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11. 发明申请

US20110277776A1 SURGICAL SYSTEM STERILE DRAPE 有权
标题翻译：外科系统无痛性皮肤病
公开(公告)号：US20110277776A1
公开(公告)日：2011-11-17
申请号：US12855499
申请日：2010-08-12
申请人： ANTHONY K. McGrogan , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Craig R. Ramstad
发明人： ANTHONY K. McGrogan , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Craig R. Ramstad
IPC分类号： A61B19/10 , A61B19/00
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.
摘要翻译：提供了无菌悬垂布，具有悬垂布的手术系统和悬垂方法。在一个实施例中，无菌悬垂包括多个覆盖袋，每个覆盖袋包括与无菌区相邻的用于执行外科手术的外表面和与非无菌器械操纵器相邻的内表面机器人手术系统的手术臂。盖布还包括在每个覆盖袋的远侧面处的多个柔性膜，用于在仪器操纵器的输出和相应的手术器械的输入之间进行接口，以及可旋转的密封件，其适于将每个覆盖物的近端开口在操纵臂的远端处的可旋转元件的口袋。

12. 发明申请

US20110282357A1 SURGICAL SYSTEM ARCHITECTURE 审中-公开
标题翻译：外科系统结构
公开(公告)号：US20110282357A1
公开(公告)日：2011-11-17
申请号：US12855434
申请日：2010-08-12
申请人： Theodore W. Rogers , Jeffrey D. Brown , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad
发明人： Theodore W. Rogers , Jeffrey D. Brown , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad
IPC分类号： A61B19/00
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： Robotic surgical systems are provided. In one embodiment, the system includes a setup link for locating a remote center of motion for the robotic surgical system; a manipulator arm assembly including an active proximal link and an active distal link, the proximal link operably coupled to the setup link; and a plurality of instrument manipulators operably coupled to a distal end of the distal link, the plurality of instrument manipulators rotatable about an instrument manipulator assembly roll axis. A cannula mount is movably coupled to a proximal end of the distal link, and a cannula is coupled to the cannula mount, the cannula having a longitudinal axis substantially coincident with the instrument manipulator assembly roll axis. The system further includes an entry guide tube at least partially within the cannula, the entry guide tube rotatable about the longitudinal axis of the cannula.
摘要翻译：提供机器人手术系统。在一个实施例中，系统包括用于为机器人手术系统定位远程运动中心的设置链接; 操纵臂组件，其包括主动近端连杆和主动远端连杆，所述近侧连杆可操作地联接到所述安装连杆; 以及可操作地联接到所述远端连杆的远端的多个仪器操纵器，所述多个仪器操纵器围绕仪器操纵器组件辊轴可旋转。套管安装件可移动地联接到远端连杆的近端，并且套管联接到套管安装座，套管具有与仪器操纵器组件辊轴线基本重合的纵向轴线。该系统还包括至少部分地在套管内的入口引导管，入口引导管可绕套管的纵向轴线旋转。

13. 发明授权

US08377046B2 Surgical instrument control and actuation 有权
标题翻译：手术仪器控制和启动
公开(公告)号：US08377046B2
公开(公告)日：2013-02-19
申请号：US13110194
申请日：2011-05-18
申请人： Thomas G. Cooper , Anthony K. McGrogan
发明人： Thomas G. Cooper , Anthony K. McGrogan
IPC分类号： A61B19/00
CPC分类号： A61B1/00149 , A61B1/00087 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： Two or more telemanipulated surgical instruments are inserted through a guide tube. Each instrument has a transmission mechanism that transmits actuating forces from actuators to components of the instrument. The transmission mechanisms are arranged around an extended centerline of the guide tube and are wedge-shaped so that they can be positioned more closely to the extended centerline.
摘要翻译：两个或更多的远程操作的外科器械通过导管插入。每个仪器都具有一个传动机构，将致动力从致动器传递到仪器的部件。传动机构围绕引导管的延伸的中心线布置并且是楔形的，使得它们可以更靠近延伸的中心线定位。

