK
  • Patent number: 10717194
    Abstract: A system and method of collision avoidance includes determining first positions of first joints of a first repositionable arm and second positions of second joints of a second repositionable arm. Distal ends of the first and second repositionable arms are configured to support first and second instruments, respectively. The system and method further include determining first and second virtual boundaries around the first and second repositionable arms, determining an overlap between the first and second virtual boundaries, determining an overlap force on the first repositionable arm due to the overlap, mapping the overlap force to virtual torques on the first joints proximal to the overlap, determining a tip force on a distal end of the first instrument, and applying the tip force as feedback on the first instrument.
    Type: Grant
    Filed: February 3, 2017
    Date of Patent: July 21, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Paul G. Griffiths, Nitish Swarup
  • Patent number: 10687908
    Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.
    Type: Grant
    Filed: February 25, 2019
    Date of Patent: June 23, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Arjang M. Hourtash, Nitish Swarup
  • Publication number: 20200146764
    Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted device include an articulated structure including a plurality of joints and a control unit coupled to the articulated structure. The control unit is configured to determine whether a cannula or an instrument is coupled to a distal end of the articulated structure and in response to determining that the cannula or the instrument is coupled to the distal end of the articulated structure: determine an initial position and orientation of the instrument prior to detection of a disturbance in a first joint of the plurality of joints; determine, during the disturbance in the first joint, a current position and orientation of the instrument; determine a difference between the current position and orientation and the initial position and orientation; and drive at least a second joint of the plurality of joints based on the difference.
    Type: Application
    Filed: January 15, 2020
    Publication date: May 14, 2020
    Inventors: Brandon D. ITKOWITZ, Nitish SWARUP, Paul G. GRIFFITHS, Goran LYNCH
  • Patent number: 10646297
    Abstract: Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.
    Type: Grant
    Filed: May 21, 2018
    Date of Patent: May 12, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Paul Griffiths, Paul Mohr, Nitish Swarup, Michael Costa, David Larkin, Thomas Cooper, Michael Hanuschik
  • Patent number: 10617479
    Abstract: A computer-assisted medical device includes a first articulated arm, the first articulated arm having an end effector, a first joint set, a second joint set and a control unit. The control unit configures one or more joints in the first joint set to a floating mode, detects movement of the first joint set caused by a movement of the surgical table, drives the second joint set based on the movement of the surgical table, receives an instrument motion command to move the end effector while the surgical table is moving, and moves the end effector based on the instrument motion command. In some embodiments, the instrument motion command is relative to an imaging coordinate frame. In some embodiments, the imaging coordinate frame is based on a pose of an imaging device saved prior to the movement of the surgical table.
    Type: Grant
    Filed: October 27, 2015
    Date of Patent: April 14, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brandon D. Itkowitz, Paul G. Griffiths, Nitish Swarup, Kamyar Ziaei
  • Publication number: 20200107700
    Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.
    Type: Application
    Filed: December 10, 2019
    Publication date: April 9, 2020
    Inventors: Christopher J. Hasser, Nitish Swarup, Thomas G. Cooper, S. Christopher Anderson
  • Patent number: 10610316
    Abstract: A system and method of aligning with a reference target includes a computer-assisted device. The computer-assisted device includes a link, one or more first joints coupled proximally to the link, an articulated arm comprising one or more second joints coupled distally to the link, the articulated arm configured to couple to an instrument, and a control unit. The control unit is configured to position or orient the link, using the one or more first joints, based on at least one reference of the instrument selected from the group consisting of a reference point associated with the instrument and a reference orientation of the instrument. The control unit is further configured to maintain, while positioning or orienting the link and by using the one or more second joints, a position or an orientation of the instrument relative to a workspace in accordance with the at least one reference of the instrument.
    Type: Grant
    Filed: August 1, 2018
    Date of Patent: April 7, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nitish Swarup, Paul G. Griffiths, Brandon D. Itkowitz, Michael Hanuschik, Thomas R. Nixon
  • Patent number: 10575910
    Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted medical device include a device with an articulated structure including a plurality of joints and a control unit. The articulated structure is configured to support a tool distal to the joints. The control unit is configured to determine an initial position and orientation of the tool prior to movement of a first joint, determine, while the first joint is moving, a current position and orientation of the tool, determine a difference between the current and the initial position and orientation, and drive at least a second joint based on the difference to maintain a position and orientation of the tool at the initial position and orientation. In some embodiments, the position and orientation of the tool are maintained relative to a reference coordinate frame based on a cause of the moving of the first joint.
    Type: Grant
    Filed: August 10, 2018
    Date of Patent: March 3, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon D. Itkowitz, Nitish Swarup, Paul G. Griffiths, Goran Lynch
  • Patent number: 10561470
    Abstract: Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.
    Type: Grant
    Filed: March 18, 2014
    Date of Patent: February 18, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Arjang M. Hourtash, Nicola Diolaiti, Pushkar Hingwe, Niels Smaby, Nitish Swarup
  • Publication number: 20190388169
    Abstract: To assist a surgeon performing a medical procedure, auxiliary images generally indicating internal details of an anatomic structure being treated are displayed and manipulated by the surgeon on a computer display screen to supplement primary images generally of an external view of the anatomic structure. A master input device controlling a robotic arm in a first mode may be switched by the surgeon to a second mode in order to function instead as a mouse-like pointing device to facilitate the surgeon performing such auxiliary information display and manipulation.
    Type: Application
    Filed: September 9, 2019
    Publication date: December 26, 2019
    Inventors: Brian David Hoffman, Rajesh Kumar, David Q. Larkin, Nitish Swarup, Guanghua G. Zhang
  • Publication number: 20190388167
    Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm and including one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold and switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. Movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint.
    Type: Application
    Filed: September 6, 2019
    Publication date: December 26, 2019
    Inventors: Daniel Miller, Nitish Swarup, Michael Turner, Arjang M. Hourtash, Paul G. Griffiths, Paul W. Mohr