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21. 发明授权

US09386988B2 Retainer assembly including a tissue thickness compensator 有权
标题翻译：保持器组件，包括组织厚度补偿器
公开(公告)号：US09386988B2
公开(公告)日：2016-07-12
申请号：US13433114
申请日：2012-03-28
申请人： Chester O. Baxter, III , Frederick E. Shelton, IV , Katherine J. Schmid , Jerome R. Morgan , Charles J. Scheib , Michael S. Cropper , Taylor W. Aronhalt , Steven G. Hall , Richard W. Timm , Matthew M. Lang
发明人： Chester O. Baxter, III , Frederick E. Shelton, IV , Katherine J. Schmid , Jerome R. Morgan , Charles J. Scheib , Michael S. Cropper , Taylor W. Aronhalt , Steven G. Hall , Richard W. Timm , Matthew M. Lang
IPC分类号： A61B17/068 , A61B17/072 , A61B17/10 , A61B17/064 , A61B17/115 , A61B17/00 , A61B17/32 , A61B17/29
CPC分类号： A61B17/105 , A61B17/00491 , A61B17/0643 , A61B17/0644 , A61B17/068 , A61B17/072 , A61B17/07207 , A61B17/07292 , A61B17/1155 , A61B17/2909 , A61B2017/00004 , A61B2017/00477 , A61B2017/00495 , A61B2017/00526 , A61B2017/0053 , A61B2017/00818 , A61B2017/00884 , A61B2017/00893 , A61B2017/07228 , A61B2017/07235 , A61B2017/07242 , A61B2017/0725 , A61B2017/07264 , A61B2017/07271 , A61B2017/07278 , A61B2017/07285 , A61B2017/2908 , A61B2017/2919 , A61B2017/2923 , A61B2017/2927 , A61B2017/2933 , A61B2017/2936 , A61B2017/320052 , Y10T428/24124 , Y10T428/24331 , Y10T428/24612
摘要： A retainer for assembling tissue thickness compensators to a surgical stapler can comprise a grip, a first surface for supporting a first tissue thickness compensator, a second surface for supporting a second tissue thickness compensator, and clips for aligning and attaching the retainer to the surgical stapler. The clips may align and attach the retainer to a staple cartridge of the surgical instrument. The clips may align the retainer with an anvil of the surgical instrument. An insertion tool may be used in combination with the retainer to insert the retainer into the surgical stapler and to push the tissue thickness compensators against the anvil and/or the staple cartridge of the surgical instrument.
摘要翻译：用于将组织厚度补偿器组装到手术吻合器的保持器可以包括手柄，用于支撑第一组织厚度补偿器的第一表面，用于支撑第二组织厚度补偿器的第二表面和用于将保持器对准和附接到手术吻合器的夹子。夹子可以将保持器对准并附接到手术器械的钉仓。夹子可将保持器与外科器械的砧座对准。插入工具可以与保持器组合使用以将保持器插入到外科缝合器中并将组织厚度补偿器推靠在手术器械的砧座和/或钉仓上。

22. 发明授权

US09241714B2 Tissue thickness compensator and method for making the same 有权
标题翻译：组织厚度补偿器及其制作方法
公开(公告)号：US09241714B2
公开(公告)日：2016-01-26
申请号：US13433140
申请日：2012-03-28
申请人： Richard W. Timm , Mark D. Timmer , Tamara Widenhouse , Matthew M. Lang , John L. Stammen , Gary W. Knight , Christopher W. Widenhouse , William B. Weisenburgh, II , Stephanie A. Mutchler , Mark H. Ransick , Katherine J. Schmid , Frederick E. Shelton, IV , Chester O. Baxter, III
发明人： Richard W. Timm , Mark D. Timmer , Tamara Widenhouse , Matthew M. Lang , John L. Stammen , Gary W. Knight , Christopher W. Widenhouse , William B. Weisenburgh, II , Stephanie A. Mutchler , Mark H. Ransick , Katherine J. Schmid , Frederick E. Shelton, IV , Chester O. Baxter, III
IPC分类号： A61B17/072 , A61B17/00 , A61B19/00
CPC分类号： A61B17/068 , A61B17/00491 , A61B17/0643 , A61B17/0644 , A61B17/072 , A61B17/07207 , A61B17/07292 , A61B17/1155 , A61B17/2909 , A61B2017/00004 , A61B2017/00477 , A61B2017/00526 , A61B2017/0053 , A61B2017/00561 , A61B2017/00818 , A61B2017/00862 , A61B2017/00884 , A61B2017/00889 , A61B2017/00893 , A61B2017/00898 , A61B2017/00942 , A61B2017/00951 , A61B2017/07228 , A61B2017/07235 , A61B2017/07242 , A61B2017/07264 , A61B2017/07271 , A61B2017/07278 , A61B2017/07285 , A61B2017/2908 , A61B2017/2919 , A61B2017/2923 , A61B2017/2927 , A61B2017/2933 , A61B2017/2936 , A61B2017/2946 , A61B2017/320052 , A61B2090/0811 , A61L17/005 , A61L2300/102 , A61L2300/232 , A61L2300/45 , F04C2270/0421 , Y10T29/49826
摘要： In various embodiments, a tissue thickness compensator can comprise a film body formed from a continuous extruded shape and, in addition, a fibrous medicament core.
摘要翻译：在各种实施例中，组织厚度补偿器可以包括由连续挤压形状形成的膜体，并且还包括纤维状药剂芯。

