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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Publication number: 20180309395Abstract: 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: ApplicationFiled: June 27, 2018Publication date: October 25, 2018Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Amir Chaghajerdi, Pushkar Hingwe
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Patent number: 10052167Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.Type: GrantFiled: February 8, 2017Date of Patent: August 21, 2018Assignee: Intuitive Surgical Operations, Inc.Inventors: Samuel Kwok Wai Au, Raymond A. Bonneau, Nicola Diolaiti, Pushkar Hingwe, Arjang M. Hourtash, Amy E. Kerdok, Michael Turner
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Publication number: 20180214225Abstract: 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: ApplicationFiled: March 21, 2018Publication date: August 2, 2018Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce M. Schena, Roman L. Devengenzo, Scott Luke
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Patent number: 10033308Abstract: 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: March 17, 2015Date of Patent: July 24, 2018Assignee: Intuitive Surgical Operations, Inc.Inventors: Amir Chaghajerdi, Pushkar Hingwe
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Publication number: 20180168756Abstract: 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 is installed on the teleoperated surgical system.Type: ApplicationFiled: June 10, 2016Publication date: June 21, 2018Inventors: HSIEN-HSIN LIAO, Julie L. Berry, Pushkar Hingwe, Brandon D. Itkowitz
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Patent number: 9949801Abstract: 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: November 22, 2016Date of Patent: April 24, 2018Assignee: Intuitive Surgical Operations, Inc.Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce Michael Schena, Roman L. Devengenzo, Scott Luke
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Patent number: 9949799Abstract: Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.Type: GrantFiled: February 29, 2016Date of Patent: April 24, 2018Assignee: Intuitive Surgical Operations, Inc.Inventors: Pushkar Hingwe, Samuel Kwok Wai Au, Raymond A. Bonneau, Nicola Diolaiti, Arjang M. Hourtash, Amy E. Kerdok, Michael Turner
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Patent number: 9861447Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.Type: GrantFiled: January 21, 2016Date of Patent: January 9, 2018Assignee: Intuitive Surgical Operations, Inc.Inventors: Arjang M. Hourtash, Samuel Kwok Wai Au, Raymond A. Bonneau, Nicola Diolaiti, Pushkar Hingwe, Amy E. Kerdok, Michael Turner
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Publication number: 20170340397Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.Type: ApplicationFiled: August 15, 2017Publication date: November 30, 2017Inventors: Niels SMABY, Gregory W. DACHS, II, Nicola DIOLAITI, Pushkar HINGWE, Thomas R. NIXON, Bruce M. SCHENA, Nitish SWARUP
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Publication number: 20170296277Abstract: Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.Type: ApplicationFiled: June 30, 2017Publication date: October 19, 2017Inventors: Arjang M. Hourtash, Pushkar Hingwe, Bruce M. Schena, Roman L. Devengenzo
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Patent number: 9782230Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.Type: GrantFiled: October 19, 2016Date of Patent: October 10, 2017Assignee: 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: 20170273748Abstract: 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: September 17, 2015Publication date: September 28, 2017Inventors: Arjang M. Hourtash, Nitish Swarup, Pushkar Hingwe
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Publication number: 20170258534Abstract: Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.Type: ApplicationFiled: May 25, 2017Publication date: September 14, 2017Inventors: Arjang M. Hourtash, Pushkar Hingwe, Bruce Michael Schena, Roman L. Devengenzo
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Patent number: 9757203Abstract: Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.Type: GrantFiled: November 14, 2016Date of Patent: September 12, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Arjang M. Hourtash, Pushkar Hingwe, Bruce Michael Schena, Roman L. Devengenzo
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Publication number: 20170179857Abstract: 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: ApplicationFiled: February 17, 2015Publication date: June 22, 2017Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Hsien-Hsin Liao, Niels Smaby, Gregory W. Dachs II, Pushkar Hingwe, Amir Chaghajerdi
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Patent number: 9675421Abstract: Devices, systems, and methods are disclosed for cancelling movement of one or more joints of a telesurgical manipulator to effect manipulation movement of an end effector. Methods include calculating movement of joints within a null-perpendicular space to effect desired end effector movement while calculating movement of one or more locked joints within a null-space to cancel the movement of the locked joints within the null-perpendicular-space. Methods may further include calculating movement of one or more joints to effect an auxiliary movement or a reconfiguration movement that may include movement of one or more locked joints. The auxiliary and reconfiguration movements may overlay the manipulation movement of the joints to allow movement of the locked joints to effect the auxiliary movement or reconfiguration movement, while the movement of the locked joints to effect manipulation is canceled. Various configurations for devices and systems utilizing such methods are provided herein.Type: GrantFiled: July 17, 2015Date of Patent: June 13, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Arjang M. Hourtash, Pushkar Hingwe
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Patent number: 9675422Abstract: Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.Type: GrantFiled: May 5, 2016Date of Patent: June 13, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Arjang M. Hourtash, Pushkar Hingwe, Bruce Michael Schena, Roman L. Devengenzo
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Publication number: 20170143437Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated. position of the joints.Type: ApplicationFiled: February 8, 2017Publication date: May 25, 2017Inventors: Samuel Kwok Wai Au, Raymond A. Bonneau, Nicola Diolaiti, Pushkar Hingwe, Arjang M. Hourtash, Amy E. Kerdok, Michael Turner
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Publication number: 20170095304Abstract: 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: ApplicationFiled: November 22, 2016Publication date: April 6, 2017Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce Michael Schena, Roman L. Devengenzo, Scott Luke
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Patent number: 9585726Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.Type: GrantFiled: January 15, 2016Date of Patent: March 7, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Samuel Kwok Wai Au, Raymond A. Bonneau, Nicola Diolaiti, Pushkar Hingwe, Arjang M. Hourtash, Amy E. Kerdok, Michael Turner