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1. 发明申请

US20070142970A1 Electro-Mechanical Interfaces to Mount Robotic Surgical Arms 有权
标题翻译：机电接口安装机器人手术臂
公开(公告)号：US20070142970A1
公开(公告)日：2007-06-21
申请号：US11466097
申请日：2006-08-21
申请人： William Burbank , Scott Luke , Dean Hoornaert
发明人： William Burbank , Scott Luke , Dean Hoornaert
IPC分类号： G05B19/04
CPC分类号： B25J19/0029 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B90/361 , A61B2017/00477 , H01R13/6315 , H01R13/748 , H01R35/025
摘要： In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.
摘要翻译：在本发明的一个实施例中，提供了将外科手术机器人手臂安装到机器人手术系统的安装臂的方法，其包括将外科手术机器人手臂的一对引导槽滑过所述组中的一对引导片手臂将安装臂中的电连接器对准手术机器人手臂的电连接器; 并且将公电连接器巧妙地配合到母电连接器，同时最终将装配臂中的引导突片与手术机器人手臂的壳体的凸缘配合。

2. 发明申请

US20100241138A1 SURGICAL SYSTEM WITH ELECTRO-MECHANICAL INTERFACES TO MOUNT ROBOTIC SURGICAL ARMS 有权
标题翻译：机械系统与电机械接口安装机械手术臂
公开(公告)号：US20100241138A1
公开(公告)日：2010-09-23
申请号：US12793871
申请日：2010-06-04
申请人： William Burbank , Scott Luke , Dean Hoornaert
发明人： William Burbank , Scott Luke , Dean Hoornaert
IPC分类号： A61B19/00
CPC分类号： B25J19/0029 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B90/361 , A61B2017/00477 , H01R13/6315 , H01R13/748 , H01R35/025
摘要： In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.
摘要翻译：在本发明的一个实施例中，提供将外科手术机器人手臂安装到机器人手术系统的安装臂的方法，其包括将外科手术机器人手臂的一对引导槽滑动到所述组中的一对引导片上手臂将安装臂中的电连接器对准手术机器人手臂的电连接器; 并且将公电连接器巧妙地配合到母电连接器，同时最终将装配臂中的引导突片与手术机器人手臂的壳体的凸缘配合。

3. 发明授权

US07762825B2 Electro-mechanical interfaces to mount robotic surgical arms 有权
标题翻译：机电接口用于安装机器人手术臂
公开(公告)号：US07762825B2
公开(公告)日：2010-07-27
申请号：US11466097
申请日：2006-08-21
申请人： William Burbank , Scott Luke , Dean Hoornaert
发明人： William Burbank , Scott Luke , Dean Hoornaert
IPC分类号： H01R13/64
CPC分类号： B25J19/0029 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B90/361 , A61B2017/00477 , H01R13/6315 , H01R13/748 , H01R35/025
摘要： In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.
摘要翻译：在本发明的一个实施例中，提供了将外科手术机器人手臂安装到机器人手术系统的安装臂的方法，其包括将外科手术机器人手臂的一对引导槽滑过所述组中的一对引导片手臂将安装臂中的电连接器对准手术机器人手臂的电连接器; 并且将公电连接器巧妙地配合到母电连接器，同时最终将装配臂中的引导突片与手术机器人手臂的壳体的凸缘配合。

4. 发明授权

US09446177B2 Surgical instrument with robotic and manual actuation features 有权
标题翻译：手术器械具有机器人和手动致动功能
公开(公告)号：US09446177B2
公开(公告)日：2016-09-20
申请号：US13549347
申请日：2012-07-13
申请人： Paul Millman , David Bailey , Dean Hoornaert , David Stephen Mintz , David Q. Larkin
发明人： Paul Millman , David Bailey , Dean Hoornaert , David Stephen Mintz , David Q. Larkin
IPC分类号： A61B19/00 , A61M1/00 , A61M13/00 , A61M39/24 , A61B17/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses.
摘要翻译：在本发明的一个实施例中，提供了一种用于控制一个或多个流体流入和流出外科手术部位的流体的机器人手术器械。机器人手术器械可以包括壳体，流量控制系统，中空管和一个或多个软管配件。将仪器连接到机器手臂的外壳。安装在壳体中的流量控制系统包括一个或多个控制阀，以控制一种或多种流体的流动。中空管具有安装在联接到流量控制系统的壳体中的第一端。中空管的第二端具有一个或多个开口，以允许流体流入和流出手术部位。软管接头具有联接到流量控制系统的第一端和耦合到软管的第二端。