23. 发明授权

US09089330B2 Surgical bowel retractor devices 有权
标题翻译：外科收缩器装置
公开(公告)号：US09089330B2
公开(公告)日：2015-07-28
申请号：US13181827
申请日：2011-07-13
申请人： Tamara Widenhouse , Andrew Yoo , Frederick E. Shelton, IV , Katherine J. Schmid , Aron O. Zingman , Richard W. Timm , Jacob S. Gee , Steven G. Hall , Daniel J. Mumaw , Taylor W. Aronhalt , Gregory W. Johnson , Michael J. Vendely , Andrew T. Beckman , James R. Janszen
发明人： Tamara Widenhouse , Andrew Yoo , Frederick E. Shelton, IV , Katherine J. Schmid , Aron O. Zingman , Richard W. Timm , Jacob S. Gee , Steven G. Hall , Daniel J. Mumaw , Taylor W. Aronhalt , Gregory W. Johnson , Michael J. Vendely , Andrew T. Beckman , James R. Janszen
IPC分类号： A61B17/02 , A61B17/115 , A61B17/34 , A61B17/00 , A61B17/072
CPC分类号： A61B17/0293 , A61B17/00234 , A61B17/0218 , A61B17/068 , A61B17/072 , A61B17/1155 , A61B17/3417 , A61B2017/00287 , A61B2017/00353 , A61B2017/00477 , A61B2017/0225 , A61B2017/0287 , A61B2017/07257 , A61B2560/0443 , F04C2270/0421
摘要： Bowel retractor devices. In various forms, the bowel retractor devices are configurable from a collapsed position wherein the retractor may be inserted through a trocar cannula or other opening in a patient's body to a second expanded position wherein at least a portion of the patient's bowel may be advantageously supported in a desired position.
摘要翻译：肠收缩器装置以各种形式，肠绞痛器装置可以从折叠位置配置，其中牵开器可以穿过套管针插管或患者身体中的其他开口插入到第二扩张位置，其中患者肠的至少一部分可以有利地支撑在一个期望的位置。

