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11. 发明授权

US08257386B2 Surgical instrument 有权
标题翻译：手术器械
公开(公告)号：US08257386B2
公开(公告)日：2012-09-04
申请号：US11900417
申请日：2007-09-11
申请人： Woojin Lee , Andres Chamorro , Richard Ross , Marvin A. Guiles , Eileen M. Heneberry , James C. Hollenbeck
发明人： Woojin Lee , Andres Chamorro , Richard Ross , Marvin A. Guiles , Eileen M. Heneberry , James C. Hollenbeck
IPC分类号： A61B17/00
CPC分类号： A61B17/2909 , A61B50/30 , A61B2017/0046 , A61B2017/292 , A61B2017/2929
摘要： A medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal movable members that respectively intercouple the proximal control handle and the distal tool with the instrument shaft, cable control means disposed between the movable members, an actuation member at the handle for controlling the distal tool through the movable members, and a coupler for selectively engaging or disengaging separable cable segments of the actuation member.
摘要翻译：一种具有近端控制手柄和远端工具的医疗器具，所述近端控制手柄和远端工具由细长的仪器轴相互联合，所述细长的仪器轴旨在通过解剖体内部的近端和远端可移动构件的内部，所述近端和远端可移动构件分别使所述近端控制手柄和所述远端工具与所述仪器轴，设置在可动构件之间的电缆控制装置，在手柄处的致动构件，用于通过可移动构件控制远端工具;以及联接器，用于选择性地接合或脱离致动构件的可分离的电缆段。

12. 发明授权

US07699835B2 Robotically controlled surgical instruments 有权
标题翻译：机器人控制手术器械
公开(公告)号：US07699835B2
公开(公告)日：2010-04-20
申请号：US10715339
申请日：2003-11-17
申请人： Woojin Lee , Andres Chamorro, III , Robert Ailinger , Dwight Meglan
发明人： Woojin Lee , Andres Chamorro, III , Robert Ailinger , Dwight Meglan
IPC分类号： A61B17/00
CPC分类号： A61B17/062 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B2017/003 , A61B2017/00477 , A61B2017/2902 , A61B2017/2927 , A61B2017/2931 , A61B2017/2934 , A61B2017/2936 , A61B2017/2943 , A61B2034/301 , A61B2034/305
摘要： A robotically controlled surgical instrument includes a first jaw and a second jaw used to grasp an item, and a drive mechanism that increases the force applied to the item grasped. The drive mechanism and the jaws can be provided with an accommodating mechanism that allows continued movement of the drive mechanism towards a locked position even after the jaws contact a larger item so that the drive mechanism can move to the locked position when grasping items of different sizes.
摘要翻译：机器人控制的手术器械包括用于抓住物品的第一钳口和第二钳口，以及增加施加到被抓握物品的力的驱动机构。驱动机构和夹爪可以设置有容纳机构，即使在夹爪接触较大的物品之后，驱动机构也能够朝向锁定位置继续移动，从而当抓取不同尺寸的物品时驱动机构能够移动到锁定位置。

13. 发明授权

US07648519B2 Surgical instrument 有权
公开(公告)号：US07648519B2
公开(公告)日：2010-01-19
申请号：US11649352
申请日：2007-01-02
申请人： Woojin Lee , Andres Chamorro , Woojoong Lee
发明人： Woojin Lee , Andres Chamorro , Woojoong Lee
IPC分类号： A61B17/00
CPC分类号： A61B17/2909 , A61B2017/00424 , A61B2017/2905 , A61B2017/2925 , A61B2017/2927 , A61B2017/2929 , A61B2017/2946
摘要： A surgical instrument that includes an instrument shaft having proximal and distal ends, a tool disposed from the distal end of the instrument shaft, a control handle disposed from the proximal end of the instrument shaft, a distal motion member for coupling the distal end of the instrument shaft to the tool, a proximal motion member for coupling the proximal end of the instrument shaft to the handle, actuation means extending between the distal and proximal motion members for coupling motion of the proximal motion member to the distal motion member for controlling the positioning of the tool and a locking mechanism for fixing the position of the tool at a selected position and having locked and unlocked states.

