专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明公开

EP3498213A2 FLEXIBLE WRIST FOR SURGICAL TOOL 审中-实审
公开(公告)号：EP3498213A2
公开(公告)日：2019-06-19
申请号：EP18203019.7
申请日：2003-12-02
申请人： Intuitive Surgical Operations, Inc.
发明人： Cooper, Thomas, G. , Anderson, Christopher, S.
IPC分类号： A61B34/30 , A61B1/008
CPC分类号： A61B34/30 , A61B1/00142 , A61B1/00149 , A61B1/0058 , A61B1/008 , A61B1/018 , A61B17/00 , A61B17/062 , A61B17/068 , A61B17/1285 , A61B17/29 , A61B18/1442 , A61B34/71 , A61B2017/003 , A61B2017/00309 , A61B2017/2901 , A61B2034/305 , A61B2034/306
摘要： A minimally invasive surgical instrument comprising:
an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end;
an end effector;
a wrist member having a flexible tube including an axis extending through an interior surrounded by a wall, the wall of the flexible tube including a plurality of lumens oriented generally parallel to the axis of the flexible tube, the wrist member having a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector; and
a plurality of actuation cables having distal portions connected to the end effector and extending from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.

2. 发明授权

EP2901958B1 Flexible wrist for surgical tool 有权转让
公开(公告)号：EP2901958B1
公开(公告)日：2019-02-06
申请号：EP14193159.2
申请日：2003-12-02
申请人： Intuitive Surgical Operations, Inc.
发明人： Cooper, Thomas, G. , Anderson, Christopher, S.
IPC分类号： A61B34/30 , A61B1/008

3. 发明公开

EP2659854A2 Surgical tool having positively positionable tendon-actuated multi-disk wrist joint 审中-公开
标题翻译： Chirurgisches Werkzeug mit positiv positionierbarem sehnenaktiviertem Mehrscheiben-Handgelenk
公开(公告)号：EP2659854A2
公开(公告)日：2013-11-06
申请号：EP13162796.0
申请日：2002-07-01
申请人： Intuitive Surgical Operations, Inc.
发明人： Cooper, Thomas, G. , Chang, Stacey , Anderson, Christopher, S. , Williams, Dustin , Manzo, Scott , Wallace, Daniel, T.
IPC分类号： A61B19/00 , A61B17/00
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。积极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容纳中间电缆的多个小半径孔或槽，以及用于容纳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较大的运动半径，使得到内侧椎骨的内侧电缆只能移动远端电缆远端椎骨的一部分，从而实现对椎骨的精确控制和操纵。

4. 发明授权

EP2901959B1 Flexible wrist for surgical tool 有权转让
公开(公告)号：EP2901959B1
公开(公告)日：2019-02-06
申请号：EP14193176.6
申请日：2003-12-02
申请人： Intuitive Surgical Operations, Inc.
发明人： Cooper, Thomas, G. , Anderson, Christopher, S.
IPC分类号： A61B34/30 , A61B1/008

5. 发明授权

EP2359768B1 Flexible wrist for surgical tool 有权转让
公开(公告)号：EP2359768B1
公开(公告)日：2018-10-03
申请号：EP11002838.8
申请日：2003-12-02
申请人： Intuitive Surgical Operations, Inc.
发明人： Cooper, Thomas, G. , Anderson, Christopher, S.
IPC分类号： A61B34/30
CPC分类号： A61B34/30 , A61B1/00142 , A61B1/00149 , A61B1/0058 , A61B1/008 , A61B1/018 , A61B17/00 , A61B17/062 , A61B17/068 , A61B17/1285 , A61B17/29 , A61B18/1442 , A61B34/71 , A61B2017/003 , A61B2017/00309 , A61B2017/2901 , A61B2034/305 , A61B2034/306
摘要： A minimally invasive surgical instrument comprising: an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; an end effector; a wrist member having an inner spring which includes a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector, the wrist member having a plurality of annular disks distributed along an axis of the inner spring, the annular disks each having an inside edge connected with the inner spring; and a plurality of actuation cables having distal portions connected to the end effector and extending from the distal portion of the wrist member through the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.

