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41. 发明授权

US09291793B2 Apparatus for compact counter balance arms 有权
标题翻译：紧凑型平衡臂装置
公开(公告)号：US09291793B2
公开(公告)日：2016-03-22
申请号：US12905019
申请日：2010-10-14
申请人： Thomas G. Cooper
发明人： Thomas G. Cooper
IPC分类号： A61B17/00 , G02B7/00 , A61B19/00 , B25J19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B90/50 , A61B2090/5025 , A61B2090/506 , A61B2090/508 , B25J19/0016 , G02B7/001 , Y10T29/49826 , Y10T74/20311 , Y10T74/2154
摘要： In one embodiment of the invention, an apparatus is provided including a linkage and a balancing mechanism coupled to the linkage around a pivotal joint. The linkage couples to a support structure at a first end and support a weight applied to a second end. The balancing mechanism counter balances the weight applied to the second end of the linkage. As the linkage is deformed to vertically adjust the height of the weight with a different moment arm length, the balancing mechanism varies a cable path length to modify the compression of a spring and a tension in a cable to adjust the amount of counter balance force applied to the linkage.
摘要翻译：在本发明的一个实施例中，提供了一种装置，其包括连杆机构和平衡机构，该机构联接到围绕枢转接头的连杆机构。连接件在第一端处联接到支撑结构并且支撑施加到第二端的重量。平衡机构计数器平衡施加到连杆的第二端的重量。当联动装置变形以用不同的力矩臂长度垂直调整重物的高度时，平衡机构改变电缆路径长度，以改变弹簧的压缩和电缆中的张力，以调整施加的平衡力的量到联系。

42. 发明授权

US08790243B2 Flexible wrist for surgical tool 有权
标题翻译：柔性手腕用于外科手术工具
公开(公告)号：US08790243B2
公开(公告)日：2014-07-29
申请号：US13020625
申请日：2011-02-03
申请人： Thomas G. Cooper , S. Christopher Anderson
发明人： Thomas G. Cooper , S. Christopher Anderson
IPC分类号： A61B1/00
CPC分类号： A61B34/30 , A61B1/00142 , A61B1/00149 , A61B1/0058 , A61B1/008 , A61B1/018 , A61B17/00 , A61B17/062 , A61B17/068 , A61B17/1285 , A61B17/29 , A61B18/1442 , A61B34/71 , A61B2017/003 , A61B2017/00309 , A61B2017/2901 , 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. In one embodiment, a minimally invasive surgical instrument includes an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.
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。在一个实施例中，微创手术器械包括细长轴，其具有在工作端和近端之间的工作端，近端和轴线; 和末端执行器。手腕构件具有柔性管，其包括延伸穿过由壁围成的内部的轴线。柔性管的壁包括大致平行于柔性管的轴线定向的多个管腔。手腕构件具有连接到细长轴的工作端的近端部分和连接到端部执行器的远端部分。多个致动电缆具有连接到末端执行器的远端部分并且从远端部分延伸穿过腕部构件的壁的内腔朝向细长轴到近端部分，该近端部分可以在俯仰旋转和偏转旋转中使手腕构件弯曲。

43. 发明授权

US08529582B2 Instrument interface of a robotic surgical system 有权
标题翻译：机器人手术系统的仪器界面
公开(公告)号：US08529582B2
公开(公告)日：2013-09-10
申请号：US13112452
申请日：2011-05-20
申请人： Roman L. Devengenzo , Thomas G. Cooper , Joseph P. Orban, III , Bruce Schena , Alan Loh , S. Christopher Anderson
发明人： Roman L. Devengenzo , Thomas G. Cooper , Joseph P. Orban, III , Bruce Schena , Alan Loh , S. Christopher Anderson
IPC分类号： A61B19/00 , B23Q3/157
CPC分类号： A61B34/30 , A61B90/00 , Y10S901/27 , Y10S901/41
摘要： An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including 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 integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.
摘要翻译：提供了机器人操纵器的仪器界面和包括仪器界面的手术系统。在一个实施例中，仪器接口包括用于向能够可操作地连接仪器的无菌适配器提供轴向负载和扭矩的弹簧加载输入。在另一个实施例中，机器人手术操纵器系统包括操纵器组件，其包括可操作地联接到操纵臂的远端的基部连杆和沿着纵向轴线可移动地联接到所述基部连杆的滑架连杆，所述滑架连杆包括集成仪器界面。该系统还包括经由仪器接口可操作地耦合到滑架连杆的仪器，以及可操作地耦合到操纵器组件的用于感测仪器存在的处理器。

