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91. 发明申请

US20030060809A1 Method and apparatus for performing minimally invasive cardiac procedures 失效
公开(公告)号：US20030060809A1
公开(公告)日：2003-03-27
申请号：US10241143
申请日：2002-09-10
发明人： Yulun Wang , Darrin R. Uecker , Keith Phillip Laby , Jeff Wilson , Steve Jordan , James Wright
IPC分类号： A61B017/00
CPC分类号： A61B34/75 , A61B17/0469 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/76 , A61B34/77 , A61B46/10 , A61B2017/00199 , A61B2017/00252 , A61B2017/00973 , A61B2034/742
摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.

92. 发明授权

US06436107B1 Method and apparatus for performing minimally invasive surgical procedures 有权
标题翻译：用于进行微创外科手术的方法和装置
公开(公告)号：US06436107B1
公开(公告)日：2002-08-20
申请号：US09262134
申请日：1999-03-03
申请人： Yulun Wang , Darrin Uecker , Keith Laby , Jeff Wilson , Charles Jordan , James Wright , Modjtaba Ghodoussi
发明人： Yulun Wang , Darrin Uecker , Keith Laby , Jeff Wilson , Charles Jordan , James Wright , Modjtaba Ghodoussi
IPC分类号： A61B1704
CPC分类号： A61B1/00149 , A61B17/00234 , A61B17/062 , A61B18/1445 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/75 , A61B34/76 , A61B34/77 , A61B50/00 , A61B90/361 , A61B2017/00203 , A61B2017/00243 , A61B2017/0046 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B2017/2945 , A61B2018/1432 , A61B2034/305 , A61B2090/064 , A61B2090/504
摘要： A surgical system that may include a remotely controlled surgical instrument. The surgical instrument may be coupled to a tool driver that can spin and actuate the instrument. The instrument may include an actuator rod that is coupled to an end effector and detachably connected to a push rod. The push rod can move relative to the handle to actuate the end effector. The end effector may include a fixture that conforms to the shape of a needle. The handle can be secured to the tool driver by inserting pins into corresponding slots that are located on both the instrument and the tool driver. The instrument can be controlled by an operator through a pair of handles. Each handle may be mechanically balanced by a counterweight. The surgical system may also include a touchpad that allows the operator to enter parameters of the system.
摘要翻译：可以包括远程控制的手术器械的外科系统。外科器械可以联接到可以旋转并致动器械的工具驱动器。仪器可以包括致动器杆，该致动器杆联接到末端执行器并且可拆卸地连接到推杆。推杆可以相对于把手移动以致动末端执行器。末端执行器可以包括符合针的形状的固定装置。手柄可以通过将销插入位于仪器和工具驱动器上的相应插槽中来固定到工具驱动器。仪器可以由操作员通过一对手柄来控制。每个手柄可以由配重机械平衡。手术系统还可以包括触摸板，其允许操作者输入系统的参数。

93. 发明授权

US06244809B1 Method and apparatus for performing minimally invasive cardiac procedures 失效
标题翻译：用于进行微创心脏手术的方法和装置
公开(公告)号：US06244809B1
公开(公告)日：2001-06-12
申请号：US09000703
申请日：1997-12-30
申请人： Yulun Wang , Darrin R. Uecker , Keith Phillip Laby , Jeff Wilson , Steve Jordan , James Wright
发明人： Yulun Wang , Darrin R. Uecker , Keith Phillip Laby , Jeff Wilson , Steve Jordan , James Wright
IPC分类号： B25J100
CPC分类号： A61B17/11 , A61B17/0469 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/75 , A61B34/76 , A61B34/77 , A61B46/10 , A61B50/00 , A61B90/361 , A61B2017/00199 , A61B2017/00243 , A61B2017/00252 , A61B2017/0046 , A61B2017/00477 , A61B2017/00703 , A61B2017/00973 , A61B2017/1107 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B2034/2059 , A61B2034/742 , A61B2090/064 , B25J9/1689 , G05B2219/45119
摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.
摘要翻译：用于执行微创心脏手术的系统。该系统包括耦合到一对机器人臂的一对外科器械。仪器具有能够被操纵以保持和缝合组织的末端效应器。机器人手臂通过控制器耦合到一对主手柄。手柄可由外科医生移动以产生末端执行器的相应运动。手柄的移动被缩放，使得末端执行器具有与由外科医生的手执行的运动不同的，通常较小的相应运动。比例因子是可调节的，因此外科医生可以控制末端执行器运动的分辨率。端部执行器的运动可以由输入按钮控制，使得当外科医生按下按钮时，末端执行器仅移动。输入按钮允许外科医生调整手柄的位置而不移动末端执行器，使得手柄可以移动到更舒适的位置。该系统还可以具有机器人控制的内窥镜，其允许外科医生远程观察手术部位。可以通过在患者皮肤中进行小切口并将仪器和内窥镜插入患者来进行心脏手术。外科医生操纵手柄并移动末端执行器以执行心脏手术，例如冠状动脉旁路移植物。