6. 发明公开

EP2659854A3 Surgical tool having positively positionable tendon-actuated multi-disk wrist joint 审中-公开
标题翻译：具有正位置腱驱动的多盘手腕关节的手术工具
公开(公告)号：EP2659854A3
公开(公告)日：2017-06-21
申请号：EP13162796.0
申请日：2002-07-01
申请人： Intuitive Surgical Operations, Inc.
发明人： Cooper, Thomas, G. , Chang, Stacey , Anderson, Christopher, S. , Williams, Dustin , Manzo, Scott , Wallace, Daniel, T.
IPC分类号： A61B34/30 , A61B17/29 , A61B1/00 , A61B34/00 , A61B1/005 , A61B1/008
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，该手腕机构以这样的方式提供俯仰和偏航旋转，使得该工具在侧倾，俯仰和偏航中没有奇点。可正向定位的多盘手腕机构包括串联堆叠的多个盘或椎骨。每个椎骨被配置为相对于每个相邻椎骨以俯仰或偏航旋转。驱动电缆用于操纵和控制椎骨的运动。在特定实施例中，一些缆线是从近侧椎骨穿过一个或多个中间椎骨延伸到远侧椎骨的远侧缆线，而其余缆线是从近侧椎骨延伸到一个或多个中间椎骨的内侧缆线。电缆由一个旋转的平板电缆执行机构驱动。在具体实施例中，致动器机构包括用于接收中间线缆的多个小半径孔或凹槽以及用于接收远侧线缆的多个大半径孔或凹槽。孔或凹槽将内侧缆线限制到较小的运动半径，并且远侧缆线运动到较大的运动半径，使得到内侧椎骨的内侧缆线仅移动远侧缆线到远侧椎骨的一部分量，以实现对椎骨的精确控制和操纵。

7. 发明公开

EP2659853A3 Surgical tool having positively positionable tendon-actuated multi-disk wrist joint 审中-公开
公开(公告)号：EP2659853A3
公开(公告)日：2017-03-15
申请号：EP13162794.5
申请日：2002-07-01
申请人： Intuitive Surgical Operations, Inc.
发明人： Cooper, Thomas, G. , Chang, Stacey , Anderson, Christopher, S. , Williams, Dustin , Manzo, Scott , Wallace, Daniel, T.
IPC分类号： A61B17/00 , A61B1/00 , A61B34/30 , A61B17/29 , A61B1/008 , A61B1/005 , A61B34/00
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.

8. 发明授权

EP2865351B1 Flexible wrist for surgical tool 有权转让
公开(公告)号：EP2865351B1
公开(公告)日：2018-11-28
申请号：EP14193162.6
申请日：2003-12-02
申请人： Intuitive Surgical Operations, Inc.
发明人： Cooper, Thomas, G. , Anderson, Christopher, S.
IPC分类号： A61B34/30
CPC分类号： A61B34/30 , A61B1/00142 , A61B1/00149 , A61B1/0058 , A61B1/008 , A61B1/018 , A61B17/00 , A61B17/062 , A61B17/068 , A61B17/1285 , A61B17/29 , A61B18/1442 , A61B34/71 , A61B2017/003 , A61B2017/00309 , A61B2017/2901 , A61B2034/305 , A61B2034/306
摘要： A minimally invasive surgical instrument comprising: an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; an end effector; a wrist member having an inner spring which includes a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector, the wrist member having a plurality of annular disks distributed along an axis of the inner spring, the annular disks each having an inside edge connected with the inner spring; and a plurality of actuation cables having distal portions connected to the end effector and extending from the distal portion of the wrist member through the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.

9. 发明公开

EP2659855A3 Surgical tool having positively positionable tendon-actuated multi-disk wrist joint 审中-公开
标题翻译： Chirurgisches Werkzeug mit positiv positionierbarem sehnenaktiviertem Mehrscheiben-Handgelenk
公开(公告)号：EP2659855A3
公开(公告)日：2017-03-22
申请号：EP13162798.6
申请日：2002-07-01
申请人： Intuitive Surgical Operations, Inc.
发明人： Cooper, Thomas, G. , Chang, Stacey , Anderson, Christopher, S. , Williams, Dustin , Manzo, Scott , Wallace, Daniel, T.
IPC分类号： A61B17/29 , A61B34/00 , A61B34/30 , A61B1/008 , A61B1/005 , A61B1/00
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。积极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。电缆由枢转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容纳中间电缆的多个小半径孔或槽，以及用于容纳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较大的运动半径，使得到内侧椎骨的内侧电缆只能移动远端电缆远端椎骨的一部分，从而实现对椎骨的精确控制和操纵。

10. 发明授权

EP2659854B1 Surgical tool having positively positionable tendon-actuated multi-disk wrist joint 有权
公开(公告)号：EP2659854B1
公开(公告)日：2020-04-15
申请号：EP13162796.0
申请日：2002-07-01
申请人： Intuitive Surgical Operations, Inc.
发明人： Cooper, Thomas, G. , Chang, Stacey , Anderson, Christopher, S. , Williams, Dustin , Manzo, Scott , Wallace, Daniel, T.
IPC分类号： A61B34/30 , A61B17/29 , A61B1/00 , A61B34/00 , A61B1/005 , A61B1/008

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式