5. 发明申请

US20070005002A1 Robotic surgical instruments for irrigation, aspiration, and blowing 审中-公开
标题翻译：用于灌溉，抽吸和吹风的机器人手术器械
公开(公告)号：US20070005002A1
公开(公告)日：2007-01-04
申请号：US11341004
申请日：2006-01-27
申请人： Paul Millman , David Bailey , Dean Hoornaert , David Mintz , David Larkin
发明人： Paul Millman , David Bailey , Dean Hoornaert , David Mintz , David Larkin
IPC分类号： A61M1/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses.
摘要翻译：在本发明的一个实施例中，提供了一种用于控制一个或多个流体流入和流出外科手术部位的流体的机器人手术器械。机器人手术器械可以包括壳体，流量控制系统，中空管和一个或多个软管配件。将仪器连接到机器手臂的外壳。安装在壳体中的流量控制系统包括一个或多个控制阀，以控制一种或多种流体的流动。中空管具有安装在联接到流量控制系统的壳体中的第一端。中空管的第二端具有一个或多个开口，以允许流体流入和流出手术部位。软管接头具有联接到流量控制系统的第一端和耦合到软管的第二端。

6. 发明申请

US20070093792A1 In vivo accessories for minimally invasive robotic surgery 有权
标题翻译：用于微创机器人手术的体内附件
公开(公告)号：US20070093792A1
公开(公告)日：2007-04-26
申请号：US11522852
申请日：2006-09-18
申请人： Christopher Julian , Daniel Wallace , Frederic Moll , Dean Hoornaert , David Rosa , John Freund , John Hill
发明人： Christopher Julian , Daniel Wallace , Frederic Moll , Dean Hoornaert , David Rosa , John Freund , John Hill
IPC分类号： A61B17/00
CPC分类号： A61B18/18 , A61B1/00149 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/06061 , A61B17/062 , A61B17/064 , A61B17/068 , A61B17/11 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B17/32053 , A61B17/54 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B90/36 , A61B90/361 , A61B2017/00252 , A61B2017/00287 , A61B2017/00362 , A61B2017/00473 , A61B2017/00477 , A61B2017/0243 , A61B2017/1107 , A61B2017/1135 , A61B2017/2825 , A61B2017/2829 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929 , A61B2017/2931 , A61B2017/2937 , A61B2017/294 , A61B2017/2946 , A61B2034/305 , B66C23/48
摘要： Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical clips for use with a clip applier, single working member accessories such as a blade which can be grasped and manipulated by a grasping tool for cutting, sheath accessories that fit over working members of a tool, flow tubes for providing suction or introducing a fluid into the surgical site, and a retraction member resiliently biased to retract a tissue to expose an area in the surgical site for treatment. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.
摘要翻译：手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。体内附件的实例包括紧固附件，例如用于夹子施放器的手术夹子，单个工作构件附件，例如可被抓取工具抓握并操纵的刀片，用于切割，护套附件适合工具的工作构件用于提供抽吸或将流体引入手术部位的流动管，以及弹性偏压以缩回组织以露出外科手术部位中用于治疗的区域的缩回构件。附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。

7. 发明申请

US20120179166A1 PATIENT SIDE SYSTEMS WITH A COUNTERBALANCE SUBSYSTEM 有权
标题翻译：患者侧系统与平衡子系统
公开(公告)号：US20120179166A1
公开(公告)日：2012-07-12
申请号：US13181271
申请日：2011-07-12
申请人： Randy Goldberg , Henry Hazebrouck , Dean Hoornaert , David Lidgey
发明人： Randy Goldberg , Henry Hazebrouck , Dean Hoornaert , David Lidgey
IPC分类号： A61B19/00 , A61B17/00
CPC分类号： B25J19/0016 , A61B1/00149 , A61B1/313 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2090/504 , Y10T16/84
摘要： In one embodiment of the invention, a patient side-system is provided that includes a column with a rail and a counterbalance subsystem. The patient side-system may further include a braking subsystem. The counterbalance subsystem includes a spring assembly coupled at one end to the column with a spring member, and a housing movably coupled to the rail. The housing includes a drum to receive the spring member and a plurality of roller elements to guide a movement of the spring member winding or unwinding on the drum. If present, the braking subsystem includes a first pulley rotatably coupled to the column, a second pulley with a locking mechanism spaced apart from the first pulley and rotatably coupled to the column, and at least one brake cable wrapped around the first pulley and the second pulley with ends coupled to the housing. The locking mechanism can set a position of the housing along the column.
摘要翻译：在本发明的一个实施例中，提供了一种患者侧系统，其包括具有轨道的列和平衡子系统。患者侧系统还可以包括制动子系统。平衡子系统包括弹簧组件，弹簧组件在一端处连接到具有弹簧构件的柱体，以及可移动地联接到轨道的壳体。壳体包括用于容纳弹簧构件的鼓和多个滚子元件，以引导弹簧构件卷绕或放卷在滚筒上的运动。如果存在，制动子系统包括可旋转地联接到该列的第一滑轮，具有与第一滑轮间隔开并可旋转地联接到该列的锁定机构的第二滑轮，以及包围第一滑轮和第二滑轮的至少一个制动电缆滑轮，其端部联接到壳体。锁定机构可以沿着柱设置壳体的位置。