14. 发明申请

US20090069842A1 Surgical instrument 有权
标题翻译：手术器械
公开(公告)号：US20090069842A1
公开(公告)日：2009-03-12
申请号：US11900417
申请日：2007-09-11
申请人： Woojin Lee , Andres Chamorro , Richard Ross , Marvin A. Guiles , Eileen M. Heneberry , James C. Hollenbeck
发明人： Woojin Lee , Andres Chamorro , Richard Ross , Marvin A. Guiles , Eileen M. Heneberry , James C. Hollenbeck
IPC分类号： A61B17/00
CPC分类号： A61B17/2909 , A61B50/30 , A61B2017/0046 , A61B2017/292 , A61B2017/2929
摘要： A medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal movable members that respectively intercouple the proximal control handle and the distal tool with the instrument shaft, cable control means disposed between the movable members, an actuation member at the handle for controlling the distal tool through the movable members, and a coupler for selectively engaging or disengaging separable cable segments of the actuation member.
摘要翻译：一种具有近端控制手柄和远端工具的医疗器具，所述近端控制手柄和远端工具由细长的仪器轴彼此相互配合，所述远端工具意在通过解剖体内部通过的近端和远端可移动部件，所述近端和远端可移动部件分别使所述近端控制手柄和所述远端工具与所述仪器轴，设置在可动构件之间的电缆控制装置，在手柄处的致动构件，用于通过可移动构件控制远端工具;以及联接器，用于选择性地接合或脱离致动构件的可分离的电缆段。

15. 发明申请

US20080177283A1 ROBOTICALLY CONTROLLED MEDICAL INSTRUMENT 有权
标题翻译：机器人控制医疗器械
公开(公告)号：US20080177283A1
公开(公告)日：2008-07-24
申请号：US12024013
申请日：2008-01-31
申请人： Woojin Lee , Andres Chamorro , Barry Weitzner
发明人： Woojin Lee , Andres Chamorro , Barry Weitzner
IPC分类号： A61B19/00
CPC分类号： A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/062 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/00371 , A61B2017/00477 , A61B2017/2902 , A61B2017/2927 , A61B2017/2936 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61B2090/571 , B25J3/04 , B25J9/104
摘要： A medical instrument assembly comprises a shaft, a tool carried by the distal end of the shaft for performing a medical procedure on a patient, an end effector, a threaded housing in which the threaded distal shaft end is configured for being screwed, and a first threaded piece disposed in the threaded housing and configured for being moved to actuate the end effector. The assembly further comprises an actuation element extending within the shaft. The actuation element includes a second threaded piece that distally extends from the threaded distal shaft end. The second threaded piece is configured for being screwed to the first threaded piece. A robotic system comprises the assembly, a user interface configured for generating command(s), a drive unit coupled to the actuating element, and an electric controller configured, in response to the command(s), for directing the drive unit to move the actuating element to actuate the tool.
摘要翻译：医疗器械组件包括轴，由轴的远端承载的工具，用于在患者身上执行医疗程序，末端执行器，螺纹壳体，螺纹远端轴端构造成螺纹连接，第一螺纹件设置在螺纹壳体中并且构造成被移动以致动端部执行器。组件还包括在轴内延伸的致动元件。致动元件包括从螺纹远端轴端向远端延伸的第二螺纹件。第二螺纹件构造成用于螺纹连接到第一螺纹件。机器人系统包括组件，被配置为用于生成命令的用户界面，耦合到致动元件的驱动单元和响应于该命令配置的电控制器，用于引导驱动单元移动致动元件以致动该工具。

16. 发明申请

US20070282371A1 Surgical instrument 有权
标题翻译：手术器械
公开(公告)号：US20070282371A1
公开(公告)日：2007-12-06
申请号：US11523103
申请日：2006-09-19
申请人： Woojin Lee , Andres Chamorro
发明人： Woojin Lee , Andres Chamorro
IPC分类号： A61B17/00
CPC分类号： A61B17/29 , A61B1/0052 , A61B1/0057 , A61B17/062 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , A61B2017/2902 , A61B2017/2905 , A61B2017/291 , A61B2017/2927
摘要： The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. The proximal movable member comprises a movable ring assembly supported from the handle and adapted for three dimensional motion relative to the handle. A manually rotatable member may be arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle. A locking member may be supported from the control handle. The locking member is manually operable by a user and includes a follower the position of which is responsive to the position of the movable members.
摘要翻译：外科器械包括远端工具，支撑远侧工具的刚性或柔性细长轴以及近侧手柄或控制构件，其中工具和手柄经由远端和远端工具联接到细长轴的相应远端和近端，并且近端可弯曲运动构件。致动装置在所述远端和近端构件之间延伸，从而所述控制手柄相对于所述细长仪器轴的任何偏转导致所述远端运动构件的相应弯曲以控制所述工作构件。近端可移动构件包括从手柄支撑并适于相对于手柄的三维运动的可移动环组件。手动旋转构件可以布置成与控制手柄相邻，用于相对于控制手柄手动地旋转仪器轴和工作构件。锁定构件可以从控制手柄支撑。锁定构件可由使用者手动操作并且包括其位置响应于可移动构件的位置的随动件。

17. 发明申请

US20060020287A1 Surgical instrument 失效
公开(公告)号：US20060020287A1
公开(公告)日：2006-01-26
申请号：US11185911
申请日：2005-07-20
申请人： Woojin Lee , Andres Chamorro
发明人： Woojin Lee , Andres Chamorro
IPC分类号： A61B17/28
CPC分类号： A61B17/29 , A61B17/062 , A61B17/2909 , A61B2017/003 , A61B2017/00327 , A61B2017/00738 , A61B2017/2902 , A61B2017/2905 , A61B2017/291 , A61B2017/2919 , A61B2017/292 , A61B2017/2927 , A61B2017/2929 , A61B2017/2936 , A61B2017/294
摘要： The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. A manually rotatable member is arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle.