94. 发明授权

US06238384B1 Instrument for compensating for hand tremor during the manipulation of fine structures 有权
标题翻译：用于在精细结构的操纵期间补偿手颤的仪器
公开(公告)号：US06238384B1
公开(公告)日：2001-05-29
申请号：US09142426
申请日：1998-12-28
申请人： Ferdinand Peer
发明人： Ferdinand Peer
IPC分类号： A61B1700
CPC分类号： B25J19/00 , A61B17/062 , A61B34/70 , A61B34/75 , B25B7/12 , B25B9/00 , B25F5/00
摘要： An instrument for the manipulation of fine structures, said instrument detecting hand tremor and compensating for this hand tremor by effecting counter-movements of the working tip. The main area of application will probably lie in the field of microsurgery, since the operations performed in said field can be made difficult by the hand tremor of the operating surgeon. Here, the tremor is detected by movement sensors, by repeated analysis of the position of the handheld part (1) of the instrument, or by deriving electromyographic signals from the forearm of the operator. Intentional and unintentional movements are differentiated from one another on the basis of one or more criteria, such as movement amplitude, speed, frequency and direction. To compensate for undesired movements, signals are sent to an arrangement of actuators (3) which cause deflections of the movable part (4) of the instrument, which deflections at the tip of the instrument compensate for the hand tremor. When the instrument is used as a needle holder in surgery, the actuators (3) can also be controlled by push button in such a way that, by oscillations, they facilitate the penetration of the suture needle into the area being worked on.
摘要翻译：用于操纵精细结构的仪器，所述仪器通过进行工作尖端的反向移动来检测手颤和补偿该手震颤。主要的应用领域可能在于显微手术领域，因为手术操作手抖可能使所述领域的手术变得困难。这里，通过运动传感器，通过对仪器的手持部件（1）的位置的重复分析，或通过从操作者的前臂导出肌电信号来检测震颤。基于一个或多个标准，例如运动幅度，速度，频率和方向，有意和无意的运动彼此不同。为了补偿不期望的运动，信号被发送到致动器（3）的布置，其致使仪器的可移动部分（4）发生偏转，该仪器的尖端处的偏转补偿手部震颤。当仪器在手术中用作针架时，致动器（3）也可以通过按钮来控制，使得通过振荡，它们有助于缝合针穿透到正在加工的区域中。