14. 发明授权

US07967813B2 Surgical instrument control and actuation 有权
标题翻译：手术仪器控制和启动
公开(公告)号：US07967813B2
公开(公告)日：2011-06-28
申请号：US11762158
申请日：2007-06-13
申请人： Thomas G. Cooper , Anthony K. McGrogan
发明人： Thomas G. Cooper , Anthony K. McGrogan
IPC分类号： A61B19/00
CPC分类号： A61B1/00149 , A61B1/00087 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： Two or more telemanipulated surgical instruments are inserted through a guide tube. Each instrument has a transmission mechanism that transmits actuating forces from actuators to components of the instrument. The transmission mechanisms are arranged around an extended centerline of the guide tube and are wedge-shaped so that they can be positioned more closely to the extended centerline.
摘要翻译：两个或更多的远程操作的外科器械通过导管插入。每个仪器都具有一个传动机构，将致动力从致动器传递到仪器的部件。传动机构围绕引导管的延伸的中心线布置并且是楔形的，使得它们可以更靠近延伸的中心线定位。

15. 发明申请

US20090248040A1 Coupler to Transfer Controller Motion from a Robotic Manipulator to an Attached Instrument 有权
标题翻译：耦合器将控制器运动从机器人操纵器传输到附加仪器
公开(公告)号：US20090248040A1
公开(公告)日：2009-10-01
申请号：US12060104
申请日：2008-03-31
申请人： Thomas G. Cooper , Anthony K. McGrogan
发明人： Thomas G. Cooper , Anthony K. McGrogan
IPC分类号： A61B19/00 , B25J17/02
CPC分类号： A61B34/30 , A61B34/71 , A61B90/10 , A61B2017/00477 , Y10T74/20323 , Y10T74/20335
摘要： A coupler to provide controller motion from a robotic manipulator includes a pin having a tip with a spherical bearing surface and a plate supported on the spherical bearing surface of the pin with two degrees of rotational freedom about the center of the spherical bearing surface. The plate has a back surface and an opposing driving surface that bears against a first surface of an inner gimbal of a gimbal assembly of a driven device. The plate includes a pin receiving portion that extends outwardly from the driving surface and away from the back surface. The pin receiving portion includes a spherical receiving surface to receive the spherical bearing surface of the pin. The spherical bearing surface is located at a distance above the driving surface such that the center of the spherical bearing surface coincides with an intersection of the gimbal assembly axes of the driven device.
摘要翻译：用于提供来自机器人操纵器的控制器运动的耦合器包括具有带有球面轴承表面的尖端的销和支撑在销的球形支承表面上的板，围绕球面轴承表面的中心具有两个旋转自由度。板具有背面和相对的驱动表面，该驱动表面抵靠驱动装置的万向节组件的内万向架的第一表面。板包括从驱动表面向外延伸并远离后表面的销接收部分。销接收部分包括球形接收表面以接收销的球面轴承表面。球面轴承表面位于驱动表面上方的距离处，使得球面轴承表面的中心与被驱动装置的万向节组件轴线的交点重合。

16. 发明授权

US09801526B2 Minimally invasive surgical system 有权
公开(公告)号：US09801526B2
公开(公告)日：2017-10-31
申请号：US13465842
申请日：2012-05-07
申请人： David Q. Larkin , Thomas G. Cooper , Catherine Mohr
发明人： David Q. Larkin , Thomas G. Cooper , Catherine Mohr
IPC分类号： A61B1/00 , A61B1/04 , A61B17/00 , A61B5/05 , A61B19/00 , A61B34/37 , A61B34/30 , A61B1/018 , A61B1/002 , A61B1/06 , A61B5/00 , A61B8/12 , A61B1/05 , A61B90/10 , A61B34/00 , A61B34/20 , A61B1/005 , A61B17/34 , A61B90/00
CPC分类号： A61B1/00149 , A61B1/00087 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： A surgical instrument is inserted through a guide tube. A telemanipulation system moves the distal end of the surgical instrument in all six Cartesian degrees of freedom independently of any guide tube movements.