18. 发明授权

US08409175B2 Surgical instrument guide device 有权
公开(公告)号：US08409175B2
公开(公告)日：2013-04-02
申请号：US12387717
申请日：2009-05-06
申请人： Woojin Lee , Andres Chamorro
发明人： Woojin Lee , Andres Chamorro
IPC分类号： A61B1/01
CPC分类号： A61B17/062 , A61B1/00133 , A61B1/00154 , A61B1/0052 , A61B1/0057 , A61B17/068 , A61B17/1285 , A61B17/2909 , A61B17/3403 , A61B17/3417 , A61B17/3421 , A61B2017/003 , A61B2017/00477 , A61B2017/2905 , A61B2017/2906 , A61B2017/291 , A61B2017/2927 , A61B2017/2929 , A61B2017/3445
摘要： An instrument guide device comprises an elongated guide shaft having proximal and distal ends and including an instrument lumen for receiving therethrough a manually operated instrument having an instrument shaft. A distal bendable member is disposed at the distal end of the guide shaft and a proximal bendable member is disposed at the proximal end of the guide shaft. Actuation means extends between the distal and proximal bendable members and provides a bending of the distal bendable member controlled from the proximal bendable member. The proximal bendable member is controlled from the manually operated instrument to cause a corresponding bending of said distal bendable member. A locking mechanism has locked and unlocked positions and includes a ball and socket arrangement disposed about the proximal bendable member and a cinch member for locking the ball and socket arrangement.

19. 发明申请

US20120245567A1 SURGICAL INSTRUMENT 审中-公开
标题翻译：手术器械
公开(公告)号：US20120245567A1
公开(公告)日：2012-09-27
申请号：US13307321
申请日：2011-11-30
申请人： Woojin Lee , Andres Chamorro , Woojoong Lee
发明人： Woojin Lee , Andres Chamorro , Woojoong Lee
IPC分类号： A61B17/00
CPC分类号： A61B17/2909 , A61B2017/00424 , A61B2017/2905 , A61B2017/2925 , A61B2017/2927 , A61B2017/2929 , A61B2017/2946
摘要： A surgical instrument that includes an instrument shaft having proximal and distal ends, a tool disposed from the distal end of the instrument shaft, a control handle disposed from the proximal end of the instrument shaft, a distal motion member for coupling the distal end of the instrument shaft to the tool, a proximal motion member for coupling the proximal end of the instrument shaft to the handle, actuation means extending between the distal and proximal motion members for coupling motion of the proximal motion member to the distal motion member for controlling the positioning of the tool and a locking mechanism for fixing the position of the tool at a selected position and having locked and unlocked states.
摘要翻译：一种手术器械，其包括具有近端和远端的器械轴，从仪器轴的远端设置的工具，从器械轴的近端设置的控制手柄，用于联接器械远端的远端运动构件仪器轴到工具，用于将器械轴的近端连接到手柄的近端运动构件，在远端和近端运动构件之间延伸的致动装置，用于将近端运动构件运动到远端运动构件，用于控制定位以及用于将工具的位置固定在选定位置并具有锁定和解锁状态的锁定机构。

20. 发明申请

US20100228235A1 Surgical instrument 有权
标题翻译：手术器械
公开(公告)号：US20100228235A1
公开(公告)日：2010-09-09
申请号：US12798552
申请日：2010-04-06
申请人： Woojin Lee , Andres Chamorro , Richard Ross
发明人： Woojin Lee , Andres Chamorro , Richard Ross
IPC分类号： A61B17/00
CPC分类号： A61B17/29 , A61B2017/003 , A61B2017/2905 , A61B2017/291 , A61B2017/292
摘要： The surgical instrument includes a distal tool, an elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. The proximal bendable member comprises a ball and socket assembly supported between the handle and instrument shaft and constructed and arranged for three dimensional motion.
摘要翻译：手术器械包括远端工具，支撑远端工具的细长轴和近侧手柄或控制构件，其中工具和手柄通过远端和近端可弯曲运动联接到细长轴的相应远端和近端会员致动装置在所述远端和近端构件之间延伸，从而所述控制手柄相对于所述细长仪器轴的任何偏转导致所述远端运动构件的相应弯曲以控制所述工作构件。近端可弯曲构件包括支撑在手柄和仪器轴之间的球窝组件，并被构造和布置用于三维运动。

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