Arjang Mohammad Hourtash

US Patent:

8271130, Sep 18, 2012

Filed:

Mar 17, 2009

Appl. No.:

12/406004

Inventors:

Arjang Hourtash - Santa Clara CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

G06F 19/00

US Classification:

700245, 901 8, 901 19, 414 7, 606130

Abstract:

An input device includes a handle coupled to a base by a linkage. The handle is manually movable relative to the base to provide a position input. The linkage has a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base. When a distance between the handle and a handle stop position is less than a threshold distance, a handle stop applies a first load to the handle. A drive system applies a second load to the redundant link responsive to the first load to create internal motion of the linkage that increases a distance between the handle and a handle stop position. The second load may be proportional to a cosine of an angle between a handle axis of motion and a redundant link axis of motion.

US Patent:

20140052151, Feb 20, 2014

Filed:

Aug 14, 2013

Appl. No.:

13/966437

Inventors:

Samuel Kwok Wai Au - Mountain View CA, US
Raymond A. Bonneau - San Francisco CA, US
Nicola Diolaiti - Menlo Park CA, US
Arjang M. Hourtash - Santa Clara CA, US
Amy E. Kerdok - San Jose CA, US
Michael Turner - Sunnyvale CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 19/00

US Classification:

606130

Abstract:

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.

US Patent:

20140052152, Feb 20, 2014

Filed:

Aug 14, 2013

Appl. No.:

13/966494

Inventors:

Raymond A. Bonneau - San Francisco CA, US
Nicola Diolaiti - Menlo Park CA, US
Pushkar Hingwe - Los Altos CA, US
Arjang M. Hourtash - Santa Clara CA, US
Amy E. Kerdok - San Jose CA, US
Michael Turner - Sunnyvale CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 19/00

US Classification:

606130

Abstract:

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.

US Patent:

57093814, Jan 20, 1998

Filed:

Nov 22, 1996

Appl. No.:

8/755266

Inventors:

Arjang Hourtash - San Diego CA
William H. Schwiebert - San Diego CA
Richard Kemplin - Poway CA
Charles W. Dodge - Escondido CA

Assignee:

Hewlett-Packard Company - Palo Alto CA

International Classification:

B65H 108

US Classification:

271147

Abstract:

A paper tray assembly for a computer controlled printer has an angled paper discharge wall and a paper stack skewer which automatically urges the leading edges of each sheet of paper in the stack against the slanted wall as the paper tray is inserted into a tray receiving slot in the printer. The reason for doing this automatic skewing is to prevent paper misfeeds. Optionally, paper length and paper width adjusting slides are used with the automatic paper stack skewer being pivotally affixed to a length adjustment slide, if used. The skewer is operated by interengaging cams and followers which are actuated as the paper tray is inserted into or removed from a tray receiving slot in the printer.

US Patent:

59019522, May 11, 1999

Filed:

Sep 12, 1996

Appl. No.:

8/710150

Inventors:

Arjang M. Hourtash - San Diego CA

Assignee:

Hewlett-Packard Company - Palo Alto CA

International Classification:

B65H1/00

US Classification:

271171

Abstract:

Briefly and in general terms a paper size adjusting apparatus for a paper supply tray. The apparatus includes a paper supply tray having a bottom wall, left and right side walls, a front wall and a rear wall; a side wall paper guide laterally movable with respect to and connected to the supply tray; and a front wall paper guide longitudinally moveable with respect to and connected to the supply tray. The apparatus further includes a mechanical connector that engages both the paper guides in a manner such that the movement of one of the guides generates a corresponding movement of the other guide. The apparatus provides for a coupled width and length adjustment thereby allowing the user to conform both dimensions with only one manipulation.

US Patent:

20210353375, Nov 18, 2021

Filed:

Jul 30, 2021

Appl. No.:

17/390722

Inventors:

- Sunnyvale CA, US
Arjang M. Hourtash - San Francisco CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 34/30
B25J 9/16
B25J 18/00
A61B 34/37

Abstract:

A system includes a manipulator arm configured to support an instrument having an end effector, the manipulator arm including a distal portion, a proximal portion coupled to a base, and a multitude of joints between the distal portion and the base, the multitude of joints providing sufficient degrees of freedom to allow a range of differing joint states of the multitude of joints for a state of the distal portion. The system also includes a processor coupled to the manipulator arm. The processor is configured with a manipulation mode and a clutch mode, the clutch mode selected from the group consisting of: an arm-null-perpendicular-clutch mode, a port-null-perpendicular-clutch mode, and an arm-port-null-perpendicular-clutch mode. The processor is configured to operate the multitude of joints in accordance with at least one of the manipulation mode and the various clutch modes.

US Patent:

20210015566, Jan 21, 2021

Filed:

Mar 29, 2019

Appl. No.:

17/043550

Inventors:

- Sunnyvale CA, US
Arjang M. HOURTASH - San Francisco CA, US
Saleh TABANDEH - Santa Clara CA, US

International Classification:

A61B 34/30
B25J 19/00
A61B 34/35

Abstract:

A system, e.g., a computer-aided medical system, includes a first link, a second link, a joint, and a dual brake assembly. The first link has a first end portion and a second end portion. The second link has a first end portion and a second end portion. The joint is connected to the second end portion of the first link and to the first end portion of the second link. The dual brake assembly is coupled to the first link and to the second link. The dual brake assembly includes a first brake and a second brake. Braking provided by the dual brake assembly reduces relative motion between the first and second links.

US Patent:

20200289213, Sep 17, 2020

Filed:

Apr 27, 2020

Appl. No.:

16/859892

Inventors:

- Sunnyvale CA, US
Arjang M. Hourtash - San Francisco CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 34/30
B25J 9/16
B25J 18/00
A61B 34/37

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.