24. 发明授权

US08998939B2 Surgical instrument with modular end effector 有权
标题翻译：具有模块化末端执行器的手术器械
公开(公告)号：US08998939B2
公开(公告)日：2015-04-07
申请号：US13274805
申请日：2011-10-17
申请人： Daniel W. Price , Richard W. Timm , Kyle P. Moore , Gregory W. Johnson , John B. Schulte , Daniel J. Mumaw , Kevin L. Houser
发明人： Daniel W. Price , Richard W. Timm , Kyle P. Moore , Gregory W. Johnson , John B. Schulte , Daniel J. Mumaw , Kevin L. Houser
IPC分类号： A61B17/32 , A61B18/14 , A61B17/00 , A61B18/00 , A61B18/04 , A61B18/12 , H02J7/00 , H01M2/26 , H01M2/10 , A61B17/064 , A61B17/285 , A61B19/00 , A61B17/29
CPC分类号： A61B18/1442 , A61B17/00234 , A61B17/064 , A61B17/2812 , A61B17/285 , A61B17/320068 , A61B17/320092 , A61B18/00 , A61B18/04 , A61B18/12 , A61B18/1206 , A61B18/1233 , A61B18/14 , A61B18/1445 , A61B34/25 , A61B46/10 , A61B90/08 , A61B90/40 , A61B2017/00084 , A61B2017/00398 , A61B2017/0046 , A61B2017/00473 , A61B2017/00477 , A61B2017/00482 , A61B2017/00734 , A61B2017/0084 , A61B2017/291 , A61B2017/2929 , A61B2017/293 , A61B2017/2931 , A61B2017/2933 , A61B2017/294 , A61B2018/00178 , A61B2018/0019 , A61B2018/00589 , A61B2018/00595 , A61B2018/00601 , A61B2018/00607 , A61B2018/00791 , A61B2018/00988 , A61B2018/1226 , A61B2018/1412 , A61B2018/1455 , A61B2090/0803 , A61B2090/0813 , A61B2090/0814 , A61N7/00 , H01M2/10 , H01M2/1016 , H01M2/26 , H01M10/46 , H01M10/48 , H01M2220/30 , H02J7/0044 , H02J7/0045 , H02J7/0047 , H02J7/025 , H02J2007/005 , Y10T29/49005 , Y10T29/49895 , Y10T29/53913
摘要： A surgical instrument may include a reusable body assembly, a reusable transducer and blade assembly, and a disposable end effector. The transducer and blade assembly may be latched into the body assembly. One version may include an electrical connector on the latch member to electrically couple the body assembly to the transducer. The end effector may include an outer sheath portion coupleable to an outer sheath of the body assembly via a bayonet connection and a clamp arm pivotably coupled to the outer sheath portion. In some versions, an inner tubular member of the body assembly may also couple to an inner tube portion via a bayonet connection. The inner tubular member may include a key to align with a slot on the transducer and blade assembly to align the clamp arm with the blade. The end effector may alternatively couple via threading or ratcheting teeth having a slip feature.
摘要翻译：手术器械可以包括可重复使用的主体组件，可重复使用的换能器和刀片组件以及一次性端部执行器。换能器和叶片组件可以被锁定到主体组件中。一个版本可以包括闩锁构件上的电连接器，以将本体组件电耦合到换能器。端部执行器可以包括通过卡口连接和可枢转地联接到外护套部分的夹臂连接到本体组件的外护套的外护套部分。在一些形式中，主体组件的内部管状构件也可以经由卡口连接件连接到内部管部分。内部管状构件可以包括与换能器和刀片组件上的狭槽对准的键，以使夹紧臂与刀片对准。端部执行器可以可选地通过具有滑动特征的螺纹或棘轮齿来耦合。

