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1. 发明授权

US09078686B2 Robotic surgical system with patient support 有权
标题翻译：机器人手术系统与患者支持
公开(公告)号：US09078686B2
公开(公告)日：2015-07-14
申请号：US13784650
申请日：2013-03-04
申请人： Bruce Schena
发明人： Bruce Schena
IPC分类号： A61B19/12 , A61B19/00 , A61G13/04 , A61B17/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B50/10 , A61B50/15 , A61B90/50 , A61B2017/00991 , A61G13/04
摘要： A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the first end to a second end. The robot support arm may further extend horizontally over the patient table to support a robotic surgical manipulator that will extend generally downward from the robot support arm toward a patient supported by the patient table to place an end effector of the robotic surgical manipulator adjacent a desired surgical site on the patient.
摘要翻译：一种用于支撑患者和机器人手术操纵器的机器人手术系统。所述机器人手术系统包括基座，在第一端处联接到所述基座并且垂直向上延伸到相对的第二端的支柱以及联接到所述支柱的第二端的附接结构。患者台联接到附接结构。机器人支撑臂具有联接到附接结构的第一端。机器人支撑臂从第一端垂直向上延伸到第二端。机器人支撑臂可以进一步水平延伸到患者台上以支撑机器人手术操纵器，其将从机器人支撑臂向患者台支撑的患者大致向下延伸，以将机器人手术操纵器的末端执行器邻近期望的手术病人站点。

2. 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。

3. 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。

4. 发明申请

US20100174293A1 STERILE SURGICAL ADAPTOR 有权
标题翻译：非手术适应症
公开(公告)号：US20100174293A1
公开(公告)日：2010-07-08
申请号：US12650835
申请日：2009-12-31
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。

5. 发明申请

US20080062145A1 Haptic interface for touch screen embodiments 审中-公开
公开(公告)号：US20080062145A1
公开(公告)日：2008-03-13
申请号：US11981252
申请日：2007-10-30
申请人： Erik Shahoian , Bruce Schena , Louis Rosenberg
发明人： Erik Shahoian , Bruce Schena , Louis Rosenberg
IPC分类号： G06F3/041
CPC分类号： G06F3/016 , G06F1/1616 , G06F1/1626 , G06F1/169 , G06F3/011 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/0362 , H01H2003/008 , H01H2215/052
摘要： A haptic feedback touch control used to provide input to a computer. A touch input device includes a planar touch surface that provides position information to a computer based on a location of user contact. The computer can position a cursor in a displayed graphical environment based at least in part on the position information, or perform a different function. At least one actuator is also coupled to the touch input device and outputs a force to provide a haptic sensation to the user. The actuator can move the touchpad laterally, or a separate surface member can be actuated. A flat E-core actuator, piezoelectric actuator, or other types of actuators can be used to provide forces. The touch input device can include multiple different regions to control different computer functions.

6. 发明申请

US20070283970A1 BRACING OF BUNDLED MEDICAL DEVICES FOR SINGLE PORT ENTRY, ROBOTICALLY ASSISTED MEDICAL PROCEDURES 有权
标题翻译：为单一入境手术配套医疗器械，机动辅助医疗程序
公开(公告)号：US20070283970A1
公开(公告)日：2007-12-13
申请号：US11762222
申请日：2007-06-13
申请人： Catherine J. Mohr , David Q. Larkin , Bruce Schena
发明人： Catherine J. Mohr , David Q. Larkin , Bruce Schena
IPC分类号： A61B19/00
CPC分类号： A61B34/72 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B90/14 , A61B90/361 , A61B90/50 , A61B2034/305 , A61B2090/371
摘要： Medical devices robotically manipulated by a medical robotic system for performing a medical procedure on a patient are bundled together as a bundled unit and inserted into the patient through a single entry port. Bracing of the bundled unit at the surgical site so as to be constrained in one or more degrees of freedom of movement may be performed using an anchor secured to an anatomic structure at the surgical site and physically coupled to the bundled unit, or using a tool extending out of a distal end of the bundled unit that extends out to an anatomic structure at the surgical site.
摘要翻译：由用于对患者执行医疗程序的医疗机器人系统机器人操作的医疗设备作为捆绑单元捆绑在一起，并通过单个入口插入患者体内。可以在外科手术部位的捆绑单元的支撑被限制在一个或多个运动自由度中，可以使用固定到外科手术部位的解剖结构的锚固件并且物理地联接到捆扎单元或使用工具从在外科手术部位延伸到解剖结构的捆绑单元的远端延伸出来。

