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1. 发明授权

EP2266466B1 Surgical manipulator for a telerobotic system 失效
公开(公告)号：EP2266466B1
公开(公告)日：2015-04-22
申请号：EP10182917.4
申请日：1996-06-05
申请人： SRI International
发明人： Jensen, Joel F. , Hill, John W.
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00367 , A61B2017/00464 , A61B2017/00477 , A61B2017/2902 , A61B2017/292 , A61B2034/305 , A61B2090/506 , B25J9/1065 , B25J15/04 , B25J18/04

2. 发明公开

EP2281512A1 Surgical manipulator for a telerobotic system 失效
标题翻译：遥控机器人系统的外科手术器械
公开(公告)号：EP2281512A1
公开(公告)日：2011-02-09
申请号：EP10191605.4
申请日：1996-06-05
申请人： SRI International
发明人： Jensen, Joel F. , Hill, John W.
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00367 , A61B2017/00464 , A61B2017/00477 , A61B2017/2902 , A61B2017/292 , A61B2034/305 , A61B2090/506 , B25J9/1065 , B25J15/04 , B25J18/04
摘要： The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The manipulator assembly includes an instrument holder removably coupled to a drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The invention is also directed to a system and method for releasably holding a surgical instrument (14). The system includes an instrument support for automatically locking mounting pins on the instrument within locking slots on the instrument holder to releasably couple the instrument to the holder. With a twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.
摘要翻译：本发明涉及用于在遥控机器人系统中保持和操纵手术器械（14）的操纵器组件（2）。操纵器组件包括可移除地联接到驱动组件的器械保持器，使得保持器可被消毒。该组件还包括安装在保持器和驱动组件的远侧的力感测元件（52），用于检测施加在手术器械上的力并向外科医生提供反馈。本发明还涉及用于可释放地保持手术器械（14）的系统和方法。该系统包括一个仪器支架，用于将仪器上的安装销自动锁定在仪器支架上的锁定槽内，以便将仪器可释放地连接到支架上。通过扭锁运动，外科医生可以在诸如开放式手术，腹腔镜检查或胸腔镜检查之类的外科手术过程中快速地接合和脱开支架上的各种器械。

3. 发明公开

EP1864615A3 Surgical manipulator for a telerobotic system 失效
标题翻译：外科手术操纵器用于远程控制的机器人系统
公开(公告)号：EP1864615A3
公开(公告)日：2008-04-09
申请号：EP07016418.1
申请日：1996-06-05
申请人： SRI International
发明人： Jensen, Joel F. , Hill, John W.
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00367 , A61B2017/00464 , A61B2017/00477 , A61B2017/2902 , A61B2017/292 , A61B2034/305 , A61B2090/506 , B25J9/1065 , B25J15/04 , B25J18/04
摘要： A surgical system and surgical instruments for a telerobitic system are disclosed. In one embodiment, the surgical instrument has an elongate shaft having a proximal portion, a distal portion, an inner lumen, and at least one axially extending slot. An end effector is disposed adjacent the distal portion of the elongate shaft and an actuator assembly, comprising a linkage, is disposed within the inner lumen. A movable actuator pin extends laterally from the linkage and through the axially extending slot to releasably couple the actuator assembly to a driver of a robotic surgical instrument holder. The system disclosed may enable the rapid engagement and disengagement of surgical instruments from an instrument holder during surgical procedures.

4. 发明公开

EP1570789A3 Surgical manipulator for a telerobotic system 失效
公开(公告)号：EP1570789A3
公开(公告)日：2005-12-07
申请号：EP05011573.2
申请日：1996-06-05
申请人： SRI International
发明人： Jensen, Joel F. , Hill, John W.
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00367 , A61B2017/00464 , A61B2017/00477 , A61B2017/2902 , A61B2017/292 , A61B2034/305 , A61B2090/506 , B25J9/1065 , B25J15/04 , B25J18/04
摘要： A surgical system and surgical instruments for a telerobitic system are disclosed. In one embodiment, the surgical instrument has an elongate shaft having a proximal portion, a distal portion, an inner lumen, and at least one axially extending slot. An end effector is disposed adjacent the distal portion of the elongate shaft and an actuator assembly, comprising a linkage, is disposed within the inner lumen. A movable actuator pin extends laterally from the linkage and through the axially extending slot to releasably couple the actuator assembly to a driver of a robotic surgical instrument holder. The system disclosed may enable the rapid engagement and disengagement of surgical instruments from an instrument holder during surgical procedures.

5. 发明授权

EP2266467B1 Surgical manipulator for a telerobotic system 失效
公开(公告)号：EP2266467B1
公开(公告)日：2015-08-12
申请号：EP10182918.2
申请日：1996-06-05
申请人： SRI International
发明人： Jensen, Joel F. , Hill, John W.
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00367 , A61B2017/00464 , A61B2017/00477 , A61B2017/2902 , A61B2017/292 , A61B2034/305 , A61B2090/506 , B25J9/1065 , B25J15/04 , B25J18/04

