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1. 发明申请

US20110071541A1 CURVED CANNULA 审中-公开
标题翻译：弯曲的肛门
公开(公告)号：US20110071541A1
公开(公告)日：2011-03-24
申请号：US12618549
申请日：2009-11-13
申请人： Giuseppe Maria Prisco , Samuel Au , Craig R. Gerbi , Theodore W. Rogers , John Ryan Steger , Charles E. Swinehart
发明人： Giuseppe Maria Prisco , Samuel Au , Craig R. Gerbi , Theodore W. Rogers , John Ryan Steger , Charles E. Swinehart
IPC分类号： A61B19/00
CPC分类号： A61B34/70 , A61B1/00149 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3474 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B50/13 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00477 , A61B2017/00526 , A61B2017/00845 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/3419 , A61B2017/3429 , A61B2017/3441 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/301 , A61B2034/305 , Y10S901/41
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译：机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。具有被动柔性轴的手术器械延伸穿过弯曲的插管。插管被定向以将器械引导到外科手术部位。公开了支撑单个开口内的弯曲插管的各种端口特征。公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。

2. 发明申请

US20110071473A1 SURGICAL PORT FEATURE 有权
标题翻译：外科手术功能
公开(公告)号：US20110071473A1
公开(公告)日：2011-03-24
申请号：US12618621
申请日：2009-11-13
申请人： THEODORE W. ROGERS , Craig R. Gerbi , John Ryan Steger , Charles E. Swinehart
发明人： THEODORE W. ROGERS , Craig R. Gerbi , John Ryan Steger , Charles E. Swinehart
IPC分类号： A61B17/34 , A61B1/32 , B23P17/04
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. In one aspect, surgical instrument channels extend at different angles between top and bottom surfaces of a port feature. In another aspect, a funnel portion and a tongue portion are separated by a waist portion, and surgical instrument channels extend from the funnel portion through the waist portion. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译：机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。具有被动柔性轴的手术器械延伸穿过弯曲的插管。插管被定向以将器械引导到外科手术部位。公开了支撑单个开口内的弯曲插管的各种端口特征。在一个方面，手术器械通道在端口特征的顶表面和底表面之间以不同的角度延伸。在另一方面，漏斗部分和舌部分由腰部分开，手术器械通道从漏斗部分穿过腰部延伸。公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。

3. 发明授权

US08623028B2 Surgical port feature 有权
标题翻译：手术口功能
公开(公告)号：US08623028B2
公开(公告)日：2014-01-07
申请号：US12618621
申请日：2009-11-13
申请人： Theodore W. Rogers , Craig R. Gerbi , John Ryan Steger , Charles E. Swinehart
发明人： Theodore W. Rogers , Craig R. Gerbi , John Ryan Steger , Charles E. Swinehart
IPC分类号： A61M29/00
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. In one aspect, surgical instrument channels extend at different angles between top and bottom surfaces of a port feature. In another aspect, a funnel portion and a tongue portion are separated by a waist portion, and surgical instrument channels extend from the funnel portion through the waist portion. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译：机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。具有被动柔性轴的手术器械延伸穿过弯曲的插管。插管被定向以将器械引导到外科手术部位。公开了支撑单个开口内的弯曲插管的各种端口特征。在一个方面，手术器械通道在端口特征的顶表面和底表面之间以不同的角度延伸。在另一方面，漏斗部分和舌部分由腰部分开，手术器械通道从漏斗部分穿过腰部延伸。公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。

4. 发明申请

US20110071347A1 CANNULA MOUNTING FIXTURE 有权
标题翻译：肛门安全装置
公开(公告)号：US20110071347A1
公开(公告)日：2011-03-24
申请号：US12618631
申请日：2009-11-13
申请人： Theodore W. Rogers , John Ryan Steger , Charles E. Swinehart
发明人： Theodore W. Rogers , John Ryan Steger , Charles E. Swinehart
IPC分类号： A61B1/04 , A61B1/00
CPC分类号： A61B34/30 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. The support fixtures include arms that swing in an arc to insert a curved cannula, repositionable arms coupled to a stable cannula base, and an insertion cap that holds a cannula. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译：机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。具有被动柔性轴的手术器械延伸穿过弯曲的插管。插管被定向以将器械引导到外科手术部位。公开了支撑单个开口内的弯曲插管的各种端口特征。公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。支撑固定装置包括以弧形摆动以插入弯曲套管的臂，连接到稳定的插管基座的可重新定位的臂以及保持套管的插入帽。公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。

