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1. 发明授权

US08540748B2 Surgical instrument wrist 有权
标题翻译：手术器械手腕
公开(公告)号：US08540748B2
公开(公告)日：2013-09-24
申请号：US12240575
申请日：2008-09-29
申请人： Todd E. Murphy , Margaret M. Nixon
发明人： Todd E. Murphy , Margaret M. Nixon
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/71 , A61B2017/2927 , A61B2034/305
摘要： A link is positioned to pivot at the distal end of a surgical instrument shaft. The link includes a pulley portion. A first control cable that pivots the link in one direction extends out of the surgical instrument shaft and crosses the width of the instrument in a first crossing direction. The first control cable is then routed around the pulley portion of the link in a first circumferential direction. Similarly, a second control cable that pivots the link in the opposite direction extends out of the surgical instrument shaft and crosses the width of the instrument in a second crossing direction. The second control cable is then routed around the pulley portion of the link in a second circumferential direction that is opposite the first circumferential direction.
摘要翻译：连杆定位成在外科器械轴的远端枢转。连杆包括滑轮部分。沿着一个方向枢转连杆的第一控制缆索从外科器械轴延伸出来并沿第一交叉方向穿过仪器的宽度。然后，第一控制电缆在第一圆周方向上围绕连杆的滑轮部分布置。类似地，沿着相反方向枢转连杆的第二控制缆索延伸出外科器械轴，并在第二交叉方向上穿过仪器的宽度。然后，第二控制电缆在与第一圆周方向相反的第二圆周方向上围绕连杆的滑轮部分布置。

2. 发明申请

US20090171371A1 MEDICAL ROBOTIC SYSTEM WITH FUNCTIONALITY TO DETERMINE AND DISPLAY A DISTANCE INDICATED BY MOVEMENT OF A TOOL ROBOTICALLY MANIPULATED BY AN OPERATOR 有权
标题翻译：具有功能的医疗机器人系统用于确定和显示由操作者手动操作的工具的运动所指示的距离
公开(公告)号：US20090171371A1
公开(公告)日：2009-07-02
申请号：US11964215
申请日：2007-12-26
申请人： THOMAS R. NIXON , Margaret M. Nixon , William C. Nowlin
发明人： THOMAS R. NIXON , Margaret M. Nixon , William C. Nowlin
IPC分类号： A61B19/00 , G05B19/00
CPC分类号： A61B34/30 , A61B34/25 , A61B34/37 , A61B90/361 , A61B2034/305 , A61B2090/061 , A61B2090/0811
摘要： A medical robotic system has functionality to determine and display information of a distance indicated by movement of one or more tools being robotically manipulated by an operator. The distance is determined using sensed robotic manipulation of the one or more tools. Information of the distance is displayed on the monitor so as to be visually associated with the movement and/or positions of the tools, such as a virtual tape measure that extends along with or between images of the one or more tools on the monitor or as a virtual ruler with the distance being indicated by a pointer. Alternatively, information of the distance may simply be indicated on a digital read-out shown on the monitor that is displayed and continually updated with the movement of the one or more tools.
摘要翻译：医疗机器人系统具有确定和显示由操作者机器人操作的一个或多个工具的移动所指示的距离的信息的功能。使用感测到的一个或多个工具的机器人操纵来确定距离。距离的信息显示在监视器上，以便与工具的移动和/或位置可视地相关联，例如与监视器上的一个或多个工具的图像一起或之间延伸的虚拟卷尺，或者作为具有距离的虚拟标尺由指针指示。或者，可以简单地在显示器上显示的数字读出中指示距离的信息，并且随着一个或多个工具的移动而持续更新距离。

3. 发明申请

US20070255109A1 Robotic endoscopic retractor for use in minimally invasive surgery 有权
标题翻译：机器人内窥镜牵开器用于微创手术
公开(公告)号：US20070255109A1
公开(公告)日：2007-11-01
申请号：US11479614
申请日：2006-06-30
申请人： Hubert Stein , Margaret M. Nixon , David W. Bailey , Michael H. Ikeda
发明人： Hubert Stein , Margaret M. Nixon , David W. Bailey , Michael H. Ikeda
IPC分类号： A61B1/32
CPC分类号： A61B17/0218 , A61B1/00087 , A61B1/313 , A61B1/32 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B2017/0225 , A61B2017/0237 , A61B2034/305
摘要： Minimaily invasive surgical retractors and methods of using the retractors are provided. This retractor may be introduced through a sealed port, controlled by a robotic system, have full articulation, and need not require assembly within the patient's body. As a result, fully endoscopic mitral valve surgery may be performed.
摘要翻译：提供了微创外科牵开器和使用牵开器的方法。该收缩器可以通过由机器人系统控制的密封端口引入，具有完全关节，并且不需要在患者体内组装。因此，可以进行完全内窥镜二尖瓣手术。

