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1. 发明申请

US20090234371A1 MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS 有权
公开(公告)号：US20090234371A1
公开(公告)日：2009-09-17
申请号：US12407101
申请日：2009-03-19
申请人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
发明人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

2. 发明申请

US20090248043A1 MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS 有权
标题翻译：机械手术界面系统机械手术工具
公开(公告)号：US20090248043A1
公开(公告)日：2009-10-01
申请号：US12407150
申请日：2009-03-19
申请人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
发明人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
摘要翻译：用于准备和执行机器人手术的机器人手术工具，系统和方法包括安装在该工具上的存储器。当工具装载在工具操纵器上时，存储器可以执行多种功能：首先，存储器可以提供一个信号，以验证该工具是否与该特定机器人系统兼容。其次，工具存储器可以识别机器人系统的工具类型，使得机器人系统可以重新配置其编程。第三，工具的记忆可以指示工具特定的信息，包括指示工具驱动系统的未对准的测量校准偏移，工具寿命数据等。该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。本发明还提供了用于将机器人外科手术工具与机械手结构相结合的改进的接合结构。

3. 发明授权

US06331181B1 Surgical robotic tools, data architecture, and use 有权
标题翻译：手术机器人工具，数据架构和使用
公开(公告)号：US06331181B1
公开(公告)日：2001-12-18
申请号：US09418726
申请日：1999-10-15
申请人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
发明人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
IPC分类号： A61B1900
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
摘要翻译：用于准备和执行机器人手术的机器人手术工具，系统和方法包括安装在该工具上的存储器。当工具装载在工具操纵器上时，存储器可以执行多种功能：首先，存储器可以提供一个信号，以验证该工具是否与该特定机器人系统兼容。其次，工具存储器可以识别机器人系统的工具类型，使得机器人系统可以重新配置其编程。第三，工具的记忆可以指示工具特定的信息，包括指示工具驱动系统的未对准的测量校准偏移，工具寿命数据等。该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。本发明还提供了用于将机器人外科手术工具与机械手结构相结合的改进的接合结构。

4. 发明授权

US07524320B2 Mechanical actuator interface system for robotic surgical tools 有权
公开(公告)号：US07524320B2
公开(公告)日：2009-04-28
申请号：US10316666
申请日：2002-12-10
申请人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
发明人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

5. 发明授权

US07048745B2 Surgical robotic tools, data architecture, and use 有权
标题翻译：手术机器人工具，数据架构和使用
公开(公告)号：US07048745B2
公开(公告)日：2006-05-23
申请号：US09929453
申请日：2001-08-13
申请人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
发明人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods relating to robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: (1) providing a signal verifying that the tool is compatible with that particular robotic system; (2) identifying the tool-type to the robotic system so that the robotic system can reconfigure the programming; or (3) indicating tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. Also provided are improved engagement structures for coupling robotic surgical tools with manipulator structures.
摘要翻译：与机器人手术相关的机器人手术工具，系统和方法包括安装在工具上的存储器。当工具装载在工具操纵器上时，存储器可以执行许多功能：（1）提供一个信号，以验证该工具是否与该特定机器人系统兼容; （2）识别机器人系统的工具类型，使机器人系统能重新配置编程; 或（3）指示刀具特定信息，包括指示刀具驱动系统的未对准的测量校准偏移，刀具寿命数据等。该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。还提供了用于将机器人手术工具与机械手结构相结合的改进的接合结构。

6. 发明授权

US08758352B2 Mechanical actuator interface system for robotic surgical tools 有权
标题翻译：用于机器人手术工具的机械致动器接口系统
公开(公告)号：US08758352B2
公开(公告)日：2014-06-24
申请号：US12407101
申请日：2009-03-19
申请人： Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Robert G. Younge
发明人： Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Robert G. Younge
IPC分类号： A61F5/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
摘要翻译：用于准备和执行机器人手术的机器人手术工具，系统和方法包括安装在该工具上的存储器。当工具装载在工具操纵器上时，存储器可以执行多种功能：首先，存储器可以提供一个信号，以验证该工具是否与该特定机器人系统兼容。其次，工具存储器可以识别机器人系统的工具类型，使得机器人系统可以重新配置其编程。第三，工具的记忆可以指示工具特定的信息，包括指示工具驱动系统的未对准的测量校准偏移，工具寿命数据等。该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。本发明还提供了用于将机器人外科手术工具与机械手结构相结合的改进的接合结构。

