Patents by Inventor Pushkar Hingwe
Pushkar Hingwe 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).
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Patent number: 10973519Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.Type: GrantFiled: January 27, 2017Date of Patent: April 13, 2021Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: David W. Weir, Gabriel F. Brisson, William A. Burbank, Amir Chaghajerdi, Patrick Flanagan, Pushkar Hingwe, Andrew Wilson, Donald F. Wilson, Jr., Matthew A. Wixey
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Publication number: 20210068799Abstract: A method and apparatus for manipulating tissue. A tissue control point is displayed over an image of the tissue in a user interface. An input is received that moves the tissue control point within the user interface. A first instrument that is physically associated with the tissue is operated based on the received input to thereby manipulate the tissue.Type: ApplicationFiled: May 14, 2019Publication date: March 11, 2021Inventors: Brandon D. Itkowitz, Pushkar Hingwe
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Patent number: 10905507Abstract: 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: GrantFiled: July 9, 2020Date of Patent: February 2, 2021Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Niels Smaby, Gregory W. Dachs, II, Nicola Diolaiti, Pushkar Hingwe, Thomas R. Nixon, Bruce M. Schena, Nitish Swarup
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Publication number: 20210015568Abstract: Systems and methods for instrument control include first and second actuators and a controller configured to command the first actuator to maintain a first degree of freedom (DOF) of an instrument at a first position; command the second actuator to maintain a second DOF of the instrument at a second position; detect, while the first actuator is maintaining the first DOF at the first position, a first manual actuation of the first actuator that exceeds a first threshold; detect, while the second actuator is maintaining the second DOF at the second position, a second manual actuation of the second actuator that does not exceed a second threshold; and in response to detecting that the first manual actuation exceeds the first threshold and the second manual actuation does not exceed the second threshold, terminate the command to the first actuator to maintain the first DOF at the first position.Type: ApplicationFiled: October 7, 2020Publication date: January 21, 2021Inventors: Hsien-Hsin LIAO, Brandon D. ITKOWITZ, Julie L. BERRY, Pushkar HINGWE
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Publication number: 20200360099Abstract: 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: ApplicationFiled: July 9, 2020Publication date: November 19, 2020Inventors: Niels Smaby, Gregory W. Dachs, II, Nicola Diolaiti, Pushkar Hingwe, Thomas R. Nixon, Bruce M. Schena, Nitish Swarup
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Patent number: 10806530Abstract: A surgical instrument is configured to be installed for use on a teleoperated surgical system. A surgeon or other medical person controls the surgical instrument by manipulating one or more control inputs. Computer-assisted teleoperated actuators of the teleoperated surgical system move one or more surgical instrument mechanical degrees of freedom in response to movements of the one or more control inputs. A teleoperated surgical system is provided to enable a surgeon or medical person to manually control one or more surgical instrument mechanical degrees of freedom, while the surgical instrument is installed for use on the teleoperated surgical system.Type: GrantFiled: June 10, 2016Date of Patent: October 20, 2020Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Hsien-Hsin Liao, Julie L. Berry, Pushkar Hingwe, Brandon D. Itkowitz
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Patent number: 10799306Abstract: Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end effector so that at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.Type: GrantFiled: November 4, 2016Date of Patent: October 13, 2020Assignee: Intuitive Surgical Operations, Inc.Inventors: David W. Robinson, Gabriel F. Brisson, Amir Chaghajerdi, Pushkar Hingwe, Donald F. Wilson, Jr.
