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11. 发明申请

US20070142824A1 INDICATOR FOR TOOL STATE AND COMMUNICATION IN MULTI-ARM ROBOTIC TELESURGERY 有权
标题翻译：多臂机器人手术工具状态和通信指标
公开(公告)号：US20070142824A1
公开(公告)日：2007-06-21
申请号：US11556484
申请日：2006-11-03
申请人： Roman L. Devengenzo , David S. Mintz , Tracey A. Morley , Theodore C. Walker
发明人： Roman L. Devengenzo , David S. Mintz , Tracey A. Morley , Theodore C. Walker
IPC分类号： A61B17/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2017/00115 , A61B2017/00477 , A61B2017/00482 , A61B2017/00734 , A61B2034/305 , A61B2090/0807 , A61B2560/04
摘要： Medical and/or robotic devices, systems and methods provide an indicator associated with a manipulator assembly of a multi-arm telerobotic or telesurgical system. An example of an indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.
摘要翻译：医疗和/或机器人设备，系统和方法提供与多臂远程远程操作或远程外科系统的操纵器组件相关联的指示器。指示器的示例包括安装到操纵器的多色发光二极管（LED），移动相关的外科器械，允许指示器显示各种各样的信号。本发明可以提供额外的用户界面以促进远程外科手术系统和/或远程外科手术团队的成员之间的通信。

12. 发明申请

US20150073437A1 Indicator For Tool State and Communication in Multi-Arm Robotic Telesurgery 审中-公开
标题翻译：多臂机器人手术中刀具状态与通讯指标
公开(公告)号：US20150073437A1
公开(公告)日：2015-03-12
申请号：US14542126
申请日：2014-11-14
申请人： Roman L. Devengenzo , David S. Mintz , Tracey A. Morley , Theodore C. Walker
发明人： Roman L. Devengenzo , David S. Mintz , Tracey A. Morley , Theodore C. Walker
IPC分类号： A61B19/00
CPC分类号： A61B34/70 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2017/00115 , A61B2017/00477 , A61B2017/00482 , A61B2017/00734 , A61B2034/305 , A61B2090/0807 , A61B2560/04
摘要： Medical and/or robotic devices, systems and methods provide an indicator associated with a manipulator assembly of a multi-arm telerobotic or telesurgical system. An example of an indicator comprises as multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.
摘要翻译：医疗和/或机器人设备，系统和方法提供与多臂远程远程操作或远程外科系统的操纵器组件相关联的指示器。指示器的示例包括安装到移动相关外科器械的操纵器的多色发光二极管（LED），允许指示器显示各种各样的信号。本发明可以提供额外的用户界面以促进远程外科手术系统和/或远程外科手术团队的成员之间的通信。

13. 发明授权

US08894634B2 Indicator for tool state and communication in multi-arm robotic telesurgery 有权
标题翻译：多臂机器人远程外科手术状态和通讯指标
公开(公告)号：US08894634B2
公开(公告)日：2014-11-25
申请号：US13599336
申请日：2012-08-30
申请人： Roman L. Devengenzo , David S. Mintz , Tracey A. Morley , Theodore C. Walker
发明人： Roman L. Devengenzo , David S. Mintz , Tracey A. Morley , Theodore C. Walker
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2017/00115 , A61B2017/00477 , A61B2017/00482 , A61B2017/00734 , A61B2034/305 , A61B2090/0807 , A61B2560/04
摘要： Medical and/or robotic devices, systems and methods provide an indicator associated with a manipulator assembly of a multi-arm telerobotic or telesurgical system. An example of an indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.
摘要翻译：医疗和/或机器人设备，系统和方法提供与多臂远程远程操作或远程外科系统的操纵器组件相关联的指示器。指示器的示例包括安装到操纵器的多色发光二极管（LED），移动相关的外科器械，允许指示器显示各种各样的信号。本发明可以提供额外的用户界面以促进远程外科手术系统和/或远程外科手术团队的成员之间的通信。

14. 发明授权

US08641700B2 Telescoping insertion axis of a robotic surgical system 有权
标题翻译：机器人手术系统的伸缩插入轴
公开(公告)号：US08641700B2
公开(公告)日：2014-02-04
申请号：US13454925
申请日：2012-04-24
申请人： Roman L. Devengenzo , Thomas G. Cooper , Bruce Schena
发明人： Roman L. Devengenzo , Thomas G. Cooper , Bruce Schena
IPC分类号： B25J18/00
CPC分类号： A61B34/71 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2046/234 , B25J15/04 , Y10T74/20305
摘要： A telescopic insertion axis, a robotic surgical system including the telescopic insertion axis, and a method of instrument insertion are provided. In one embodiment, a telescopic insertion axis includes a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an instrument interface.
摘要翻译：提供伸缩插入轴，包括伸缩插入轴的机器人手术系统以及器械插入方法。在一个实施例中，伸缩插入轴线包括可操作地联接到操纵臂的远端的基座连杆和沿着纵向轴线可移动地联接到基座连杆的滑架连杆，滑架连杆包括仪器接口。