5. 发明授权

US08465476B2 Cannula mounting fixture 有权
标题翻译：插管安装夹具
公开(公告)号：US08465476B2
公开(公告)日：2013-06-18
申请号：US12618631
申请日：2009-11-13
申请人： Theodore W. Rogers , John Ryan Steger , Charles E. Swinehart
发明人： Theodore W. Rogers , John Ryan Steger , Charles E. Swinehart
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. The support fixtures include arms that swing in an arc to insert a curved cannula, repositionable arms coupled to a stable cannula base, and an insertion cap that holds a cannula. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译：机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。具有被动柔性轴的手术器械延伸穿过弯曲的插管。插管被定向以将器械引导到外科手术部位。公开了支撑单个开口内的弯曲插管的各种端口特征。公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。支撑固定装置包括以弧形摆动以插入弯曲套管的臂，连接到稳定的插管基座的可重新定位的臂以及保持套管的插入帽。公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。

6. 发明授权

US08343045B2 Curved cannula 有权
标题翻译：弯曲插管
公开(公告)号：US08343045B2
公开(公告)日：2013-01-01
申请号：US12780724
申请日：2010-05-14
申请人： Charles E. Swinehart , Theodore W. Rogers
发明人： Charles E. Swinehart , Theodore W. Rogers
IPC分类号： A61B1/00
CPC分类号： B21D21/00 , A61B17/00234 , A61B17/3421 , A61B2017/2904 , A61B2090/062 , Y10T29/49
摘要： The cross section of a curved portion of a curved cannula is oval shaped. The oval is oriented such that a major axis of the oval is generally aligned with the curved portion's bend radius. In one aspect, the cannula tube is ovalized so that the radius of curvature of an interior wall approaches the outer radius of an instrument component that contacts the curved portion during instrument insertion. In this first aspect, a wider contact patch area between the instrument component and the cannula results, which reduces friction and stick-slip during insertion. In another aspect, the cannula tube is ovalized so that the radius of curvature of an interior wall is less than the outer radius of an instrument component that contacts the curved portion during instrument insertion. In this second aspect, two contact patches are established between the instrument component and cannula, which also reduces friction and stick-slip during instrument insertion. Also disclosed is a cannula orientation marking that changes circumferential orientation along a length the curved cannula to help a person who is inserting the cannula to properly twist the cannula during insertion.
摘要翻译：弯曲插管的弯曲部分的横截面为椭圆形。椭圆形被定向为使得椭圆的长轴通常与弯曲部分的弯曲半径对准。在一个方面，插管管是椭圆形的，使得内部壁的曲率半径在仪器插入期间接近与弯曲部分接触的器械部件的外半径。在该第一方面，仪器部件和套管之间的更宽的接触面积导致插入期间的摩擦和粘滑。在另一方面，插管管是椭圆形的，使得内壁的曲率半径小于在仪器插入期间接触弯曲部分的器械部件的外半径。在该第二方面，在仪器部件和插管之间建立两个接触片，这也在仪器插入期间减少摩擦和粘滑。还公开了套管取向标记，其沿着弯曲插管的长度改变周向定向，以帮助插入套管的人在插入期间适当地扭转套管。

7. 发明申请

US20080255481A1 Methods and Devices for Attaching a Belt Cartridge to a Chest Compression Device 有权
标题翻译：将皮带盒连接到胸部压缩装置的方法和装置
公开(公告)号：US20080255481A1
公开(公告)日：2008-10-16
申请号：US12099661
申请日：2008-04-08
申请人： Reynaldo J. Quintana , Paul Q. Escudero , Charles E. Swinehart
发明人： Reynaldo J. Quintana , Paul Q. Escudero , Charles E. Swinehart
IPC分类号： A61H31/00
CPC分类号： A61H31/00 , A61H31/005 , A61H31/006 , A61H31/008 , A61H2201/5007 , A61H2201/5048 , Y10S601/06
摘要： Devices and methods for attaching a belt cartridge to a belt drive platform. A clip attached to the belt is inserted into a slot in the drive spool of the belt drive platform. The cover plate of the belt cartridge fits into a channel beam in the housing of the belt drive platform, thereby securing the cartridge to the housing. Belt guards, for protecting the cartridge, belt drive platform, patient and rescuer, are rotatably attached to the cover plate and are secured around spindles disposed on the sides of the housing.
摘要翻译：用于将带盒附接到皮带驱动平台的装置和方法。附接到皮带的夹子插入皮带驱动平台的驱动卷轴中的槽中。带盒的盖板装配在带驱动平台的壳体中的通道梁中，从而将盒固定到壳体。用于保护盒，皮带驱动平台，患者和救生器的皮带护罩可旋转地附接到盖板并且被固定在设置在壳体的侧面上的主轴周围。

