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61. 发明授权

US4783705A High capacity disk file with embedded sector servo and SCSI interface 失效
标题翻译：具有嵌入式扇区伺服和SCSI接口的大容量磁盘文件
公开(公告)号：US4783705A
公开(公告)日：1988-11-08
申请号：US52012
申请日：1987-05-19
申请人： Ronald R. Moon , Michael G. Machado , Thomas G. Cooper , Patrick M. Weiher , Curtis H. Bruner , Mark E. Strysko , Gregg J. Uhlendorf , Steven G. Campbell , Tuong T. Quan , Hoa V. Luong
发明人： Ronald R. Moon , Michael G. Machado , Thomas G. Cooper , Patrick M. Weiher , Curtis H. Bruner , Mark E. Strysko , Gregg J. Uhlendorf , Steven G. Campbell , Tuong T. Quan , Hoa V. Luong
IPC分类号： G11B5/55 , G11B5/596 , G06F13/00
CPC分类号： G11B5/5965 , G11B5/5521 , Y10S360/902 , Y10S360/903
摘要： A disk data storage subsystem includes a head and disk assembly. A plurality of sectors in data tracks include a servo portion containing a prerecorded pattern of a plurality of repeating, time staggered, non-phase-coherent bursts, each burst having a predetermined integral fraction radial offset relative to the other bursts. The head is positionable relative to the tracks by a voice coil in response to information derived from a servo portion, a programmed microcontroller supervisor receives operational data storage and retrieval commands from a host system with which the subsystem is operationally associated and controls the position of the head during track seeking and following operations in response to servo information read by the head from each servo portion and further in response to the commands, an interface, with an SCSI interface controller, under the control of the microcontroller supervisor receives the commands and data blocks from the host system and for sending commands, status words and data blocks to the host system, a data sequencer and memory controller under the control of the microcontroller manages flow of data blocks to and from the disk via the head.
摘要翻译：磁盘数据存储子系统包括磁头和磁盘组件。数据轨道中的多个扇区包括包含多个重复的，时间交错的非相位相干突发的预先记录的模式的伺服部分，每个突发具有相对于其他脉冲串的预定的积分分数径向偏移。响应于从伺服部分获得的信息，头部可通过音圈相对于轨道定位，编程的微控制器主管从主机系统接收操作数据存储和检索命令，该主机系统与该子系统可操作地相关联并且控制该位置在跟踪操作期间响应于来自每个伺服部分的磁头读取的伺服信息并进一步响应于这些命令，在微控制器主管的控制下，具有SCSI接口控制器的接口接收命令和数据块从主机系统和用于向主机系统发送命令，状态字和数据块，在微控制器的控制下的数据定序器和存储器控制器通过磁头管理到磁盘的数据块的流动。

62. 发明授权

US09949620B2 Minimally invasive surgical system 有权
公开(公告)号：US09949620B2
公开(公告)日：2018-04-24
申请号：US11762196
申请日：2007-06-13
申请人： Eugene F. Duval , Thomas G. Cooper
发明人： Eugene F. Duval , Thomas G. Cooper
IPC分类号： A61B1/00 , A61B34/37 , A61B34/30 , A61B1/018 , A61B1/002 , A61B1/04 , A61B1/06 , A61B5/00 , A61B8/12 , A61B1/05 , A61B17/00 , 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 support system for minimally invasive surgical instruments. A platform supports one or more minimally invasive surgical instruments that extend through a guide tube into a patient. The platform is supported by at least one support arm link that is coupled to a base a rotational joint. The rotational joint's axis of rotation is aligned with a point at which the guide tube enters the patient.

63. 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。

64. 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。

65. 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。

66. 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。

67. 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。

68. 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。

69. 发明申请

US20120022553A1 Side Looking Minimally Invasive Surgery Instrument Assembly 有权
标题翻译：侧视微创手术器械组装
公开(公告)号：US20120022553A1
公开(公告)日：2012-01-26
申请号：US13248930
申请日：2011-09-29
申请人： Thomas G. Cooper , David J. Rosa , David Q. Larkin , Matthew R. Williams , Eugene F. Duval
发明人： Thomas G. Cooper , David J. Rosa , David Q. Larkin , Matthew R. Williams , Eugene F. Duval
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 surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.
摘要翻译：两个手术器械通过导管插入。手术器械在引导管的中间位置处离开，并且当它们离开时被定向成基本上平行于引导管的纵向轴线。立体图像捕获部件位于导管之间的中间位置和导管的远端之间。图像捕获部件的视场大致垂直于导管的纵轴。手术器械和引导管被远程手术控制。

70. 发明申请

US20110282356A1 SURGICAL SYSTEM INSTRUMENT MANIPULATOR 有权
标题翻译：外科系统仪器操作员
公开(公告)号：US20110282356A1
公开(公告)日：2011-11-17
申请号：US12855413
申请日：2010-08-12
申请人： Todd R. Solomon , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers
发明人： Todd R. Solomon , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers
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： An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
摘要翻译：提供了一种仪器操纵器和包括仪器操纵器的机器人手术系统。在一个实施例中，仪器操纵器包括多个独立的致动器驱动模块，所述多个致动器驱动模块中的每个致动器驱动模块包括致动器输出，其中每个致动器输出被配置为独立地致动外科器械的相应致动器输入而不受力从另一个执行器输出输入。仪器操纵器还包括容纳多个独立致动器驱动模块的框架，该框架包括远端，每个致动器输出端从该远端突出以接合外科器械的相应致动器输入。

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