8. 发明申请

US20090099520A1 Methods of fluid flow control with robotic surgical instruments for irrigation, aspiration, and blowing 审中-公开
标题翻译：使用机器人手术器械进行灌流，抽吸和吹气的流体流量控制方法
公开(公告)号：US20090099520A1
公开(公告)日：2009-04-16
申请号：US11454476
申请日：2006-06-15
申请人： Paul Millman , David Bailey , Dean Hoornaert , David Stephen Mintz , David Q. Larkin , John Magnasco , Gary Guthart , Salvatore Brogna
发明人： Paul Millman , David Bailey , Dean Hoornaert , David Stephen Mintz , David Q. Larkin , John Magnasco , Gary Guthart , Salvatore Brogna
IPC分类号： A61M1/00 , B25J13/00 , B25J18/00 , B25J19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a first control signal is generated to control a robotic surgical instrument. The first control signal is then coupled into the robotic surgical instrument. In response to the first control signal, a first valve in the robotic surgical instrument is opened to flow a first fluid over a surgical site.
摘要翻译：在本发明的一个实施例中，产生第一控制信号以控制机器人手术器械。然后将第一控制信号耦合到机器人手术器械中。响应于第一控制信号，打开机器人手术器械中的第一阀以使第一流体在手术部位上流动。

9. 发明申请

US20070156121A1 Robotic surgical systems with fluid flow control for irrigation, aspiration, and blowing 审中-公开
标题翻译：具有流体流量控制的机器人手术系统用于灌溉，抽吸和吹风
公开(公告)号：US20070156121A1
公开(公告)日：2007-07-05
申请号：US11454359
申请日：2006-06-15
申请人： Paul Millman , David Bailey , Dean Hoornaert , David Mintz , David Larkin , John Magnasco , Gary Guthart , Nitish Swarup , Salvatore Brogna
发明人： Paul Millman , David Bailey , Dean Hoornaert , David Mintz , David Larkin , John Magnasco , Gary Guthart , Nitish Swarup , Salvatore Brogna
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a robotic surgical system is provided including a master control console and a surgical manipulator. The master control console generates control signals to cause one or more fluids to flow into or out of a surgical site. The surgical manipulator is coupled to the console to receive the control signals and includes at least one robotic arm and a surgical instrument coupled thereto. The surgical manipulator controls the surgical instrument in response to the control signals to control the flow of the one or more fluids into or out of the surgical site. The surgical instrument has a first robotically controlled valve that is responsive to the surgical manipulator and a hollow tube having a first end coupled to the first robotically controlled valve with an opening at a second end to direct the flow of one or more fluids.
摘要翻译：在本发明的一个实施例中，提供了包括主控制台和手术操纵器的机器人手术系统。主控制台产生控制信号以使一个或多个流体流入或流出外科手术部位。手术操纵器联接到控制台以接收控制信号，并且包括至少一个机器人臂和与其耦合的外科器械。手术操纵器响应于控制信号控制外科器械，以控制一个或多个流体流入或流出手术部位的流动。外科器械具有响应于手术操纵器的第一机器人控制的阀，以及中空管，其具有联接到第一机械手控制阀的第一端，在第二端具有开口以引导一种或多种流体的流动。

10. 发明授权

US08607935B2 Guide systems for laminated spring assemblies 有权
标题翻译：夹层弹簧组件导向系统
公开(公告)号：US08607935B2
公开(公告)日：2013-12-17
申请号：US11396358
申请日：2006-03-30
申请人： Randal P Goldberg , Henry Hazebrouck , Dean Hoornaert , David Lidgey
发明人： Randal P Goldberg , Henry Hazebrouck , Dean Hoornaert , David Lidgey
IPC分类号： F03G1/00 , F16F1/38
CPC分类号： B25J19/0016 , A61B1/00149 , A61B1/313 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2090/504 , Y10T16/84
摘要： A patient side-system includes a column with a rail and a counterbalance subsystem. The patient side-system may further include a braking subsystem. The counterbalance subsystem includes a spring assembly coupled at one end to the column with a spring member, and a housing movably coupled to the rail. The housing includes a drum to receive the spring member and a plurality of roller elements to guide a movement of the spring member winding or unwinding on the drum. If present, the braking subsystem includes a first pulley rotatably coupled to the column, a second pulley with a locking mechanism spaced apart from the first pulley and rotatably coupled to the column, and at least one brake cable wrapped around the first pulley and the second pulley with ends coupled to the housing. The locking mechanism can set a position of the housing along the column.
摘要翻译：患者侧系统包括具有轨道和平衡子系统的列。患者侧系统还可以包括制动子系统。平衡子系统包括弹簧组件，弹簧组件在一端处连接到具有弹簧构件的柱体，以及可移动地联接到轨道的壳体。壳体包括用于容纳弹簧构件的鼓和多个滚子元件，以引导弹簧构件卷绕或放卷在滚筒上的运动。如果存在，制动子系统包括可旋转地联接到该列的第一滑轮，具有与第一滑轮间隔开并可旋转地联接到该列的锁定机构的第二滑轮，以及包围第一滑轮和第二滑轮的至少一个制动电缆滑轮，其端部联接到壳体。锁定机构可以沿着柱设置壳体的位置。

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