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1. 发明申请

US20070137371A1 TELESCOPING INSERTION AXIS OF A ROBOTIC SURGICAL SYSTEM 有权
标题翻译：机械手术系统的拉伸插入轴
公开(公告)号：US20070137371A1
公开(公告)日：2007-06-21
申请号：US11613800
申请日：2006-12-20
申请人： Roman Devengenzo , Thomas Cooper , Bruce Schena
发明人： Roman Devengenzo , Thomas Cooper , Bruce Schena
IPC分类号： B25J18/00
CPC分类号： A61B34/71 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2046/234 , B25J15/04 , Y10T74/20305
摘要： A telescopic insertion axis, a robotic surgical system including the telescopic insertion axis, and a method of instrument insertion are provided. In one embodiment, a telescopic insertion axis includes 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 instrument interface.
摘要翻译：提供伸缩插入轴，包括伸缩插入轴的机器人手术系统以及器械插入方法。在一个实施例中，伸缩插入轴线包括可操作地联接到操纵臂的远端的基座连杆和沿着纵向轴线可移动地联接到基座连杆的滑架连杆，滑架连杆包括仪器接口。

2. 发明申请

US20060235436A1 Sterile surgical adaptor 有权
标题翻译：无菌手术适配器
公开(公告)号：US20060235436A1
公开(公告)日：2006-10-19
申请号：US11395418
申请日：2006-03-31
申请人： S. Anderson , Joseph Orban , Bruce Schena , Thomas Cooper , Roman Devengenzo
发明人： S. Anderson , Joseph Orban , Bruce Schena , Thomas Cooper , Roman Devengenzo
IPC分类号： A61B19/00 , A61B17/00
CPC分类号： A61B46/10 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B2017/00477 , A61B2034/305 , A61B2034/741
摘要： A sterile adaptor, a sterile drape with the integrated sterile adaptor, and a telerobotic surgical system including the sterile drape with a drape interface are provided. The adaptor, drape, and system allow 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 between a robotic arm and a surgical instrument in the sterile field.
摘要翻译：提供无菌适配器，具有集成的无菌适配器的无菌悬垂布，以及包括具有悬垂接口的无菌覆盖物的远程外科手术系统。适配器，悬垂和系统允许跨部门手术系统的悬垂部分在无菌外科手术领域和非无菌机器人系统之间保持无菌屏障，同时还提供用于在机器人手臂之间传递机械和电能以及信号的接口和无菌领域的手术器械。

3. 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。

4. 发明申请

US20120217457A1 COMPACT CAPSTAN 审中-公开
公开(公告)号：US20120217457A1
公开(公告)日：2012-08-30
申请号：US13422492
申请日：2012-03-16
申请人： Bruce Schena , Thomas Cooper
发明人： Bruce Schena , Thomas Cooper
IPC分类号： B66D1/74 , B66D1/36 , B66D1/12
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B2017/00477 , Y10T74/18848
摘要： A compact capstan includes a drum, a coupled hub, a passage extending through the drum and hub, and a shaft extending through the drum and hub. The shaft engages the passage such that the shaft can transmit a torsional force to the drum and the hub which are free to move along the length of the shaft. The drum includes a spiral groove to receive a cable loop wound around the drum. The hub has a thread with substantially the same pitch as the spiral groove to engage a threaded support such that the hub and the drum move laterally along their length relative to the threaded support as the hub and the drum are rotated. The shaft has a length that is substantially greater than the passage such that the shaft extends beyond both ends of the passage.
摘要翻译：紧凑型绞盘包括鼓，联接轮毂，延伸穿过滚筒和轮毂的通道以及延伸穿过滚筒和轮毂的轴。轴与通道接合，使得轴可以向滚筒和轮毂传递扭转力，该扭转力可以沿轴的长度自由移动。滚筒包括螺旋槽，用于接收缠绕在滚筒上的电缆环。轮毂具有与螺旋槽基本上相同的螺距的螺纹，以与螺纹支撑件接合，使得当毂和滚筒旋转时，轮毂和滚筒相对于螺纹支撑件沿其长度方向横向移动。轴具有基本上大于通道的长度，使得轴延伸超过通道的两端。

5. 发明申请

US20080009838A1 COMPACT CAPSTAN 有权
公开(公告)号：US20080009838A1
公开(公告)日：2008-01-10
申请号：US11428251
申请日：2006-06-30
申请人： Bruce Schena , Thomas Cooper
发明人： Bruce Schena , Thomas Cooper
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B2017/00477 , Y10T74/18848
摘要： A compact capstan includes a drum, a coupled hub, a passage extending through the drum and hub, and a shaft extending through the drum and hub. The shaft engages the passage such that the shaft can transmit a torsional force to the drum and the hub which are free to move along the length of the shaft. The drum includes a spiral groove to receive a cable loop wound around the drum. The hub has a thread with substantially the same pitch as the spiral groove to engage a threaded support such that the hub and the drum move laterally along their length relative to the threaded support as the hub and the drum are rotated. The shaft has a length that is substantially greater than the passage such that the shaft extends beyond both ends of the passage.
摘要翻译：紧凑型绞盘包括鼓，联接轮毂，延伸穿过滚筒和轮毂的通道以及延伸穿过滚筒和轮毂的轴。轴与通道接合，使得轴可以向滚筒和轮毂传递扭转力，该扭转力可随着轴的长度而自由移动。滚筒包括螺旋槽，用于接收缠绕在滚筒上的电缆环。轮毂具有与螺旋槽基本上相同的螺距的螺纹，以与螺纹支撑件接合，使得当毂和滚筒旋转时，轮毂和滚筒相对于螺纹支撑件沿其长度方向横向移动。轴具有基本上大于通道的长度，使得轴延伸超过通道的两端。

6. 发明申请

US20070119274A1 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：US20070119274A1
公开(公告)日：2007-05-31
申请号：US11613695
申请日：2006-12-20
申请人： Roman Devengenzo , Thomas Cooper , Joseph Orban , Bruce Schena , Alan Loh , S. Anderson
发明人： Roman Devengenzo , Thomas Cooper , Joseph Orban , Bruce Schena , Alan Loh , S. Anderson
IPC分类号： B25J18/00
CPC分类号： B25J15/04 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00477 , A61B2034/305 , Y10S483/901 , Y10T74/20305
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。

7. 发明申请

US20060161136A1 Surgical accessory clamp and system method 有权
标题翻译：手术附件夹和系统方法
公开(公告)号：US20060161136A1
公开(公告)日：2006-07-20
申请号：US11240087
申请日：2005-09-30
申请人： Christopher Anderson , Thomas Cooper , Bruce Schena , William Burbank , Margaret Nixon , Alan Loh
发明人： Christopher Anderson , Thomas Cooper , Bruce Schena , William Burbank , Margaret Nixon , Alan Loh
IPC分类号： 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 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

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。

9. 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。

10. 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。

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