Paul Anthony Griffiths

US Patent:

20220296318, Sep 22, 2022

Filed:

Jun 7, 2022

Appl. No.:

17/834651

Inventors:

- Sunnyvale CA, US
Paul G. GRIFFITHS - Santa Clara CA, US
Nitish SWARUP - Sunnyvale CA, US
Kamyar ZIAEI - Belmont CA, US

International Classification:

A61B 34/30
A61G 13/02

Abstract:

A computer-assisted device includes a first articulated arm and a control unit coupled to the first articulated arm. The first articulated arm is configured to support an end effector. The control unit is configured to determine a virtual coordinate frame, the virtual coordinate frame being of an imaging device for capturing images of a workspace of the end effector, and the virtual coordinate frame being detached from an actual imaging coordinate frame of the imaging device; receive, from an input control configured to be manipulated by a user, a first instrument motion command to move the end effector; and drive the first articulated arm to move the end effector relative to the virtual coordinate frame based on the first instrument motion command.

US Patent:

20230125548, Apr 27, 2023

Filed:

Dec 21, 2022

Appl. No.:

18/069336

Inventors:

- Sunnyvale CA, US
Paul G. GRIFFITHS - Santa Clara CA, US
Jason HEMPHILL - Los Gatos CA, US
Goran A. LYNCH - Oakland CA, US
Daniel N. MILLER - Fremont CA, US
Patrick O'GRADY - Alameda CA, US
Nitish SWARUP - Sunnyvale CA, US
Kamyar ZIAEI - Belmont CA, US

International Classification:

A61B 34/30
A61G 13/02
A61B 34/00

Abstract:

Integrated table motion includes a computer-assisted device. The computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. To support integrated motion with a table physically separate from and communicatively coupled to the computer-assisted device via a communications connection, the control unit is configured to receive a table movement request from a table command unit of the table, determine whether the table movement request should be allowed, and allow the table to perform the table movement request based on determining that the table movement request should be allowed.

US Patent:

20210387338, Dec 16, 2021

Filed:

Aug 27, 2021

Appl. No.:

17/459175

Inventors:

- Sunnyvale CA, US
Paul G. Griffiths - Santa Clara CA, US
Goran A. Lynch - Oakland CA, US
Daniel N. Miller - Fremont CA, US

International Classification:

B25J 9/16
A61B 34/30
B25J 9/06
B25J 19/00
B25J 19/02

Abstract:

Disturbance compensation in computer-assisted devices include a first articulated arm configured to support an imaging device a second articulated arm configured to support an end effector, and a control unit coupled to the first articulated arm and the second articulated arm. The control unit is configured to set a first reference frame, where the first reference frame is based on a first position of the imaging device at a first time. The control unit is further configured to detect a first disturbance to the first articulated arm moving the imaging device away from the first position, receive a command to move the end effector, and transform the command to move the end effector from a command in the first reference frame to a command in a reference frame for the end effector.

US Patent:

20210369365, Dec 2, 2021

Filed:

Nov 19, 2018

Appl. No.:

16/763552

Inventors:

- SUNNYVALE CA, US
Paul G. Griffiths - Santa Clara CA, US
Brandon D. Itkowitz - San Jose CA, US
Tao Zhao - Sunnyvale CA, US

International Classification:

A61B 34/35
A61B 90/00
A61B 34/00

Abstract:

A robotic system comprises a display that is viewable by an operator. An operator reference frame is defined relative to the display or the operator viewing the display. The robotic system also includes an input device movable by the operator and a processing unit. The processing unit is configured to present, in the display, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

US Patent:

20210353378, Nov 18, 2021

Filed:

Jul 29, 2021

Appl. No.:

17/389243

Inventors:

- Sunnyvale CA, US
Nitish SWARUP - Sunnyvale CA, US
Paul G. GRIFFITHS - Santa Clara CA, US
Goran LYNCH - Oakland CA, US

International Classification:

A61B 34/00
A61B 34/30
A61B 1/00
B25J 9/16

Abstract:

A system and method of maintaining a tool position and orientation for a computer-assisted device include a control unit and an articulated structure coupled to the control unit and including a plurality of joints. The articulated structure is configured to support an instrument. The control unit is configured to determine an error that is introduced to a position of the instrument, an orientation of the instrument, or both the position of the instrument and the orientation of the instrument by movement of a first joint of the plurality of joints; and drive at least a second joint of the plurality of joints to reduce the error. v

US Patent:

20210220084, Jul 22, 2021

Filed:

Apr 6, 2021

Appl. No.:

17/224049

Inventors:

- Sunnyvale CA, US
Paul G. GRIFFITHS - Santa Clara CA, US
Goran A. LYNCH - Oakland CA, US
Daniel N. MILLER - Fremont CA, US

International Classification:

A61B 90/50
A61B 34/30
A61B 34/35
B25J 9/16
B25J 9/00
B25J 9/06
B25J 19/00

Abstract:

A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.

US Patent:

20210212780, Jul 15, 2021

Filed:

Mar 30, 2021

Appl. No.:

17/217874

Inventors:

- Sunnyvale CA, US
Paul G. GRIFFITHS - Santa Clara CA, US
Jason HEMPHILL - Los Gatos CA, US
Goran A. LYNCH - Oakland CA, US
Daniel N. MILLER - Fremont CA, US
Patrick O'GRADY - Alameda CA, US
Nitish SWARUP - Sunnyvale CA, US
Kamyar ZIAEI - Belmont CA, US

International Classification:

A61B 34/30
A61G 13/02
A61B 34/00

Abstract:

Integrated table motion includes a device including a control unit and an arm having one or more joints and a distal portion. The control unit is configured to receive a table movement request from a separate table, determine whether to allow the table movement request based on one or more of whether a type of movement in the table movement request is permitted, whether one or more instruments mounted to the device are within a field of view of an imaging device, or whether one or more instruments mounted to the device are withdrawn into respective cannulas, allow the table to perform the table movement request based on the determining; track movement of the table while the table performs the table movement request; and maintain, using the joint(s) and based on the tracked movement of the table, a position and/or an orientation of the distal portion relative to the table.

US Patent:

20210145528, May 20, 2021

Filed:

Jan 26, 2021

Appl. No.:

17/159052

Inventors:

- Sunnyvale CA, US
Paul G. GRIFFITHS - Santa Clara CA, US

International Classification:

A61B 34/30
B25J 9/16
B25J 13/02
B25J 19/00
A61B 34/00
B25J 1/02
B25J 3/04

Abstract:

A system and method of providing feedback during manual joint positioning includes a computer-assisted device having an articulated structure including a joint and a control unit coupled to the articulated structure. To provide feedback to a user during manual positioning of the joint by the user, the control unit is configured to provide first haptic feedback indicating that the joint is moving in a correct direction when the joint is moving toward a first target position, provide second haptic feedback indicating that the joint is not moving in the correct direction when the joint is moving away from the first target position, and provide third haptic feedback indicating that motion of the joint should stop when the joint is at the first target position.