US 12,329,478 B2
System and method for breakaway clutching in an articulated arm
Daniel Miller, Fremont, CA (US); Nitish Swarup, Sunnyvale, CA (US); Michael Turner, Sunnyvale, CA (US); Arjang M. Hourtash, San Francisco, CA (US); Paul G. Griffiths, Santa Clara, CA (US); and Paul W. Mohr, Mountain View, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jul. 8, 2024, as Appl. No. 18/765,417.
Application 18/765,417 is a continuation of application No. 18/306,046, filed on Apr. 24, 2023, granted, now 12,089,904.
Application 18/306,046 is a continuation of application No. 17/196,870, filed on Mar. 9, 2021, granted, now 11,660,154, issued on May 30, 2023.
Application 17/196,870 is a continuation of application No. 16/563,342, filed on Sep. 6, 2019, granted, now 10,973,596, issued on Apr. 13, 2021.
Application 16/563,342 is a continuation of application No. 16/014,619, filed on Jun. 21, 2018, granted, now 10,449,008, issued on Oct. 22, 2019.
Application 16/014,619 is a continuation of application No. 15/126,996, granted, now 10,034,717, issued on Jul. 31, 2018, previously published as PCT/US2015/021074, filed on Mar. 17, 2015.
Claims priority of provisional application 61/954,120, filed on Mar. 17, 2014.
Prior Publication US 2024/0358456 A1, Oct. 31, 2024
Int. Cl. A61B 34/30 (2016.01); A61B 18/00 (2006.01); A61B 34/00 (2016.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [B25J 9/1689 (2013.01); B25J 9/1694 (2013.01); B25J 13/085 (2013.01); B25J 13/088 (2013.01); A61B 2018/00666 (2013.01); A61B 2018/00672 (2013.01); A61B 2018/00678 (2013.01); A61B 2034/305 (2016.02); A61B 2090/035 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A device comprising:
a plurality of links coupled by a plurality of joints;
a brake coupled to brake a first joint of the plurality of joints; and
a control unit operatively coupled to the brake, the control unit comprising one or more processors;
wherein 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 a determination that an external stimulus applied to the plurality of links or the plurality of joints meets at least a first criterion, wherein the control unit causes more braking with the first brake in the first state than in the second state; and
switches the first joint from the second state to the first state in response to a speed associated with the first joint meeting at least a second criterion.