7. 发明授权

US08142447B2 Mechanical actuator interface system for robotic surgical tools 有权
标题翻译：用于机器人手术工具的机械致动器接口系统
公开(公告)号：US08142447B2
公开(公告)日：2012-03-27
申请号：US12407150
申请日：2009-03-19
申请人： Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Robert G. Younge
发明人： Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Robert G. Younge
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
摘要翻译：用于准备和执行机器人手术的机器人手术工具，系统和方法包括安装在该工具上的存储器。当工具装载在工具操纵器上时，存储器可以执行多种功能：首先，存储器可以提供一个信号，以验证该工具是否与该特定机器人系统兼容。其次，工具存储器可以识别机器人系统的工具类型，使得机器人系统可以重新配置其编程。第三，工具的记忆可以指示工具特定的信息，包括指示工具驱动系统的未对准的测量校准偏移，工具寿命数据等。该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。本发明还提供了用于将机器人外科手术工具与机械手结构相结合的改进的接合结构。

8. 发明授权

US5489225A Electrical terminal with a collet grip for a defibrillator 失效
标题翻译：电子端子，用于除颤器的夹头
公开(公告)号：US5489225A
公开(公告)日：1996-02-06
申请号：US168889
申请日：1993-12-16
申请人： Chris A. Julian
发明人： Chris A. Julian
IPC分类号： A61N1/375 , H01R4/50 , H01R13/24 , A61N1/02
CPC分类号： A61N1/3752 , H01R13/24 , H01R4/5025 , Y10T279/17529
摘要： A terminal for detachably connecting an electrical lead connector pin to an electrical device is disclosed. The terminal includes an outer sleeve and a movable collet for movement between first and second positions relative to the outer sleeve. The collet has a plurality of fingers thereon that are movable relatively toward and away from one another between a first spaced apart position less than the diameter of the electrical lead connector pin and a second spaced apart position greater than the diameter of the electrical lead connector pin for receiving and releasing the lead in the second spaced apart position and for gripping the lead in the first spaced apart position. The terminal further includes a spring and a push button release means for moving the collet between its first and second positions.
摘要翻译：公开了一种用于将电引线连接器引脚可拆卸地连接到电气装置的端子。端子包括外套筒和可动夹头，用于相对于外套筒在第一和第二位置之间移动。夹头具有多个指状物，其能够在小于电引线连接器销的直径的第一间隔位置和大于电引线连接器引脚的直径的第二间隔位置处相对于彼此相对移动并远离彼此移动用于在第二间隔位置中接收和释放引线并且用于在第一间隔开的位置夹持引线。该终端还包括弹簧和用于在其第一和第二位置之间移动夹头的按钮释放装置。

9. 发明授权

US06858005B2 Tendon-driven endoscope and methods of insertion 有权
公开(公告)号：US06858005B2
公开(公告)日：2005-02-22
申请号：US10229577
申请日：2002-08-27
申请人： Robert M. Ohline , Joseph M. Tartaglia , Amir Belson , Alex T. Roth , Wade A. Keller , Scott C. Anderson , Chris A. Julian
发明人： Robert M. Ohline , Joseph M. Tartaglia , Amir Belson , Alex T. Roth , Wade A. Keller , Scott C. Anderson , Chris A. Julian
IPC分类号： G02B23/24 , A61B1/00 , A61B1/005 , A61B1/008 , A61B1/01 , A61B1/04 , A61B1/31 , G02B23/26
CPC分类号： A61B1/00128 , A61B1/00006 , A61B1/00057 , A61B1/0016 , A61B1/0053 , A61B1/0057 , A61B1/0058 , A61B1/01 , A61B1/31 , A61B5/065 , A61B2034/301 , A61B2034/741 , A61B2034/742
摘要： A steerable, tendon-driven endoscope is described herein. The endoscope has an elongated body with a manually or selectively steerable distal portion and an automatically controlled, segmented proximal portion. The steerable distal portion and the segment of the controllable portion are actuated by at least two tendons. As the endoscope is advanced, the user maneuvers the distal portion, and a motion controller actuates tendons in the segmented proximal portion so that the proximal portion assumes the selected curve of the selectively steerable distal portion. By this method the selected curves are propagated along the endoscope body so that the endoscope largely conforms to the pathway selected. When the endoscope is withdrawn proximally, the selected curves can propagate distally along the endoscope body. This allows the endoscope to negotiate tortuous curves along a desired path through or around and between organs within the body.

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