95. 发明授权

US6063095A Method and apparatus for performing minimally invasive surgical procedures 有权
标题翻译：用于进行微创外科手术的方法和装置
公开(公告)号：US6063095A
公开(公告)日：2000-05-16
申请号：US156994
申请日：1998-09-18
申请人： Yulun Wang , Darrin R. Uecker , Keith P. Laby , Jeff D. Wilson , Charles S. Jordan , Modjtaba Ghodoussi , James W. Wright
发明人： Yulun Wang , Darrin R. Uecker , Keith P. Laby , Jeff D. Wilson , Charles S. Jordan , Modjtaba Ghodoussi , James W. Wright
IPC分类号： A61B17/00 , A61B17/11 , A61B17/28 , A61B19/00 , A61B19/02 , A61B17/04
CPC分类号： A61B34/75 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/76 , A61B34/77 , A61B2017/00243 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B46/10 , A61B50/00
摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissues. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.
摘要翻译：用于执行微创心脏手术的系统。该系统包括耦合到一对机器人臂的一对外科器械。仪器具有能够操纵以保持和缝合组织的末端效应器。机器人手臂通过控制器耦合到一对主手柄。手柄可由外科医生移动以产生末端执行器的相应运动。手柄的移动被缩放，使得末端执行器具有与由外科医生的手执行的运动不同的，通常较小的相应运动。比例因子是可调节的，因此外科医生可以控制末端执行器运动的分辨率。端部执行器的运动可以由输入按钮控制，使得当外科医生按下按钮时，末端执行器仅移动。输入按钮允许外科医生调整手柄的位置而不移动末端执行器，使得手柄可以移动到更舒适的位置。该系统还可以具有机器人控制的内窥镜，其允许外科医生远程观察手术部位。可以通过在患者皮肤中进行小切口并将仪器和内窥镜插入患者来进行心脏手术。外科医生操纵手柄并移动末端执行器以执行心脏手术，例如冠状动脉旁路移植物。

96. 发明授权

US5971976A Motion minimization and compensation system for use in surgical procedures 失效
标题翻译：运动最小化和补偿系统用于外科手术
公开(公告)号：US5971976A
公开(公告)日：1999-10-26
申请号：US14698
申请日：1998-01-28
申请人： Yulun Wang , Kenneth Grace , Darrin R. Uecker , Sudipto Sur
发明人： Yulun Wang , Kenneth Grace , Darrin R. Uecker , Sudipto Sur
IPC分类号： A61B17/00 , A61B17/04 , A61B17/11 , A61B17/28 , A61B19/00 , A61B19/02 , A61B19/08
CPC分类号： A61B17/11 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/75 , A61B34/76 , A61B34/77 , A61B17/0469 , A61B17/29 , A61B2017/00199 , A61B2017/00243 , A61B2017/00252 , A61B2017/0046 , A61B2017/00703 , A61B2017/00973 , A61B2017/1107 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B2034/742 , A61B2090/064 , A61B46/10 , A61B50/00 , A61B90/361
摘要： A system for maintaining a substantially fixed distance between a localized surface of the heart and the distal end of a surgical device for use in endoscopic surgical procedures. The system comprises a stabilizer for minimizing localized motion of the heart in attached communication with a sensor for sensing localized motion of the heart in a region proximal the stabilizer and a controller in electrical communication with the sensor for processing data indicative of the localized motion of the heart in a region proximal the stabilizer. The processor is in electrical communication with a controller for a robotic arm that holds an instrument for use in an endoscopic surgical procedure, said instrument having a proximal and distal end, and said robotic arm in electrical communication with the controller. The robotic arm repositions the instrument in response to signals received from said controller to maintain a substantially same relative configuration between the localized surface of the heart and the distal end of the instrument.
摘要翻译：一种用于在内窥镜外科手术中用于在心脏的局部表面和外科手术装置的远端之间保持基本上固定的距离的系统。该系统包括用于最小化心脏与用于感测心脏在靠近稳定器的区域中的局部运动的传感器的局部运动的稳定器，以及与传感器电连通的控制器，用于处理指示所述稳定器的局部运动的数据靠近稳定器的区域的心脏。处理器与用于机器人臂的控制器电连接，所述控制器保持用于内窥镜外科手术的器械，所述器具具有近端和远端，并且所述机器臂与控制器电连通。机器人手臂响应于从所述控制器接收的信号来重新定位仪器，以在心脏的局部表面和器械的远端之间保持基本上相同的相对构型。