7. 发明申请

US20060281550A1 Directional inertial tactile feedback using rotating masses 有权
标题翻译：使用旋转质量的定向惯性反馈
公开(公告)号：US20060281550A1
公开(公告)日：2006-12-14
申请号：US11411739
申请日：2006-04-25
申请人： Bruce Schena
发明人： Bruce Schena
IPC分类号： A63F13/00
CPC分类号： A63F13/285 , A63F13/06 , A63F13/211 , A63F13/24 , A63F2300/1037 , A63F2300/1043 , G06F3/016
摘要： Directional haptic feedback for a haptic feedback interface device. A haptic feedback interface device, in communication with a host computer, includes a housing physically contacted by a user operating the interface device, and a plurality of actuators producing inertial forces when the actuators are driven by control signals. Each of the actuators includes a rotatable eccentric mass positioned offset on a rotating shaft of the actuator, where the actuators are rotated simultaneously such that centrifugal forces from the rotation of masses combine to output the inertial forces substantially only along a single axis having a desired direction approximately in a plane of rotation of the masses.
摘要翻译：用于触觉反馈接口装置的定向触觉反馈。与主计算机通信的触觉反馈接口装置包括由操作接口装置的用户实际接触的壳体，以及当致动器由控制信号驱动时产生惯性力的多个致动器。每个致动器包括位于致动器的旋转轴上偏移的可旋转偏心质量块，其中致动器同时旋转，使得来自质量旋转的离心力组合以基本上仅沿着具有期望方向的单个轴输出惯性力大致在群众的旋转平面内。

8. 发明申请

US20060033716A1 Force feedback mouse wheel 有权
标题翻译：强制反馈鼠标滚轮
公开(公告)号：US20060033716A1
公开(公告)日：2006-02-16
申请号：US11252505
申请日：2005-10-17
申请人： Louis Rosenberg , Bruce Schena
发明人： Louis Rosenberg , Bruce Schena
IPC分类号： G09G5/08
CPC分类号： G06F3/016 , G06F3/0354 , G06F2203/014
摘要： A force feedback wheel is provided on a mouse or other interface device manipulated by a user. A sensor detects a position of the mouse in a workspace and sends a position signal to a connected host computer indicating that position. A rotatable wheel is mounted upon the manipulandum and rotates about a wheel axis, where a wheel sensor provides a wheel signal to the host computer indicating a rotary position of the wheel. A wheel actuator coupled to the rotatable wheel applies a computer-modulated force to the wheel about the wheel axis. The mouse can be a standard mouse or a force-feedback mouse, where forces are applied in the mouse workspace. The host computer is preferably running a graphical environment, where the force applied to the wheel can correspond with an event or interaction displayed in the graphical environment. The wheel can also be included on other devices such as remote controls and radios.
摘要翻译：在由用户操纵的鼠标或其他接口设备上提供力反馈轮。传感器检测工作空间中鼠标的位置，并向所连接的主计算机发送指示该位置的位置信号。可旋转轮安装在操纵上并围绕车轮轴线旋转，其中车轮传感器向主机提供指示车轮旋转位置的车轮信号。联接到可旋转轮的轮致动器将轮子周围的计算机调制力施加到车轮。鼠标可以是标准鼠标或力反馈鼠标，其中在鼠标工作区中应用力。主机优选地运行图形环境，其中施加到车轮的力可对应于在图形环境中显示的事件或交互。车轮也可以包括在其他设备上，如遥控器和收音机。

9. 发明申请

US20050195168A1 Power management for interface devices applying forces 失效
标题翻译：应用力的接口设备的电源管理
公开(公告)号：US20050195168A1
公开(公告)日：2005-09-08
申请号：US11109238
申请日：2005-04-18
申请人： Louis Rosenberg , Adam Braun , Bruce Schena
发明人： Louis Rosenberg , Adam Braun , Bruce Schena
IPC分类号： A63F13/06 , G05G9/047 , G06F1/26 , G06F3/00 , G06F3/01 , G06F3/038 , H04L29/06 , G09G5/08
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , A63F2300/1025 , A63F2300/1031 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F1/266 , G06F3/011 , G06F3/0383 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： Power management for an interface device that is manipulated by a user and in communication with a host computer and provides forces to the user. The device includes a sensor and an actuator. One embodiment provides first power from the host computer over a serial interface and second power from a power adapter. Another embodiment provides first power from the host computer and second power from a power storage device on the interface device that supplies power to the actuator. Another embodiment provides a power adapter supplying a portion of the first power to the sensor and a portion to the actuator, and a power storage device on the interface device provides second power to the actuator.
摘要翻译：用于由用户操纵并与主机通信并向用户提供力量的接口设备的电源管理。该装置包括传感器和致动器。一个实施例通过串行接口提供来自主机的第一功率和来自电源适配器的第二功率。另一个实施例提供来自主计算机的第一功率和来自向致动器供电的接口设备上的蓄电装置的第二功率。另一个实施例提供了将一部分第一功率提供给传感器的电源适配器和致动器的一部分，并且接口装置上的蓄电装置向致动器提供第二功率。

10. 发明授权

US09872734B2 Robotic surgical system with patient support 有权
公开(公告)号：US09872734B2
公开(公告)日：2018-01-23
申请号：US14721966
申请日：2015-05-26
申请人： Bruce Schena
发明人： Bruce Schena
IPC分类号： A61B17/00 , A61B19/00 , A61G13/04 , A61B90/50 , A61B34/30 , A61B50/10 , A61B50/15
CPC分类号： A61B34/30 , A61B17/00234 , A61B50/10 , A61B50/15 , A61B90/50 , A61B2017/00991 , A61G13/04
摘要： A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the first end to a second end. The robot support arm may further extend horizontally over the patient table to support a robotic surgical manipulator that will extend generally downward from the robot support arm toward a patient supported by the patient table to place an end effector of the robotic surgical manipulator adjacent a desired surgical site on the patient.

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