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1. 发明授权

US08852174B2 Surgical tool with a two degree of freedom wrist 有权
标题翻译：外科手术具有两度自由腕
公开(公告)号：US08852174B2
公开(公告)日：2014-10-07
申请号：US12945748
申请日：2010-11-12
申请人： William Burbank
发明人： William Burbank
IPC分类号： A61B17/00 , F16D3/18 , A61B19/00 , F16D3/26
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.
摘要翻译：公开了具有两自由度手腕的手术工具，通过连接的张紧构件的手腕关节，通过角度传递扭矩的机构，以及结合了这些特征的微创手术工具。细长的中间腕部构件与仪器轴的远端枢转地联接，以便围绕横向于轴的第一轴线旋转，并且末端执行器主体与中间构件枢转地联接，以围绕第二轴线旋转，第二轴线横向于第一轴。链接的张力构件与附件特征相互作用以铰接手腕。扭矩传递机构包括联接构件，联接销，驱动轴和从动轴。驱动轴与从动轴联接，以便控制驱动轴，联接构件和从动轴的相对定向。

2. 发明申请

US20110118708A1 DOUBLE UNIVERSAL JOINT 审中-公开
标题翻译：双重通用接头
公开(公告)号：US20110118708A1
公开(公告)日：2011-05-19
申请号：US12945740
申请日：2010-11-12
申请人： William Burbank , Gregory Dachs, II , Todd Murphy
发明人： William Burbank , Gregory Dachs, II , Todd Murphy
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B2017/2927 , A61B2034/302 , A61B2034/305 , A61B2034/715 , 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.
摘要翻译：公开了具有两自由度手腕的手术工具，通过连接的张紧构件的手腕关节，通过角度传递扭矩的机构，以及结合了这些特征的微创手术工具。细长的中间腕部构件与仪器轴的远端枢转地联接，以便围绕横向于轴的第一轴线旋转，并且末端执行器主体与中间构件枢转地联接，以围绕第二轴线旋转，第二轴线横向于第一轴。链接的张力构件与附件特征相互作用以铰接手腕。扭矩传递机构包括联接构件，联接销，驱动轴和从动轴。驱动轴与从动轴联接，以便控制驱动轴，联接构件和从动轴的相对定向。

3. 发明授权

US07666191B2 Robotic surgical system with sterile surgical adaptor 有权
标题翻译：机器人手术系统与无菌手术适配器
公开(公告)号：US07666191B2
公开(公告)日：2010-02-23
申请号：US11314040
申请日：2005-12-20
申请人： Joseph P. Orban, III , S. Christopher Anderson , Roman Devengenzo , Bruce Schena , Michael Prindiville , Thomas G Cooper , William Burbank
发明人： Joseph P. Orban, III , S. Christopher Anderson , Roman Devengenzo , Bruce Schena , Michael Prindiville , Thomas G Cooper , William Burbank
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B46/10 , A61B50/10 , A61B90/50 , A61B2017/00477 , A61B2034/305 , A61B2034/741 , B25J19/0075
摘要： A sterile drape with integrated sterile adaptor, a telerobotic surgical system, and method of use are provided for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals.
摘要翻译：提供具有集成无菌适配器，远程外科手术系统和使用方法的无菌悬垂布，用于悬挂远程外科手术系统的部分以在无菌手术区域和非无菌机器人系统之间保持无菌屏障，同时还提供用于传输机电能和信号。

4. 发明申请

US20070142970A1 Electro-Mechanical Interfaces to Mount Robotic Surgical Arms 有权
标题翻译：机电接口安装机器人手术臂
公开(公告)号：US20070142970A1
公开(公告)日：2007-06-21
申请号：US11466097
申请日：2006-08-21
申请人： William Burbank , Scott Luke , Dean Hoornaert
发明人： William Burbank , Scott Luke , Dean Hoornaert
IPC分类号： G05B19/04
CPC分类号： B25J19/0029 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B90/361 , A61B2017/00477 , H01R13/6315 , H01R13/748 , H01R35/025
摘要： In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.
摘要翻译：在本发明的一个实施例中，提供了将外科手术机器人手臂安装到机器人手术系统的安装臂的方法，其包括将外科手术机器人手臂的一对引导槽滑过所述组中的一对引导片手臂将安装臂中的电连接器对准手术机器人手臂的电连接器; 并且将公电连接器巧妙地配合到母电连接器，同时最终将装配臂中的引导突片与手术机器人手臂的壳体的凸缘配合。

5. 发明申请

US20060161138A1 Sterile surgical adaptor 有权
标题翻译：无菌手术适配器
公开(公告)号：US20060161138A1
公开(公告)日：2006-07-20
申请号：US11314040
申请日：2005-12-20
申请人： Joseph Orban , S. Christopher Anderson , Roman Devengenzo , Bruce Schena , Michael Prindiville , Thomas Cooper , William Burbank
发明人： Joseph Orban , S. Christopher Anderson , Roman Devengenzo , Bruce Schena , Michael Prindiville , Thomas Cooper , William Burbank
IPC分类号： A61B17/00 , A61B19/00 , A61F5/37
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B46/10 , A61B50/10 , A61B90/50 , A61B2017/00477 , A61B2034/305 , A61B2034/741 , B25J19/0075
摘要： A sterile drape with integrated sterile adaptor, a telerobotic surgical system, and method of use are provided for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals.
摘要翻译：提供具有集成无菌适配器，远程外科手术系统和使用方法的无菌悬垂布，用于悬挂远程外科手术系统的部分以在无菌手术区域和非无菌机器人系统之间保持无菌屏障，同时还提供用于传输机电能和信号。