4. 发明授权

US09532849B2 Surgical accessory clamp and system 有权
标题翻译：手术附件夹和系统
公开(公告)号：US09532849B2
公开(公告)日：2017-01-03
申请号：US13454890
申请日：2012-04-24
申请人： S. Christopher Anderson , Thomas G. Cooper , Bruce Schena , William Burbank , Margaret M. Nixon , Alan Loh
发明人： S. Christopher Anderson , Thomas G. Cooper , Bruce Schena , William Burbank , Margaret M. Nixon , Alan Loh
IPC分类号： A61B19/00 , F16B2/18 , F16B2/10 , A61B17/00
CPC分类号： A61B90/57 , A61B17/3421 , A61B34/30 , A61B34/37 , A61B34/71 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , F16B2/10 , F16B2/185
摘要： A robotic surgical system for performing a procedure within a sterile field comprises a manipulator arm and a surgical accessory clamp for coupling a surgical accessory to a distal end portion of the manipulator arm. The accessory clamp includes a base for coupling with the distal end portion of the manipulator arm, two clamp jaws with each of the clamp jaws directly and rotatably coupled to the base by respective pivot pins, and a lever operable to move the two clamp jaws between an open position and closed position. The system also includes a sterile drape covering the accessory clamp and the manipulator arm to shield the accessory clamp and the manipulator arm from the sterile field.
摘要翻译：用于在无菌区域内执行手术的机器人手术系统包括操纵臂和外科附件夹，用于将手术辅助件联接到操纵臂的远端部分。附件夹具包括用于与操纵臂的远端部分联接的基座，两个夹爪，其中每个夹钳爪通过相应的枢轴销直接并可旋转地联接到基座，以及杆，其可操作以将两个夹钳夹在打开位置和关闭位置。该系统还包括覆盖附件夹具和操纵臂的无菌悬垂，以将附件夹具和操纵臂从无菌区域屏蔽。

5. 发明授权

US08597182B2 Robotic endoscopic retractor for use in minimally invasive surgery 有权
标题翻译：机器人内窥镜牵开器用于微创手术
公开(公告)号：US08597182B2
公开(公告)日：2013-12-03
申请号：US11479614
申请日：2006-06-30
申请人： Hubert Stein , Margaret M. Nixon , David W. Bailey , Michael H. Ikeda
发明人： Hubert Stein , Margaret M. Nixon , David W. Bailey , Michael H. Ikeda
IPC分类号： A61B1/32
CPC分类号： A61B17/0218 , A61B1/00087 , A61B1/313 , A61B1/32 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B2017/0225 , A61B2017/0237 , A61B2034/305
摘要： Minimally invasive surgical retractors and methods of using the retractors are provided. This retractor may be introduced through a sealed port, controlled by a robotic system, have full articulation, and need not require assembly within the patient's body. As a result, fully endoscopic mitral valve surgery may be performed.
摘要翻译：提供微创手术牵开器和使用牵开器的方法。该收缩器可以通过由机器人系统控制的密封端口引入，具有完全关节，并且不需要在患者体内组装。因此，可以进行完全内窥镜二尖瓣手术。

6. 发明授权

US08473031B2 Medical robotic system with functionality to determine and display a distance indicated by movement of a tool robotically manipulated by an operator 有权
标题翻译：具有功能的医疗机器人系统，用于确定和显示由操作者机器人操作的工具的移动所指示的距离
公开(公告)号：US08473031B2
公开(公告)日：2013-06-25
申请号：US11964215
申请日：2007-12-26
申请人： Thomas R. Nixon , Margaret M. Nixon , William C. Nowlin
发明人： Thomas R. Nixon , Margaret M. Nixon , William C. Nowlin
IPC分类号： A61B5/05
CPC分类号： A61B34/30 , A61B34/25 , A61B34/37 , A61B90/361 , A61B2034/305 , A61B2090/061 , A61B2090/0811
摘要： A medical robotic system has functionality to determine and display information of a distance indicated by movement of one or more tools being robotically manipulated by an operator. The distance is determined using sensed robotic manipulation of the one or more tools. Information of the distance is displayed on the monitor so as to be visually associated with the movement and/or positions of the tools, such as a virtual tape measure that extends along with or between images of the one or more tools on the monitor or as a virtual ruler with the distance being indicated by a pointer. Alternatively, information of the distance may simply be indicated on a digital read-out shown on the monitor that is displayed and continually updated with the movement of the one or more tools.
摘要翻译：医疗机器人系统具有确定和显示由操作者机器人操作的一个或多个工具的移动所指示的距离的信息的功能。使用感测到的一个或多个工具的机器人操纵来确定距离。距离的信息显示在监视器上，以便与工具的移动和/或位置可视地相关联，例如与监视器上的一个或多个工具的图像一起或之间延伸的虚拟卷尺，或者作为具有距离的虚拟标尺由指针指示。或者，可以简单地在显示器上显示的数字读出中指示距离的信息，并且随着一个或多个工具的移动而持续更新距离。