6. 发明公开

EP2286729A2 Surgical manipulator for a telerobotic system 失效
标题翻译：机器人系统的Chirurgischer机械手
公开(公告)号：EP2286729A2
公开(公告)日：2011-02-23
申请号：EP10191613.8
申请日：1996-06-05
申请人： SRI International
发明人： Jensen, Joel F. , Hill, John W.
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00367 , A61B2017/00464 , A61B2017/00477 , A61B2017/2902 , A61B2017/292 , A61B2034/305 , A61B2090/506 , B25J9/1065 , B25J15/04 , B25J18/04
摘要： The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The manipulator assembly includes an instrument holder removably coupled to a drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The invention is also directed to a system and method for releasably holding a surgical instrument (14). The system includes an instrument support for automatically locking mounting pins on the instrument within locking slots on the instrument holder to releasably couple the instrument to the holder. With a twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.
摘要翻译：本发明涉及用于在远程操作系统中保持和操纵外科器械（14）的操纵器组件（2）。操纵器组件包括可移除地联接到驱动组件的仪器保持器，使得保持器可以被消毒。组件还包括安装在保持器的远侧的力感测元件（52）和用于检测施加在外科器械上的力并向外科医生提供反馈的驱动组件。本发明还涉及一种用于可释放地保持外科器械（14）的系统和方法。该系统包括一个仪器支架，用于将仪器上的安装销自动锁定在仪器架上的锁定槽内，以将仪器可释放地连接到支架上。通过扭锁运动，外科医生可以在手术过程（例如开放手术，腹腔镜检查或胸腔镜检查）中快速地将各种器械从保持器接合和脱离。

7. 发明公开

EP2135561A3 Surgical manipulator for a telerobotic system 失效
标题翻译：外科手术操纵器用于远程控制的机器人系统
公开(公告)号：EP2135561A3
公开(公告)日：2010-02-17
申请号：EP09172375.9
申请日：1996-06-05
申请人： SRI International
发明人： Jensen, Joel F. , Hill, John W.
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00367 , A61B2017/00464 , A61B2017/00477 , A61B2017/2902 , A61B2017/292 , A61B2034/305 , A61B2090/506 , B25J9/1065 , B25J15/04 , B25J18/04
摘要： A surgical system and surgical instruments for a telerobitic system are disclosed. In one embodiment, the surgical instrument has an elongate shaft having a proximal portion, a distal portion, an inner lumen, and at least one axially extending slot. An end effector is disposed adjacent the distal portion of the elongate shaft and an actuator assembly, comprising a linkage, is disposed within the inner lumen. A movable actuator pin extends laterally from the linkage and through the axially extending slot to releasably couple the actuator assembly to a driver of a robotic surgical instrument holder. The system disclosed may enable the rapid engagement and disengagement of surgical instruments from an instrument holder during surgical procedures.

8. 发明公开

EP2135561A2 Surgical manipulator for a telerobotic system 失效
标题翻译：外科手术操纵器用于远程控制的机器人系统
公开(公告)号：EP2135561A2
公开(公告)日：2009-12-23
申请号：EP09172375.9
申请日：1996-06-05
申请人： SRI International
发明人： Jensen, Joel F. , Hill, John W.
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00367 , A61B2017/00464 , A61B2017/00477 , A61B2017/2902 , A61B2017/292 , A61B2034/305 , A61B2090/506 , B25J9/1065 , B25J15/04 , B25J18/04
摘要： A surgical system and surgical instruments for a telerobitic system are disclosed. In one embodiment, the surgical instrument has an elongate shaft having a proximal portion, a distal portion, an inner lumen, and at least one axially extending slot. An end effector is disposed adjacent the distal portion of the elongate shaft and an actuator assembly, comprising a linkage, is disposed within the inner lumen. A movable actuator pin extends laterally from the linkage and through the axially extending slot to releasably couple the actuator assembly to a driver of a robotic surgical instrument holder. The system disclosed may enable the rapid engagement and disengagement of surgical instruments from an instrument holder during surgical procedures.

9. 发明公开

EP1864614A3 Surgical manipulator for a telerobotic system 失效
公开(公告)号：EP1864614A3
公开(公告)日：2008-10-22
申请号：EP07016417.3
申请日：1996-06-05
申请人： SRI International
发明人： Jensen, Joel F. , Hill, John W.
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00367 , A61B2017/00464 , A61B2017/00477 , A61B2017/2902 , A61B2017/292 , A61B2034/305 , A61B2090/506 , B25J9/1065 , B25J15/04 , B25J18/04
摘要： A surgical system and surgical instruments for a telerobitic system are disclosed. In one embodiment, the surgical instrument has an elongate shaft having a proximal portion, a distal portion, an inner lumen, and at least one axially extending slot. An end effector is disposed adjacent the distal portion of the elongate shaft and an actuator assembly, comprising a linkage, is disposed within the inner lumen. A movable actuator pin extends laterally from the linkage and through the axially extending slot to releasably couple the actuator assembly to a driver of a robotic surgical instrument holder. The system disclosed may enable the rapid engagement and disengagement of surgical instruments from an instrument holder during surgical procedures.

10. 发明授权

EP2281512B1 Surgical manipulator for a telerobotic system 失效
标题翻译：外科手术操纵器用于远程控制的机器人系统
公开(公告)号：EP2281512B1
公开(公告)日：2015-07-29
申请号：EP10191605.4
申请日：1996-06-05
申请人： SRI International
发明人： Jensen, Joel F. , Hill, John W.
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00367 , A61B2017/00464 , A61B2017/00477 , A61B2017/2902 , A61B2017/292 , A61B2034/305 , A61B2090/506 , B25J9/1065 , B25J15/04 , B25J18/04

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