17. 发明授权

US09320568B2 Sterile surgical drape 有权
标题翻译：无菌手术悬垂
公开(公告)号：US09320568B2
公开(公告)日：2016-04-26
申请号：US13476083
申请日：2012-05-21
申请人： Joseph Orban, III , Lisa Heaton , S. Christopher Anderson , Thomas G. Cooper
发明人： Joseph Orban, III , Lisa Heaton , S. Christopher Anderson , Thomas G. Cooper
IPC分类号： A61B19/08 , A61B19/00 , A61B17/00
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , Y10T29/49826 , Y10T428/13
摘要： A surgical drape comprises an exterior surface adjacent to a sterile field for performing a surgical procedure and an interior surface forming a cavity for receiving a non-sterile portion of a robotic surgical system. The surgical drape also includes a first vent through the interior and exterior surfaces spaced apart from a second vent through the interior and exterior surfaces to create convection heat venting through the surgical drape. The exterior and interior surfaces include a window for positioning adjacent to a monitor screen, the window having a static charge.The drape further comprises second drape section connected to a first drape section and including an instrument sterile adapter for engaging a surgical tool and another non-sterile portion of the robotic surgical system, the sterile adapter configured to transfer signals between the surgical tool and the other non-sterile portion of the robotic surgical system.
摘要翻译：手术罩包括邻近无菌区域的外表面，用于执行外科手术，以及形成用于接收机器人手术系统的非无菌部分的空腔的内表面。手术罩还包括通过内部和外部表面的第一通气口，其通过内部和外部表面间隔开第二通气口，以产生穿过手术罩的对流热通气。外表面和内表面包括用于邻近监视器屏幕定位的窗口，窗口具有静电荷。所述盖布还包括连接到第一覆盖部分并且包括用于接合外科手术工具的机器无菌适配器和所述机器人手术系统的另一非无菌部分的第二覆盖部分，所述无菌适配器被配置为在所述外科手术工具与所述外科手术工具之间传递信号机器人手术系统的非无菌部分。

18. 发明授权

US09232984B2 Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system 有权
公开(公告)号：US09232984B2
公开(公告)日：2016-01-12
申请号：US12943754
申请日：2010-11-10
申请人： Gary S. Guthart , Gunter D. Niemeyer , Robert G. Younge , J. Kenneth Salisbury , Thomas G. Cooper
发明人： Gary S. Guthart , Gunter D. Niemeyer , Robert G. Younge , J. Kenneth Salisbury , Thomas G. Cooper
IPC分类号： A61B17/00 , A61B19/00 , A61B1/04 , A61B8/12 , A61B1/00 , A61B8/00 , A61B18/20 , A61B1/313
CPC分类号： A61B34/30 , A61B1/00045 , A61B1/0005 , A61B1/04 , A61B1/3132 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B17/00234 , A61B18/20 , A61B34/20 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2034/107 , A61B2034/305 , A61B2090/031 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2090/0807 , A61B2090/506
摘要： Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.

19. 发明授权

US08911428B2 Apparatus for pitch and yaw rotation 有权
标题翻译：用于俯仰和偏转旋转的装置
公开(公告)号：US08911428B2
公开(公告)日：2014-12-16
申请号：US13414445
申请日：2012-03-07
申请人： Thomas G. Cooper , Daniel T. Wallace , Stacey Chang , S. Christopher Anderson , Dustin Williams , Scott Manzo
发明人： Thomas G. Cooper , Daniel T. Wallace , Stacey Chang , S. Christopher Anderson , Dustin Williams , Scott Manzo
IPC分类号： A61B17/00 , A61B19/00 , A61B1/005 , A61B1/008 , A61B17/29
CPC分类号： A61B17/00234 , A61B1/0055 , A61B1/0057 , A61B1/008 , A61B34/30 , A61B34/71 , A61B34/72 , A61B2017/00314 , A61B2017/0069 , A61B2017/2908 , A61B2017/2929 , A61B2017/2936 , A61B2034/304 , A61B2034/305 , A61B2034/306
摘要： The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.
摘要翻译：本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。驱动电缆用于操纵和控制椎骨的运动。在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。电缆由枢轴板电缆致动器机构致动。

20. 发明授权

US08758352B2 Mechanical actuator interface system for robotic surgical tools 有权
标题翻译：用于机器人手术工具的机械致动器接口系统
公开(公告)号：US08758352B2
公开(公告)日：2014-06-24
申请号：US12407101
申请日：2009-03-19
申请人： Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Robert G. Younge
发明人： Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Robert G. Younge
IPC分类号： A61F5/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
摘要翻译：用于准备和执行机器人手术的机器人手术工具，系统和方法包括安装在该工具上的存储器。当工具装载在工具操纵器上时，存储器可以执行多种功能：首先，存储器可以提供一个信号，以验证该工具是否与该特定机器人系统兼容。其次，工具存储器可以识别机器人系统的工具类型，使得机器人系统可以重新配置其编程。第三，工具的记忆可以指示工具特定的信息，包括指示工具驱动系统的未对准的测量校准偏移，工具寿命数据等。该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。本发明还提供了用于将机器人外科手术工具与机械手结构相结合的改进的接合结构。

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