15. 发明授权

US08342054B2 Multiaxis counterbalance and positioning system using a spatial linkage 有权
标题翻译：多轴平衡和定位系统采用空间联动
公开(公告)号：US08342054B2
公开(公告)日：2013-01-01
申请号：US12693329
申请日：2010-01-25
申请人： Bruce Michael Schena , Roman L. Devengenzo
发明人： Bruce Michael Schena , Roman L. Devengenzo
IPC分类号： B25J18/00
CPC分类号： A61B90/50 , A61B34/30 , A61B34/71 , A61B2034/304 , A61B2090/5025 , A61B2090/506 , A61B2090/508 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A spatial linkage including an inboard gimbal plate that provides a ground for the spatial linkage, an outboard gimbal plate, and at least three links that couple the outboard gimbal plate to the inboard gimbal plate. Each link has a longitudinal axis and two pivotal couplings disposed at opposite ends of the longitudinal axis. Each link is pivotally coupled to the outboard gimbal plate at a first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a second end of the longitudinal axis opposite the first end. The pivotal couplings allow the outboard gimbal plate to move relative to the inboard gimbal plate and preventing relative rotation between the outboard gimbal plate and the inboard gimbal plate. Counterweight is coupled to at least one of the links on the opposite side of the inboard gimbal plate from the outboard gimbal plate.
摘要翻译：一种空间连杆，包括为空间连杆提供地面的内侧万向节板，外侧万向节板，以及将外侧万向节板连接到内侧万向节板的至少三个连杆。每个连杆具有纵向轴线，并且两个枢转联接件设置在纵向轴线的相对端。每个连杆在纵向轴线的第一端处枢转地联接到外侧万向节板，并且在与第一端相对的纵向轴线的第二端处枢转地联接到内侧万向节板。枢转联轴器允许外侧万向节板相对于内侧万向节板移动，并防止外侧万向节板和内侧万向节板之间的相对旋转。配重与外侧万向平板的内侧万向节板的相对侧上的链接中的至少一个连接。

16. 发明授权

US09050119B2 Cable tensioning in a robotic surgical system 有权
标题翻译：机器人手术系统中的电缆张力
公开(公告)号：US09050119B2
公开(公告)日：2015-06-09
申请号：US11613578
申请日：2006-12-20
申请人： Roman L. Devengenzo , Todd R. Solomon , Thomas G. Cooper
发明人： Roman L. Devengenzo , Todd R. Solomon , Thomas G. Cooper
IPC分类号： G06F19/00 , A61B19/00 , A61B1/00 , B25J9/10 , A61B17/00 , A61B19/10
CPC分类号： A61B34/71 , A61B1/00149 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00212 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2046/234 , B25J9/1045 , G06F19/00 , G06F19/3418 , G06F19/3481 , G16H40/63 , Y10T74/20305
摘要： An apparatus, system, and method for setting, maintaining, and adjusting a cable tension in a telerobotic surgical system are provided. A cable tensioning apparatus includes, in one example, an arm, a pulley rotatably coupled to the arm, and a base operably coupled to the arm, the base including a translation mechanism for changing the position of the pulley to control a tension of a cable movable along the pulley. A termination block includes, in one example, a block including two cable pathways with each cable pathway having a retaining means for a ball fitting, and a support for moving a cable along the two cable pathways, the cable including a ball fitting in each of the cable pathways.
摘要翻译：提供了一种用于设置，维持和调整远程外科手术系统中的电缆张力的装置，系统和方法。在一个示例中，电缆张紧装置包括臂，可旋转地联接到臂的滑轮和可操作地联接到臂的基座，所述基座包括用于改变皮带轮的位置以控制电缆的张力的平移机构可沿滑轮移动。在一个示例中，终端块包括包括两个电缆路径的块，每个电缆路径具有用于球配件的保持装置，以及用于沿着两个电缆路径移动电缆的支撑件，电缆包括在每个电缆路径中的球配件电缆路径。

17. 发明申请

US20120330325A1 Indicator for Tool State and Communication in Multi-Arm Robotic Telesurgery 有权
标题翻译：多臂机器人手术中刀具状态与通讯指标
公开(公告)号：US20120330325A1
公开(公告)日：2012-12-27
申请号：US13599336
申请日：2012-08-30
申请人： Roman L. Devengenzo , David S. Mintz , Tracey A. Morley , Theodore C. Walker
发明人： Roman L. Devengenzo , David S. Mintz , Tracey A. Morley , Theodore C. Walker
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2017/00115 , A61B2017/00477 , A61B2017/00482 , A61B2017/00734 , A61B2034/305 , A61B2090/0807 , A61B2560/04
摘要： Medical and/or robotic devices, systems and methods provide an indicator associated with a manipulator assembly of a multi-arm telerobotic or telesurgical system. An example of an indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.
摘要翻译：医疗和/或机器人设备，系统和方法提供与多臂远程远程操作或远程外科系统的操纵器组件相关联的指示器。指示器的示例包括安装到操纵器的多色发光二极管（LED），移动相关的外科器械，允许指示器显示各种各样的信号。本发明可以提供额外的用户界面以促进远程外科手术系统和/或远程外科手术团队的成员之间的通信。

18. 发明授权

US08182470B2 Telescoping insertion axis of a robotic surgical system 有权
标题翻译：机器人手术系统的伸缩插入轴
公开(公告)号：US08182470B2
公开(公告)日：2012-05-22
申请号：US11613800
申请日：2006-12-20
申请人： Roman L. Devengenzo , Thomas G. Cooper , Bruce Schena
发明人： Roman L. Devengenzo , Thomas G. Cooper , Bruce Schena
IPC分类号： B25J18/00
CPC分类号： A61B34/71 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2046/234 , B25J15/04 , Y10T74/20305
摘要： A telescopic insertion axis, a robotic surgical system including the telescopic insertion axis, and a method of instrument insertion are provided. In one embodiment, a telescopic insertion axis includes a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an instrument interface.
摘要翻译：提供伸缩插入轴，包括伸缩插入轴的机器人手术系统以及器械插入方法。在一个实施例中，伸缩插入轴线包括可操作地联接到操纵臂的远端的基座连杆和沿着纵向轴线可移动地联接到基座连杆的滑架连杆，滑架连杆包括仪器接口。

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