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Patent number: 10743953Abstract: 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: GrantFiled: November 16, 2018Date of Patent: August 18, 2020Assignee: Intuitive Surgical Operations, Inc.Inventors: Niels Smaby, Gregory W. Dachs, II, Nicola Diolaiti, Pushkar Hingwe, Thomas R. Nixon, Bruce M. Schena, Nitish Swarup
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Publication number: 20200214776Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.Type: ApplicationFiled: November 10, 2017Publication date: July 9, 2020Inventors: Pushkar Hingwe, Amy E. Kerdok, William C. Nowlin, David W. Robinson
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Patent number: 10707786Abstract: A method includes receiving a torque limit for a motor, monitoring a torque output of the motor, determining an amplitude and a phase of a torque ripple of the torque output, and determining a compensated torque limit for the motor, the compensated torque limit including a first component at the torque limit and a second component at an adjusted torque limit.Type: GrantFiled: June 27, 2018Date of Patent: July 7, 2020Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Amir Chaghajerdi, Pushkar Hingwe
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Patent number: 10682191Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.Type: GrantFiled: March 21, 2018Date of Patent: June 16, 2020Assignee: Intuitive Surgical Operations, Inc.Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce M. Schena, Roman L. Devengenzo, Scott Luke
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Publication number: 20200163731Abstract: Systems and methods for reassigning control by a master controller between a plurality of teleoperational instruments is provided herein. An exemplary method includes detecting activation of an instrument reassignment input, computing proxy positions of at least a first instrument and a second instrument of the plurality of teleoperational instruments, and computing a proxy position of the master controller. The exemplary method may also include receiving input from the master controller associating the proxy position of the master controller with the proxy position of the second medical instrument and assigning control of the second instrument to the master controller based on the association between the proxy position of the master controller with the proxy position of the second instrument.Type: ApplicationFiled: July 12, 2018Publication date: May 28, 2020Inventors: Brandon D. Itkowitz, Pushkar Hingwe
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Patent number: 10561470Abstract: 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: GrantFiled: March 18, 2014Date of Patent: February 18, 2020Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Arjang M. Hourtash, Nicola Diolaiti, Pushkar Hingwe, Niels Smaby, Nitish Swarup
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Patent number: 10483881Abstract: A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.Type: GrantFiled: February 17, 2015Date of Patent: November 19, 2019Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Hsien-Hsin Liao, Niels Smaby, Gregory W. Dachs, II, Pushkar Hingwe, Amir Chaghajerdi
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Publication number: 20190262085Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated. from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the: augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.Type: ApplicationFiled: May 8, 2019Publication date: August 29, 2019Inventors: Arjang M. Hourtash, Nitish Swarup, Pushkar Hingwe
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Publication number: 20190201022Abstract: Surgical instruments and assemblies for sealing and cutting tissue monitor jaw angle and/or jaw clamping force to provide feedback to an operator of the surgical instrument indicative of whether the tissue is suitable clamped for sealing and/or cutting. A surgical instrument or assembly includes a jaw operable to clamp tissue, a sealing mechanism, a cutting mechanism, an actuation monitoring assembly, and a feedback assembly. The actuation monitoring assembly monitors jaw angle and/or clamping force. The feedback assembly outputs feedback to the operator, based on the jaw angle and/or clamping force, as to whether the current clamping angle and/or jaw angle is suitable for sealing and/or clamping tissue.Type: ApplicationFiled: August 22, 2017Publication date: July 4, 2019Inventors: Benjamin J. Schoettgen, David Robinson, Pushkar Hingwe, Patrick Flanagan
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Patent number: 10327855Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.Type: GrantFiled: September 17, 2015Date of Patent: June 25, 2019Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Arjang M. Hourtash, Nitish Swarup, Pushkar Hingwe
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Publication number: 20190083185Abstract: 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: ApplicationFiled: November 16, 2018Publication date: March 21, 2019Inventors: Niels Smaby, Gregory W. Dachs, II, Nicola Diolaiti, Pushkar Hingwe, Thomas R. Nixon, Bruce M. Schena, Nitish Swarup
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Publication number: 20190053801Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.Type: ApplicationFiled: January 27, 2017Publication date: February 21, 2019Inventors: Matthew A. Wixey, Gabriel F. Brisson, William A. Burbank, Patrick Flanagan, Pushkar Hingwe, David W. Weir, Donald F. Wilson, JR.
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Publication number: 20190038371Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.Type: ApplicationFiled: January 27, 2017Publication date: February 7, 2019Inventors: Matthew A. Wixey, Gabriel F. Brisson, William A. Burbank, Patrick Flanagan, Pushkar Hingwe, David W. Weir, Donald F. Wilson