44. 发明授权

US08348931B2 Modular mainpulator support for robotic surgery 有权
标题翻译：模块化主机支持机器人手术
公开(公告)号：US08348931B2
公开(公告)日：2013-01-08
申请号：US12362299
申请日：2009-01-29
申请人： Thomas G. Cooper , Stephen J. Blumenkranz , Gary S. Guthart , David J. Rosa
发明人： Thomas G. Cooper , Stephen J. Blumenkranz , Gary S. Guthart , David J. Rosa
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B90/10 , A61B90/361 , A61B2017/00477 , A61B2034/304 , A61B2034/305 , A61B2090/506 , Y10S901/09 , Y10S901/14 , Y10S901/15 , Y10S901/16 , Y10S901/17 , Y10S901/18
摘要： A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
摘要翻译：机器人手术系统包括安装基座，多个外科器械和关节支撑组件。每个器械可以通过相关的微创孔径插入到患者体内到期望的内部手术部位。铰接支撑组件相对于基座可移动地支撑仪器。支撑件通常包括定向平台，相对于基座可移动地支撑定向平台的平台连接器和安装到定向平台的多个操纵器，其中每个操纵器可移动地支撑相关联的工具。

45. 发明申请

US20120277764A1 MODULAR MANIPULATOR SUPPORT FOR ROBOTIC SURGERY 有权
标题翻译：用于机器人手术的模块化手术器械支持
公开(公告)号：US20120277764A1
公开(公告)日：2012-11-01
申请号：US13546249
申请日：2012-07-11
申请人： Thomas G. Cooper , Stephen J. Blumenkranz , Gary S. Guthart , David J. Rosa
发明人： Thomas G. Cooper , Stephen J. Blumenkranz , Gary S. Guthart , David J. Rosa
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B90/10 , A61B90/361 , A61B2017/00477 , A61B2034/304 , A61B2034/305 , A61B2090/506 , Y10S901/09 , Y10S901/14 , Y10S901/15 , Y10S901/16 , Y10S901/17 , Y10S901/18
摘要： A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
摘要翻译：机器人手术系统包括安装基座，多个外科器械和关节支撑组件。每个器械可以通过相关的微创孔径插入到患者体内到期望的内部手术部位。铰接支撑组件相对于基座可移动地支撑仪器。支撑件通常包括定向平台，相对于基座可移动地支撑定向平台的平台连接器和安装到定向平台的多个操纵器，其中每个操纵器可移动地支撑相关联的工具。

46. 发明申请

US20120232566A1 STERILE SURGICAL DRAPE 审中-公开
标题翻译：无创手术
公开(公告)号：US20120232566A1
公开(公告)日：2012-09-13
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： B32B1/08 , B23P11/00 , A61B19/00
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： An improved sterile drape, system, and method for draping portions of a telerobotic surgical system are provided. In one embodiment, a sterile drape includes an exterior surface adjacent to a sterile field for performing a surgical procedure, and an interior surface forming a cavity for receiving the non-sterile portion of a robotic surgical system, such as a manipulator. The drape further includes a fastener coupled to the exterior surface for securing the sterile drape to the non-sterile portion of the robotic surgical system while reducing the volume of the sterile drape. Advantageously, the drape allows for quick and simple installation and increases visualization of the patient by reducing the size of the drape with more form fitting features, while allowing for freedom of movement of the manipulator.
摘要翻译：提供了一种改进的无菌悬垂布，系统和方法，用于覆盖远程外科手术系统的部分。在一个实施例中，无菌悬垂包括邻近用于进行外科手术的无菌区域的外表面，以及形成用于接收诸如操纵器的机器人手术系统的非无菌部分的空腔的内表面。该悬垂布还包括连接到外表面的紧固件，用于将无菌覆盖物固定到机器人手术系统的非无菌部分，同时减少无菌盖布的体积。有利地，盖布允许快速和简单的安装，并且通过以更多的形状配合特征减小悬垂布的尺寸，同时允许操纵器的移动自由来增加患者的可视化。