97. 发明授权

US5855583A Method and apparatus for performing minimally invasive cardiac procedures 失效
公开(公告)号：US5855583A
公开(公告)日：1999-01-05
申请号：US755063
申请日：1996-11-22
申请人： Yulun Wang , Darrin R. Uecker , Charles S. Jordan , James W. Wright , Keith Phillip Laby , Jeff D. Wilson
发明人： Yulun Wang , Darrin R. Uecker , Charles S. Jordan , James W. Wright , Keith Phillip Laby , Jeff D. Wilson
IPC分类号： A61B17/06 , A61B1/00 , A61B17/00 , A61B17/04 , A61B17/11 , A61B17/28 , A61B19/00 , A61B19/02 , A61B19/08 , B25J1/00 , B25J11/00
CPC分类号： B25J9/1689 , A61B17/11 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/75 , A61B34/76 , A61B34/77 , A61B17/0469 , A61B17/29 , A61B2017/00199 , A61B2017/00203 , A61B2017/00243 , A61B2017/00252 , A61B2017/0046 , A61B2017/00477 , A61B2017/00703 , A61B2017/00973 , A61B2017/1107 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B2034/2059 , A61B2034/742 , A61B2090/064 , A61B46/10 , A61B50/00 , A61B90/361 , G05B2219/45119
摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.

98. 发明申请

US20180289435A1 MEDICAL MANIPULATOR SYSTEM, CONTROL DEVICE OF MEDICAL MANIPULATOR SYSTEM, AND CONTROL METHOD OF MEDICAL MANIPULATOR SYSTEM 审中-公开
公开(公告)号：US20180289435A1
公开(公告)日：2018-10-11
申请号：US16007150
申请日：2018-06-13
申请人： OLYMPUS CORPORATION
发明人： Hirotaka NAMIKI
IPC分类号： A61B34/37 , A61B1/045 , A61B17/29 , A61B17/04 , A61B34/00 , A61B1/00 , A61B1/005
CPC分类号： A61B34/37 , A61B1/00006 , A61B1/00009 , A61B1/00045 , A61B1/00149 , A61B1/0016 , A61B1/0052 , A61B1/045 , A61B17/0469 , A61B17/29 , A61B34/25 , A61B34/74 , A61B34/75 , A61B90/00 , A61B2017/00075 , A61B2017/00398 , A61B2034/742 , B25J3/04 , B25J9/1689
摘要： A medical manipulator system includes a slave manipulator, a master manipulator receiving a manipulation information from an operator; a driver generating a driving force for operating the slave manipulator; a processor; and a master-manipulator-side detector disposed at the master manipulator and detecting the manipulation information. The processor generates an operating command based on the manipulation information and transmits the operating command to the driver, the processor determines whether a blur information is included in the manipulation information. When the processor determines that the blur information is not included in the manipulation information, the processor stops transmitting the operating command to the driver, and when the processor determines that the blur information is included in the manipulation information, the processor removes the blur information from the manipulation information, and generates the operating command based on the manipulation information with the blur information being removed.

99. 发明申请

US20180235718A1 SYSTEM AND METHOD FOR ROBOTIC SURGERY 审中-公开
公开(公告)号：US20180235718A1
公开(公告)日：2018-08-23
申请号：US15958945
申请日：2018-04-20
申请人： MAKO Surgical Corp.
发明人： Hyosig Kang , Scott Nortman
IPC分类号： A61B34/30 , A61B34/00 , A61B17/16 , A61B34/20 , A61B90/00 , A61B17/00
CPC分类号： A61B34/30 , A61B17/16 , A61B17/1622 , A61B34/20 , A61B34/37 , A61B34/75 , A61B34/76 , A61B90/03 , A61B2017/00477
摘要： A robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

100. 发明申请

US20170245889A1 MOVEMENT DAMPENING SYSTEM FOR A SURGICAL TOOL 审中-公开
公开(公告)号：US20170245889A1
公开(公告)日：2017-08-31
申请号：US15513311
申请日：2015-09-25
申请人： Vanderbilt University
发明人： Stanley Duke Herrell , Robert J. Webster , Ray A. Lathrop
IPC分类号： A61B17/34 , A61B90/50 , A61B34/00
CPC分类号： A61B17/3423 , A61B17/3462 , A61B34/75 , A61B90/50 , A61B2017/3492
摘要： A movement dampening system for a surgical tool. The system includes a height-adjustable base positionable adjacent to a surgical site on a patient. An elastic damper is disposed adjacent to the height-adjustable base, A channel extends through the elastic damper and the height-adjustable base to the surgical site. A portion of the channel extending through the elastic damper is sized to receive the surgical tool and to restrict movement of the surgical tool.

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