25. 发明授权

US08875972B2 End effector coupling arrangements for a surgical cutting and stapling instrument 有权
标题翻译：用于外科切割和缝合器械的末端执行器联接装置
公开(公告)号：US08875972B2
公开(公告)日：2014-11-04
申请号：US13027641
申请日：2011-02-15
申请人： William B. Weisenburgh, II , Jerome R. Morgan , Kyle P. Moore , Mark H. Ransick , Steven G. Hall , Randall J. Tanguay , Jeffrey D. Messerly , Galen C. Robertson , Andrew M. Zwolinski , Jeffrey S. Swayze , Thomas W. Huitema , Glen A. Armstrong , Shailendra K. Parihar , Donna L. Korvick , Richard W. Timm , Kevin R. Doll , Bret W. Smith , William D. Kelly , Ronald J. Kolata , Joshua R. Uth , Charles J. Scheib , Geoffrey C. Hueil , Mark S. Ortiz , Douglas B. Hoffman , Patrick A. Weizman , Dean B. Bruewer , Gregory B. Blair , Frederick E. Shelton, IV
发明人： William B. Weisenburgh, II , Jerome R. Morgan , Kyle P. Moore , Mark H. Ransick , Steven G. Hall , Randall J. Tanguay , Jeffrey D. Messerly , Galen C. Robertson , Andrew M. Zwolinski , Jeffrey S. Swayze , Thomas W. Huitema , Glen A. Armstrong , Shailendra K. Parihar , Donna L. Korvick , Richard W. Timm , Kevin R. Doll , Bret W. Smith , William D. Kelly , Ronald J. Kolata , Joshua R. Uth , Charles J. Scheib , Geoffrey C. Hueil , Mark S. Ortiz , Douglas B. Hoffman , Patrick A. Weizman , Dean B. Bruewer , Gregory B. Blair , Frederick E. Shelton, IV
IPC分类号： A61B17/068 , A61B17/072 , A61B17/29 , A61B17/00
CPC分类号： A61B17/105 , A61B17/068 , A61B17/07207 , A61B17/3205 , A61B17/3209 , A61B2017/00473 , A61B2017/07214 , A61B2017/2931
摘要： In various embodiments, a surgical stapling instrument can include a handle, a shaft extending from the handle, wherein the shaft defines an axis, and a disposable loading unit which is assembled to the shaft in a direction which is transverse to the shaft axis. Such a connection between the disposable loading unit and the shaft can prevent, or at least inhibit, the disposable loading unit from being unintentionally displaced proximally and/or distally relative to the shaft of the surgical instrument. The surgical stapling instrument and/or disposable loading unit can further include a threaded collar and/or detent assembly configured to hold the disposable loading unit in place. In various embodiments, a disposable loading unit can include a lockout feature which can prevent, or at least inhibit, an expended disposable loading unit from being reassembled to the elongated body of the surgical instrument.
摘要翻译：在各种实施例中，外科缝合器械可以包括手柄，从手柄延伸的轴，其中轴限定轴线，以及一个一次性加载单元，其在横向于轴线的方向上组装到轴上。一次性加载单元和轴之间的这种连接可以防止或至少阻止一次性加载单元相对于外科器械的轴向近侧和/或远端被无意地移位。外科缝合器械和/或一次性装载单元还可包括构造成将一次性装载单元保持在适当位置的螺纹环和/或制动组件。在各种实施例中，一次性加载单元可以包括锁定特征，其可以防止或至少抑制消耗的一次性装载单元被重新组装到外科器械的细长主体。

26. 发明授权

US08672830B2 Implantable restriction system with release mechanism 有权
标题翻译：具有释放机制的植入式限制系统
公开(公告)号：US08672830B2
公开(公告)日：2014-03-18
申请号：US12562310
申请日：2009-09-18
申请人： Daniel F. Dlugos, Jr. , Thomas E. Adams , Randal T. Byrum , Toralf Bork , Christine H. Chen , Sean P. Conlon , Rocco Crivelli , Dean L. Garner , Alec J. Ginggen , David T. Krumanaker , Amy L. Marcotte , Anil K. Nalagatla , Bret W. Smith , Jeffrey S. Swayze , Richard W. Timm
发明人： Daniel F. Dlugos, Jr. , Thomas E. Adams , Randal T. Byrum , Toralf Bork , Christine H. Chen , Sean P. Conlon , Rocco Crivelli , Dean L. Garner , Alec J. Ginggen , David T. Krumanaker , Amy L. Marcotte , Anil K. Nalagatla , Bret W. Smith , Jeffrey S. Swayze , Richard W. Timm
IPC分类号： A61F2/00 , A61F13/00
CPC分类号： A61F5/003 , A61F2/0036 , A61F5/0053 , A61F5/0056 , A61F5/0059
摘要： An apparatus for regulating the functioning of a patient's organ or duct includes an elongated member having a first end and a second end. A fastener is disposed on the first end of the elongated member. The fastener is configured to engage the second end of the elongated member so that the elongated member forms a loop around the organ or duct. A tension element is disposed for movement within the elongated member. A drive element is associated with and engaging the tension element for causing the tension element to control the tension applied by the elongated member against a patient's body organ or duct. A release mechanism is provided for the tension element.
摘要翻译：用于调节患者器官或管道的功能的装置包括具有第一端和第二端的细长构件。紧固件设置在细长构件的第一端上。紧固件构造成接合细长构件的第二端，使得细长构件围绕器官或管道形成环。张力元件设置成在细长构件内移动。驱动元件与张力元件相关联并与其接合，用于使张紧元件控制由细长构件施加的抵抗患者身体器官或管道的张力。为张力元件提供释放机构。

