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1. 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。

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

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。

4. 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。

5. 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。

6. 发明申请

US20070142969A1 CABLE TENSIONING IN A ROBOTIC SURGICAL SYSTEM 有权
标题翻译：机械手术系统中的电缆拉伸
公开(公告)号：US20070142969A1
公开(公告)日：2007-06-21
申请号：US11613578
申请日：2006-12-20
申请人： Roman Devengenzo , Todd Solomon , Thomas Cooper
发明人： Roman Devengenzo , Todd Solomon , Thomas Cooper
IPC分类号： G06F19/00
CPC分类号： A61B34/71 , A61B1/00149 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00212 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2046/234 , B25J9/1045 , G06F19/00 , G06F19/3418 , G06F19/3481 , G16H40/63 , Y10T74/20305
摘要： An apparatus, system, and method for setting, maintaining, and adjusting a cable tension in a telerobotic surgical system are provided. A cable tensioning apparatus includes, in one example, an arm, a pulley rotatably coupled to the arm, and a base operably coupled to the arm, the base including a translation mechanism for changing the position of the pulley to control a tension of a cable movable along the pulley. A termination block includes, in one example, a block including two cable pathways with each cable pathway having a retaining means for a ball fitting, and a support for moving a cable along the two cable pathways, the cable including a ball fitting in each of the cable pathways.
摘要翻译：提供了一种用于设置，维持和调整远程外科手术系统中的电缆张力的装置，系统和方法。在一个示例中，电缆张紧装置包括臂，可旋转地联接到臂的滑轮和可操作地联接到臂的基座，所述基座包括用于改变皮带轮的位置以控制电缆的张力的平移机构可沿滑轮移动。在一个示例中，终端块包括包括两个电缆路径的块，每个电缆路径具有用于球配件的保持装置，以及用于沿着两个电缆路径移动电缆的支撑件，电缆包括在每个电缆路径中的球配件电缆路径。

7. 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。

8. 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。

9. 发明申请

US20050090809A1 Surgical tool having positively positionable tendon-actuated multi-disk wrist joint 有权
标题翻译：手术工具具有积极定位的肌腱致动多盘腕关节
公开(公告)号：US20050090809A1
公开(公告)日：2005-04-28
申请号：US10980119
申请日：2004-11-01
申请人： Thomas Cooper , Daniel Wallace , Stacey Chang , S. Christopher Anderson , Dustin Williams , Scott Manzo
发明人： Thomas Cooper , Daniel Wallace , Stacey Chang , S. Christopher Anderson , Dustin Williams , Scott Manzo
IPC分类号： A61B1/00 , A61B17/00 , A61B17/28 , A61B17/32 , A61B19/00
CPC分类号： A61B17/00234 , A61B1/0055 , A61B1/0057 , A61B1/008 , A61B34/30 , A61B34/71 , A61B34/72 , A61B2017/00314 , A61B2017/0069 , A61B2017/2908 , A61B2017/2929 , A61B2017/2936 , A61B2034/304 , A61B2034/305 , A61B2034/306
摘要： The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.
摘要翻译：本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。驱动电缆用于操纵和控制椎骨的运动。在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。电缆由枢轴板电缆致动器机构致动。在具体实施例中，致动器机构包括用于接纳中间电缆的多个小半径孔或槽，以及用于接收远端电缆的多个大半径孔或槽。孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径，使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨，以便精确控制和操纵椎骨。

10. 发明申请

US20060161137A1 Sterile surgical drape 有权
标题翻译：无菌手术悬垂
公开(公告)号：US20060161137A1
公开(公告)日：2006-07-20
申请号：US11240113
申请日：2005-09-30
申请人： Joseph Orban , Lisa Heaton , S. Anderson , Thomas Cooper
发明人： Joseph Orban , Lisa Heaton , S. Anderson , Thomas Cooper
IPC分类号： A61B17/00 , A61B19/00 , A61F5/37
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , Y10T29/49826 , Y10T428/13
摘要： An improved sterile drape, system, and method for draping portions of a telerobotic surgical system are provided. In one embodiment, a sterile drape includes an exterior surface adjacent to a sterile field for performing a surgical procedure, and an interior surface forming a cavity for receiving the non-sterile portion of a robotic surgical system, such as a manipulator. The drape further includes a fastener coupled to the exterior surface for securing the sterile drape to the non-sterile portion of the robotic surgical system while reducing the volume of the sterile drape. Advantageously, the drape allows for quick and simple installation and increases visualization of the patient by reducing the size of the drape with more form fitting features, while allowing for freedom of movement of the manipulator.
摘要翻译：提供了一种改进的无菌悬垂布，系统和方法，用于覆盖远程外科手术系统的部分。在一个实施例中，无菌悬垂包括邻近用于进行外科手术的无菌区域的外表面，以及形成用于接收诸如操纵器的机器人手术系统的非无菌部分的空腔的内表面。该悬垂布还包括连接到外表面的紧固件，用于将无菌覆盖物固定到机器人手术系统的非无菌部分，同时减少无菌盖布的体积。有利地，盖布允许快速和简单的安装，并且通过以更多的形状配合特征减小悬垂布的尺寸，同时允许操纵器的移动自由来增加患者的可视化。

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