# US 11,432,886 B2 · User initiated break-away clutching of a surgical mounting platform > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,432,886 B2 - Document ID: US11432886B2 - Status: Granted - Kind: B2 - Application number: 16/022,602 - Filed: 2018-06-28 - Published: 2018-10-25 - Granted: 2022-09-06 - Earliest claimed: 2012-08-15 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Paul Griffiths; Paul Mohr; Nitish Swarup; Michael Hanuschik - Web page: https://patentgrep.com/patent/US11432886B2 ## CPC - A61B 34/30: Surgical robots - A61B 34/77: {Manipulators with motion or force scaling} - A61B 90/06: {Measuring instruments not otherwise provided for} - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - B25J 9/1669: {characterised by special application, e.g. multi-arm co-operation, assembly, grasping} - A61B 34/35: for telesurgery - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/304: {including a freely orientable platform, e.g. so called 'Stewart platforms'} - A61B 2090/066: {for measuring torque} - A61B 2090/508: {with releasable brake mechanisms} - G05B 2219/40414: Man robot interface, exchange of information between operator and robot - Y10S 901/02: Arm motion controller - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract Robotic and/or surgical devices, systems, and methods include a robotic device. The robotic device includes a manipulator, a drive unit coupled to the manipulator, and a processor coupled with the drive unit. The processor is configured determine that a cannula is mounted to the manipulator and inhibit, using the drive unit, manual articulation of the manipulator in response to determining that the cannula is mounted to the manipulator. In some embodiments, the robotic device further includes a linkage. The processor is further configured to determine a manual effort against the manipulator; inhibit, using the drive unit, the manual articulation of the linkage in response to the manual effort being below an articulation threshold; and facilitate, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the linkage in response to the manual effort exceeding the articulation threshold. ## Claims ### Claim 1 A robotic device comprising: a manipulator; a drive unit coupled to the manipulator; and a processor coupled with the drive unit, the processor being configured to: determine that a cannula is mounted to the manipulator; and inhibit, using the drive unit, manual articulation of the manipulator in response to determining that the cannula is mounted to the manipulator. ### Claim 2 (depends on 1) The robotic device of claim 1, further comprising: a linkage; wherein the processor is further configured to: determine a manual effort against the manipulator; inhibit, using the drive unit, manual articulation of the linkage in response to the manual effort being below an articulation threshold; and facilitate, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the linkage in response to the manual effort exceeding the articulation threshold. ### Claim 3 (depends on 2) The robotic device of claim 2, wherein the processor is further configured to inhibit, using the drive unit, further manual articulation of the linkage in response to determining that a speed of the manual articulation of the manipulator is below a speed threshold. ### Claim 4 (depends on 2) The robotic device of claim 2, wherein the manipulator comprises the linkage. ### Claim 5 (depends on 2) The robotic device of claim 2, wherein the robotic device is a medical device, wherein the linkage comprises a set-up structure having a base, a platform, and a joint physically coupled between the base and the platform; and the platform supports a plurality of manipulators, each manipulator configured to releasably receive an instrument, wherein the plurality of manipulators includes the manipulator. ### Claim 6 (depends on 1) The robotic device of claim 1, further comprising: a joint coupled to the manipulator; wherein the processor is further configured to: determine a manual effort against the manipulator; inhibit, using the drive unit, manual articulation of the joint in response to the manual effort being below an articulation threshold; and facilitate, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the joint in response to the manual effort exceeding the articulation threshold. ### Claim 7 (depends on 6) The robotic device of claim 6, wherein the processor is further configured to inhibit, using the drive unit, further manual articulation of the joint in response to determining that a speed of the manual articulation of the manipulator is below a speed threshold. ### Claim 8 (depends on 1) The robotic device of claim 1, wherein the processor is configured to inhibit the manual articulation of the manipulator by applying a brake. ### Claim 9 (depends on 1) The robotic device of claim 1, wherein the processor is configured to inhibit the manual articulation of the manipulator by driving an actuator of the manipulator to counteract articulation of the manipulator. ### Claim 10 (depends on 1) The robotic device of claim 1, wherein the processor is further configured to: operate the drive unit to compensate for friction, gravity, or momentum when facilitating the manual articulation of the manipulator. ### Claim 11 A method of controlling a robotic device, the method comprising: determining, using a configured processor, that a cannula is mounted to a manipulator of the robotic device; and inhibiting, using a drive unit, manual articulation of the manipulator in response to determining that the cannula is mounted to the manipulator. ### Claim 12 (depends on 11) The method of claim 11, further comprising: determining a manual effort against the manipulator; inhibiting, using the drive unit, manual articulation of a linkage coupled to the manipulator in response to the manual effort being below an articulation threshold; and facilitating, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the linkage in response to the manual effort exceeding the articulation threshold. ### Claim 13 (depends on 12) The method of claim 12, further comprising inhibiting, using the drive unit, further manual articulation of the linkage in response to determining that a speed of the manual articulation of the manipulator is below a speed threshold. ### Claim 14 (depends on 11) The method of claim 11, further comprising: determining a manual effort against the manipulator; inhibiting, using the drive unit, manual articulation of a joint coupled to the manipulator in response to the manual effort being below an articulation threshold; and facilitating, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the joint in response to the manual effort exceeding the articulation threshold. ### Claim 15 (depends on 14) The method of claim 14, further comprising inhibiting, using the drive unit, further manual articulation of the joint in response to determining that a speed of the manual articulation of the manipulator is below a speed threshold. ### Claim 16 (depends on 11) The method of claim 11, further comprising inhibiting the manual articulation of the manipulator by applying a brake or by driving an actuator of the manipulator to counteract articulation of the manipulator. ### Claim 17 (depends on 11) The method of claim 11, further comprising: operating the drive unit to compensate for friction, gravity, or momentum when facilitating manual articulation of the manipulator. ### Claim 18 A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a robotic device are adapted to cause the one or more processors to perform a method comprising: determining that a cannula is mounted to a manipulator of the robotic device; and inhibiting, using a drive unit, manual articulation of the manipulator in response to determining that the cannula is mounted to the manipulator. ### Claim 19 (depends on 18) The non-transitory machine-readable medium of claim 18, wherein the method further comprises: determining a manual effort against the manipulator; inhibiting, using the drive unit, manual articulation of a linkage coupled to the manipulator or manual articulation of a joint coupled to the manipulator in response to the manual effort being below an articulation threshold; and facilitating, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the linkage or the manual articulation of the joint in response to the manual effort exceeding the articulation threshold. ### Claim 20 (depends on 19) The non-transitory machine-readable medium of claim 19, wherein the method further comprises inhibiting, using the drive unit, further manual articulation of the linkage or further manual articulation of the joint in response to determining that a speed of the manual articulation of the manipulator is below a speed threshold.