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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

US20110118754A1 MOTOR INTERFACE FOR PARALLEL DRIVE SHAFTS WITHIN AN INDEPENDENTLY ROTATING MEMBER 有权
标题翻译：在独立旋转部件内并联驱动装置的电机接口
公开(公告)号：US20110118754A1
公开(公告)日：2011-05-19
申请号：US12945461
申请日：2010-11-12
申请人： Gregory W. Dachs, II , Todd E. Murphy , William A. Burbank , William A. McDonald , Bruce Michael Schena
发明人： Gregory W. Dachs, II , Todd E. Murphy , William A. Burbank , William A. McDonald , Bruce Michael Schena
IPC分类号： A61B19/00 , B25F5/00
CPC分类号： A61B34/30 , A61B34/71 , A61B2017/00477
摘要： Mechanisms, assemblies, systems, tools, and methods incorporating the use of an offset drive shaft within an independently rotating member are provided. An example mechanism includes a base and a main shaft mounted to rotate relative to the base, a first drive shaft mounted inside the main shaft, and a first drive feature engaged with the first drive shaft. The main shaft includes a proximal end, a distal end, and a main shaft rotational axis defined therebetween. The first drive shaft is offset from the main shaft rotational axis. A first drive feature rotational axis is defined for the first drive feature and is fixed relative to the base as the main shaft rotates. The first drive feature rotates the first drive shaft.
摘要翻译：提供了在独立旋转构件内结合使用偏移驱动轴的机构，组件，系统，工具和方法。示例性机构包括安装成相对于基座旋转的基座和主轴，安装在主轴内部的第一驱动轴和与第一驱动轴接合的第一驱动特征。主轴包括近端，远端和限定在其间的主轴旋转轴线。第一驱动轴偏离主轴旋转轴。第一驱动特征旋转轴线被定义为第一驱动特征并且当主轴旋转时相对于基座固定。第一驱动特征使第一驱动轴旋转。

3. 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。

4. 发明申请

US20160015462A1 DOUBLE UNIVERSAL JOINT 审中-公开
公开(公告)号：US20160015462A1
公开(公告)日：2016-01-21
申请号：US14802758
申请日：2015-07-17
申请人： William A. Burbank , GREGORY W. W. DACHS, II , TODD E. MURPHY
发明人： William A. Burbank , GREGORY W. W. DACHS, II , TODD E. MURPHY
IPC分类号： A61B19/00 , F16D3/26 , A61B17/28 , A61B17/285 , A61B17/00 , A61B17/064
CPC分类号： A61B34/10 , A61B17/00234 , A61B17/064 , A61B17/28 , A61B17/285 , A61B34/30 , A61B34/37 , A61B34/71 , A61B2017/00526 , A61B2034/305 , F16D3/185 , F16D3/26 , Y10S901/29 , Y10T29/49826
摘要： Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.

5. 发明授权

US08640788B2 Motor interface for parallel drive shafts within an independently rotating member 有权
标题翻译：独立旋转构件内平行驱动轴的电机接口
公开(公告)号：US08640788B2
公开(公告)日：2014-02-04
申请号：US12945461
申请日：2010-11-12
申请人： Gregory W. Dachs, II , Todd E. Murphy , William A. Burbank , William A. McDonald, II , Bruce Michael Schena
发明人： Gregory W. Dachs, II , Todd E. Murphy , William A. Burbank , William A. McDonald, II , Bruce Michael Schena
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/71 , A61B2017/00477
摘要： Mechanisms, assemblies, systems, tools, and methods incorporating the use of an offset drive shaft within an independently rotating member are provided. An example mechanism includes a base and a main shaft mounted to rotate relative to the base, a first drive shaft mounted inside the main shaft, and a first drive feature engaged with the first drive shaft. The main shaft includes a proximal end, a distal end, and a main shaft rotational axis defined therebetween. The first drive shaft is offset from the main shaft rotational axis. A first drive feature rotational axis is defined for the first drive feature and is fixed relative to the base as the main shaft rotates. The first drive feature rotates the first drive shaft.
摘要翻译：提供了在独立旋转构件内结合使用偏移驱动轴的机构，组件，系统，工具和方法。示例性机构包括安装成相对于基座旋转的基座和主轴，安装在主轴内部的第一驱动轴和与第一驱动轴接合的第一驱动特征。主轴包括近端，远端和限定在其间的主轴旋转轴线。第一驱动轴偏离主轴旋转轴。第一驱动特征旋转轴线被定义为第一驱动特征并且当主轴旋转时相对于基座固定。第一驱动特征使第一驱动轴旋转。

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