7. 发明申请

US20120209291A1 Surgical Accessory Clamp and System 有权
标题翻译：手术附件夹和系统
公开(公告)号：US20120209291A1
公开(公告)日：2012-08-16
申请号：US13454890
申请日：2012-04-24
申请人： S. Christopher Anderson , Thomas G. Cooper , Bruce Schena , William Burbank , Margaret M. Nixon , Alan Loh
发明人： S. Christopher Anderson , Thomas G. Cooper , Bruce Schena , William Burbank , Margaret M. Nixon , Alan Loh
IPC分类号： A61B19/00
CPC分类号： A61B90/57 , A61B17/3421 , A61B34/30 , A61B34/37 , A61B34/71 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , F16B2/10 , F16B2/185
摘要： A surgical accessory clamp, method of use, and a robotic surgical system including the clamp are disclosed. A surgical accessory may be attached and removed from a manipulator arm during a surgical procedure without requiring the use of an intermediate sterile accessory clamp, thus removing the need for a detachable accessory mount or adaptor that needs cleaning and sterilization and allowing for greater efficiency and cost-effectiveness. The present invention further allows for easy removal and attachment of instruments, tools, or accessories to the robotic surgical system without breach of sterility.
摘要翻译：公开了一种手术附件夹具，使用方法和包括夹具的机器人手术系统。在外科手术过程中，外科手术辅助部件可以从手术臂附接和移除，而不需要使用中间的无菌附件夹具，因此不再需要可拆卸的附件安装件或适配器，需要清洁和灭菌并允许更高的效率和成本有效性本发明还允许容易地将仪器，工具或附件移除并附接到机器人手术系统而不违反无菌性。

8. 发明授权

US08182469B2 Surgical accessory clamp and method 有权
标题翻译：手术附件夹和方法
公开(公告)号：US08182469B2
公开(公告)日：2012-05-22
申请号：US11240087
申请日：2005-09-30
申请人： S. Christopher Anderson , Thomas G Cooper , Bruce Schena , William Burbank , Margaret M Nixon , Alan Loh
发明人： S. Christopher Anderson , Thomas G Cooper , Bruce Schena , William Burbank , Margaret M Nixon , Alan Loh
IPC分类号： A61B17/00 , B25B5/04
CPC分类号： A61B90/57 , A61B17/3421 , A61B34/30 , A61B34/37 , A61B34/71 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , F16B2/10 , F16B2/185
摘要： A surgical accessory clamp, method of use, and a robotic surgical system including the clamp are disclosed. A surgical accessory may be attached and removed from a manipulator arm during a surgical procedure without requiring the use of an intermediate sterile accessory clamp, thus removing the need for a detachable accessory mount or adaptor that needs cleaning and sterilization and allowing for greater efficiency and cost-effectiveness. The accessory clamp further allows for easy removal and attachment of instruments, tools, or accessories to the robotic surgical system without breach of sterility. In one embodiment, an accessory clamp includes a base for coupling to a distal end of a manipulator arm; two clamp jaws adapted to receive a surgical accessory, each of the clamp jaws rotatably coupled to the base and configured to pivot relative to one another; a sterile drape portion over the two clamp jaws; and a lever portion capable of actuating the two clamp jaws into an open position or a closed position.
摘要翻译：公开了一种手术附件夹具，使用方法和包括夹具的机器人手术系统。在外科手术过程中，外科手术辅助部件可以从手术臂附接和移除，而不需要使用中间的无菌附件夹具，因此不再需要可拆卸的附件安装件或适配器，需要清洁和灭菌并允许更高的效率和成本有效性附件夹还可以方便地将仪器，工具或附件移除到机器人手术系统中，而不会破坏无菌性。在一个实施例中，附件夹具包括用于联接到操纵臂的远端的基座; 两个夹钳适于接纳外科附件，每个夹钳可旋转地联接到基座并且构造成相对于彼此枢转; 两个夹爪上的无菌悬垂部分; 以及能够使两个夹爪进入打开位置或关闭位置的杆部。

9. 发明申请

US20100004663A1 SURGICAL INSTRUMENT WRIST 有权
标题翻译：手术仪器
公开(公告)号：US20100004663A1
公开(公告)日：2010-01-07
申请号：US12240575
申请日：2008-09-29
申请人： TODD E. MURPHY , Margaret M. Nixon
发明人： TODD E. MURPHY , Margaret M. Nixon
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/71 , A61B2017/2927 , A61B2034/305
摘要： A link is positioned to pivot at the distal end of a surgical instrument shaft. The link includes a pulley portion. A first control cable that pivots the link in one direction extends out of the surgical instrument shaft and crosses the width of the instrument in a first crossing direction. The first control cable is then routed around the pulley portion of the link in a first circumferential direction. Similarly, a second control cable that pivots the link in the opposite direction extends out of the surgical instrument shaft and crosses the width of the instrument in a second crossing direction. The second control cable is then routed around the pulley portion of the link in a second circumferential direction that is opposite the first circumferential direction.
摘要翻译：连杆定位成在外科器械轴的远端枢转。连杆包括滑轮部分。沿着一个方向枢转连杆的第一控制缆索从外科器械轴延伸出来并沿第一交叉方向穿过仪器的宽度。然后，第一控制电缆在第一圆周方向上围绕连杆的滑轮部分布置。类似地，沿着相反方向枢转连杆的第二控制缆索延伸出外科器械轴，并在第二交叉方向上穿过仪器的宽度。然后，第二控制电缆在与第一圆周方向相反的第二圆周方向上围绕连杆的滑轮部分布置。

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