8. 发明授权

US08888688B2 Connector device for a controllable instrument 有权
标题翻译：用于可控仪器的连接器装置
公开(公告)号：US08888688B2
公开(公告)日：2014-11-18
申请号：US10988212
申请日：2004-11-12
申请人： Christopher A. Julian , Amir Belson , Aaron W. Brown , Mark Harasym , Marc S. Kreidler , Robert M. Ohline , Scott J. Reiner , Enrique Romo , Charles E. Swinehart , Katherine Whitin
发明人： Christopher A. Julian , Amir Belson , Aaron W. Brown , Mark Harasym , Marc S. Kreidler , Robert M. Ohline , Scott J. Reiner , Enrique Romo , Charles E. Swinehart , Katherine Whitin
IPC分类号： A61B1/00 , A61B1/31 , A61B1/008 , A61B1/005 , A61B17/00
CPC分类号： A61B1/00128 , A61B1/0016 , A61B1/0053 , A61B1/0055 , A61B1/0057 , A61B1/008 , A61B1/31 , A61B2017/003 , A61B2017/00477
摘要： A connector assembly for controllable articles is described herein. The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.
摘要翻译：本文描述了用于可控制品的连接器组件。连接器组件接合用于从一个或多个力发生器传递力的力传递元件与用于操纵可控制品的力传递元件。另外，连接器组件提供组织，从而简化了通常以快速单一运动连接多个元件的过程。

9. 发明授权

US08784303B2 System for controlling an instrument using shape sensors 有权
标题翻译：使用形状传感器控制仪器的系统
公开(公告)号：US08784303B2
公开(公告)日：2014-07-22
申请号：US12524249
申请日：2008-01-29
申请人： Keith P. Laby , Robert M. Ohline , Christoph M. Pistor , Charles E. Swinehart , Bruce R. Woodley , Amir Belson
发明人： Keith P. Laby , Robert M. Ohline , Christoph M. Pistor , Charles E. Swinehart , Bruce R. Woodley , Amir Belson
IPC分类号： A61B1/00 , A61B1/04
CPC分类号： A61B1/0055 , A61B1/00045 , A61B1/0052 , A61B1/05 , A61B1/313 , A61B2034/2061
摘要： The present invention relates, generally, to controlling a steerable instrument having an elongate body. More particularly, the present invention relates to a system and method for sensing the shape of a steerable instrument and controlling the steerable instrument in response to a control signal from a user input device and a shape signal corresponding to the sensed shape of at least a portion of the steerable instrument. The present invention also relates to a system for sensing the shape of a flexible instrument with an optical shape sensor.
摘要翻译：本发明一般涉及控制具有细长体的可操纵器具。更具体地，本发明涉及一种用于感测可转向仪器的形状并响应于来自用户输入装置的控制信号和对应于所感测到的至少一部分的形状的形状信号来控制可转向仪器的系统和方法的导向仪器。本发明还涉及一种用于利用光学形状传感器检测柔性仪器的形状的系统。

10. 发明授权

US08740823B2 Methods and devices for attaching a belt cartridge to a chest compression device 有权
标题翻译：用于将皮带盒附接到胸部按压装置的方法和装置
公开(公告)号：US08740823B2
公开(公告)日：2014-06-03
申请号：US13372270
申请日：2012-02-13
申请人： Renaldo J. Quintana , Paul Q. Escudero , Charles E. Swinehart
发明人： Renaldo J. Quintana , Paul Q. Escudero , Charles E. Swinehart
IPC分类号： A61H31/00
CPC分类号： A61H31/00 , A61H31/005 , A61H31/006 , A61H31/008 , A61H2201/5007 , A61H2201/5048 , Y10S601/06
摘要： Devices and methods for attaching a belt cartridge to a belt drive platform. A clip attached to the belt is inserted into a slot in the drive spool of the belt drive platform. The cover plate of the belt cartridge fits into a channel beam in the housing of the belt drive platform, thereby securing the cartridge to the housing. Belt guards, for protecting the cartridge, belt drive platform, patient and rescuer, are rotatably attached to the cover plate and are secured around spindles disposed on the sides of the housing.
摘要翻译：用于将带盒附接到皮带驱动平台的装置和方法。附接到皮带的夹子插入皮带驱动平台的驱动卷轴中的槽中。带盒的盖板装配在带驱动平台的壳体中的通道梁中，从而将盒固定到壳体。用于保护盒，皮带驱动平台，患者和救生器的皮带护罩可旋转地附接到盖板并且被固定在设置在壳体的侧面上的主轴周围。

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