47. 发明授权

US08220468B2 Sterile drape interface for robotic surgical instrument 有权
标题翻译：用于机器人手术器械的无菌悬垂接口
公开(公告)号：US08220468B2
公开(公告)日：2012-07-17
申请号：US13004661
申请日：2011-01-11
申请人： Thomas G. Cooper , Craig R. Ramstad
发明人： Thomas G. Cooper , Craig R. Ramstad
IPC分类号： A61B19/08 , A61B1/00
CPC分类号： A61B46/10 , A61B34/30 , A61B34/71 , A61B2017/00477
摘要： A robotic surgical system includes a sterile surgical instrument, a robotic surgical manipulator, and a sterile drape covering at least a portion of the robotic surgical manipulator. The surgical instrument has a proximal interface and a distal end effector. The proximal interface includes a gimbal assembly with two intersecting rotational axes coupled to the distal end effector. The robotic surgical manipulator has a drive plate that bears against the gimbal assembly. The drive plate has two degrees of rotational freedom about a center of motion that is coincident with an intersection of the axes of the gimbal assembly. The sterile drape includes a sterile sheet covers at least a portion of the robotic surgical manipulator, a frame bonded to the sterile sheet, an instrument interface that covers the drive plate of the robotic surgical manipulator, and a diaphragm that connects the instrument interface to the frame.
摘要翻译：机器人手术系统包括无菌手术器械，机器人手术操纵器和覆盖机器人手术操纵器的至少一部分的无菌覆盖物。外科器械具有近端界面和远端执行器。近端界面包括具有联接到远端执行器的两个相交的旋转轴的万向节组件。机器人手术操纵器具有支撑在万向节组件上的驱动板。驱动板围绕与万向节组件的轴线相交的运动中心具有两度的旋转自由度。无菌悬垂包括无菌片覆盖机器人手术操纵器的至少一部分，结合到无菌片的框架，覆盖机器人手术操纵器的驱动板的仪器接口和将仪器接口连接到帧。

48. 发明授权

US08202278B2 Sterile surgical drape 有权
标题翻译：无菌手术悬垂
公开(公告)号：US08202278B2
公开(公告)日：2012-06-19
申请号：US12760779
申请日：2010-04-15
申请人： Joseph P. Orban, III , Lisa W. Heaton , S. Christopher Anderson , Thomas G. Cooper
发明人： Joseph P. Orban, III , Lisa W. Heaton , S. Christopher Anderson , Thomas G. Cooper
IPC分类号： A61B19/02
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 sterile drape, system, and method for draping portions of a telerobotic surgical system are provided. In one embodiment, a sterile drape includes an exterior surface adjacent to a sterile field for performing a surgical procedure, and an interior surface forming a cavity for receiving the non-sterile portion of a robotic surgical system, such as a manipulator. The drape further includes an integral cuff including a permanently turned-up fold of the exterior and interior surfaces at an open end of the cavity and a marker on the permanently turned-up fold designating a sterile side and a non-sterile side of the drape.
摘要翻译：提供了一种用于悬挂远程外科手术系统的部分的无菌悬垂布，系统和方法。在一个实施例中，无菌悬垂包括邻近用于进行外科手术的无菌区域的外表面，以及形成用于接收诸如操纵器的机器人手术系统的非无菌部分的空腔的内表面。该悬垂布进一步包括一体式的袖带，其包括在空腔的开口端处的外表面和内表面的永久折叠折叠，以及在永久折叠折叠上的标记，其指定悬垂布的无菌侧和非无菌侧。

49. 发明授权

US08182415B2 Minimally invasive surgical system 有权
标题翻译：微创手术系统
公开(公告)号：US08182415B2
公开(公告)日：2012-05-22
申请号：US11762191
申请日：2007-06-13
申请人： David Q. Larkin , Thomas G. Cooper , Catherine J. Mohr
发明人： David Q. Larkin , Thomas G. Cooper , Catherine J. Mohr
IPC分类号： A61B1/00 , A61B17/00
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.
摘要翻译：手术器械通过导管插入。远程操作系统以任何导管运动的方式移动所有六个笛卡尔自由度的手术器械的远端。

50. 发明申请

US20120083802A1 OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY 有权
标题翻译：偏心机器人远程中心操纵器
公开(公告)号：US20120083802A1
公开(公告)日：2012-04-05
申请号：US13251881
申请日：2011-10-03
申请人： Thomas G. Cooper , Todd R. Solomon
发明人： Thomas G. Cooper , Todd R. Solomon
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , Y10S901/15 , Y10T74/20305
摘要： Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.
摘要翻译：公开了医疗，手术和/或机器人设备和系统，其通常包括在微创机器人手术期间限制手术器械的位置的偏移远程中心平行四边形操纵器联动组件。改进的远程中心操纵器联动装置有利地增强了仪器运动的范围，同时降低了机器人手术系统的整体复杂性，大小和体重。

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