6. 发明授权

US09259275B2 Wrist articulation by linked tension members 有权
标题翻译：手腕关节由联系紧张的成员
公开(公告)号：US09259275B2
公开(公告)日：2016-02-16
申请号：US12945730
申请日：2010-11-12
申请人： William Burbank
发明人： William Burbank
IPC分类号： A61B19/00 , A61B17/29
CPC分类号： A61B34/30 , A61B19/2203 , A61B34/37 , A61B34/76 , A61B2017/2927 , A61B2019/2215 , A61B2019/223 , A61B2019/2234 , A61B2019/2242 , A61B2034/305 , A61B2034/715 , 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.
摘要翻译：公开了具有两自由度手腕的手术工具，通过连接的张紧构件的手腕关节，通过角度传递扭矩的机构，以及结合了这些特征的微创手术工具。细长的中间腕部构件与仪器轴的远端枢转地联接，以便围绕横向于轴的第一轴线旋转，并且末端执行器主体与中间构件枢转地联接，以围绕第二轴线旋转，第二轴线横向于第一轴。链接的张力构件与附件特征相互作用以铰接手腕。扭矩传递机构包括联接构件，联接销，驱动轴和从动轴。驱动轴与从动轴联接，以便控制驱动轴，联接构件和从动轴的相对定向。

7. 发明授权

US08992565B2 Decoupling instrument shaft roll and end effector actuation in a surgical instrument 有权
标题翻译：在手术器械中去耦合仪器轴辊和末端执行器致动
公开(公告)号：US08992565B2
公开(公告)日：2015-03-31
申请号：US13297168
申请日：2011-11-15
申请人： Gabriel F. Brisson , William Burbank
发明人： Gabriel F. Brisson , William Burbank
IPC分类号： A61B17/28 , A61B17/29 , A61B19/00 , A61B17/00
CPC分类号： A61B34/70 , A61B17/00 , A61B34/30 , A61B34/32 , A61B34/37 , A61B34/71 , A61B2017/00367 , A61B2017/00398 , A61B2017/00477 , A61B2017/2901 , A61B2017/2903 , A61B2017/293 , A61B2017/2932 , A61B2017/2936 , A61B2017/2938 , A61B2017/2943 , A61B2034/2059 , A61B2034/301 , A61B2034/302 , A61B2034/303 , A61B2034/715 , A61B2090/067
摘要： Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.
摘要翻译：公开了提供仪器轴辊和端部执行器致动的解耦的手术组件和相关方法。手术组件包括基座，旋转地安装到基座的器械轴，支撑在器械轴的远端处的端部执行器，并且包括由旋转运动驱动的致动机构，与致动机构旋转耦合的驱动轴，以向所述致动机构提供旋转运动，以及旋转地联接到所述驱动轴并接收第一输入运动和第二输入运动的差速器。差速器组合第一和第二输入运动以产生使驱动轴旋转的输出运动。第一输入运动可旋转地耦合到致动源。第二输入运动耦合到仪器轴相对于基座的旋转。

8. 发明申请

US20120247489A1 STERILE SURGICAL ADAPTOR 审中-公开
标题翻译：非手术适应症
公开(公告)号：US20120247489A1
公开(公告)日：2012-10-04
申请号：US13524438
申请日：2012-06-15
申请人： Joseph P. Orban, III , S. Christopher Anderson , Roman Devengenzo , Bruce Schena , Michael Prindiville , Thomas G. Cooper , William Burbank
发明人： Joseph P. Orban, III , S. Christopher Anderson , Roman Devengenzo , Bruce Schena , Michael Prindiville , Thomas G. Cooper , William Burbank
IPC分类号： A61B19/08 , A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B46/10 , A61B50/10 , A61B90/50 , A61B2017/00477 , A61B2034/305 , A61B2034/741 , B25J19/0075
摘要： A sterile drape with integrated sterile adaptor, a telerobotic surgical system, and method of use are provided for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals.
摘要翻译：提供具有集成无菌适配器，远程外科手术系统和使用方法的无菌悬垂布，用于悬挂远程外科手术系统的部分以在无菌手术区域和非无菌机器人系统之间保持无菌屏障，同时还提供用于传输机电能和信号。

9. 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。

10. 发明申请

US20120150154A1 DECOUPLING INSTRUMENT SHAFT ROLL AND END EFFECTOR ACTUATION IN A SURGICAL INSTRUMENT 有权
标题翻译：手术仪器中的解除仪器轴旋转和末端影响
公开(公告)号：US20120150154A1
公开(公告)日：2012-06-14
申请号：US13297168
申请日：2011-11-15
申请人： Gabriel F. Brisson , William Burbank
发明人： Gabriel F. Brisson , William Burbank
IPC分类号： A61B17/00
CPC分类号： A61B34/70 , A61B17/00 , A61B34/30 , A61B34/32 , A61B34/37 , A61B34/71 , A61B2017/00367 , A61B2017/00398 , A61B2017/00477 , A61B2017/2901 , A61B2017/2903 , A61B2017/293 , A61B2017/2932 , A61B2017/2936 , A61B2017/2938 , A61B2017/2943 , A61B2034/2059 , A61B2034/301 , A61B2034/302 , A61B2034/303 , A61B2034/715 , A61B2090/067
摘要： Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.
摘要翻译：公开了提供仪器轴辊和端部执行器致动的解耦的手术组件和相关方法。手术组件包括基座，旋转地安装到基座的器械轴，支撑在器械轴的远端处的端部执行器，并且包括由旋转运动驱动的致动机构，与致动机构旋转耦合的驱动轴，以向所述致动机构提供旋转运动，以及旋转地联接到所述驱动轴并接收第一输入运动和第二输入运动的差速器。差速器组合第一和第二输入运动以产生使驱动轴旋转的输出运动。第一输入运动可旋转地耦合到致动源。第二输入运动耦合到仪器轴相对于基座的旋转。

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