27. 发明授权

US08568446B2 Multi-chamber therapeutic cell applicator instrument 有权
标题翻译：多室治疗细胞施用器械
公开(公告)号：US08568446B2
公开(公告)日：2013-10-29
申请号：US12779400
申请日：2010-05-13
申请人： Takashi Kurokawa , Christopher W. Widenhouse , Agnieszka Seyda , Jeffrey S. Swayze , Foster B. Stulen , Mark H. Ransick , Richard W. Timm , Shailendra K. Parihar , Shelby L. Cook Kornbluth
发明人： Takashi Kurokawa , Christopher W. Widenhouse , Agnieszka Seyda , Jeffrey S. Swayze , Foster B. Stulen , Mark H. Ransick , Richard W. Timm , Shailendra K. Parihar , Shelby L. Cook Kornbluth
IPC分类号： A61M37/00
CPC分类号： A61B17/0057 , A61B10/0275 , A61B10/0283 , A61B17/00491 , A61B17/07207 , A61B17/12099 , A61B17/12186 , A61B2017/00495 , A61B2017/00641 , A61B2017/22067 , A61F5/0083 , A61M5/19 , A61M5/204 , A61M5/2448 , A61M5/31586 , A61M25/10 , A61M2005/2414
摘要： A surgical device comprises a housing, a plurality of media reservoirs, an end effector, and a pumping device. Each media reservoir is configured to receive at least one component of a tissue repair composition. The end effector is configured for insertion into a lumen to deliver a tissue repair composition into that lumen. The end effector has at least one fluid conduit and at least one orifice in communication with the fluid conduit. The pumping device is operable to urge a tissue repair composition comprising at least a portion of the contents of the plurality of media reservoirs through the fluid conduit of the end effector such that the tissue repair composition is expelled from the at least one orifice. The media reservoirs may contain medical fluid components such as viable cells and scaffold material to repair a fistula or address some other condition in a patient.
摘要翻译：手术装置包括壳体，多个介质容器，末端执行器和泵送装置。每个介质储存器构造成接收组织修复组合物的至少一个组分。末端执行器构造成用于插入内腔以将组织修复组合物递送到该内腔中。末端执行器具有至少一个流体导管和与流体导管连通的至少一个孔口。抽吸装置可操作以通过端部执行器的流体管道促使包含多个介质容器的内容物的至少一部分的组织修复组合物，使得组织修复组合物从至少一个孔排出。介质储存器可以包含医疗流体组分，例如活细胞和支架材料，以修复瘘管或解决患者中的一些其他状况。

28. 发明授权

US08531064B2 Ultrasonically powered surgical instruments with rotating cutting implement 有权
标题翻译：超声波动力手术器具旋转切割工具
公开(公告)号：US08531064B2
公开(公告)日：2013-09-10
申请号：US12703860
申请日：2010-02-11
申请人： Galen C. Robertson , Richard W. Timm , Daniel J. Mumaw , Foster B. Stulen , Gregory W. Johnson , Jerome R. Morgan , Kevin L. Houser , Kristi M. Bodin , Mark A. Neurohr , Prasanna Malaviya , Reginald D. Fortson , Sean P. Conlon , William S. Joachim, Jr. , William D. Dannaher , Eitan T. Wiener
发明人： Galen C. Robertson , Richard W. Timm , Daniel J. Mumaw , Foster B. Stulen , Gregory W. Johnson , Jerome R. Morgan , Kevin L. Houser , Kristi M. Bodin , Mark A. Neurohr , Prasanna Malaviya , Reginald D. Fortson , Sean P. Conlon , William S. Joachim, Jr. , William D. Dannaher , Eitan T. Wiener
IPC分类号： H02K7/12
CPC分类号： A61B17/320068 , A61B17/32002 , A61B17/320092 , A61B17/320758 , A61B2017/00075 , A61B2017/00106 , A61B2017/00477 , A61B2017/320072
摘要： In one general aspect, various embodiments are directed to an ultrasonic surgical instrument that comprises a handpiece housing that rotatably supports an ultrasonic transducer assembly therein that may be selectively rotated by various motor configurations. Various slip ring arrangements are disclosed for supplying ultrasonic electrical signals and motor drive signals from a control system. Various forms of blade and cutting implements are disclosed for attachment to the ultrasonic transducer assembly such that such implements may be selectively rotatable within a hollow outer sheath. Vacuum may be applied to the cutting implement or through the outer sheath to draw tissue through an opening in the sheath and into contact with the cutting implement.
摘要翻译：在一个一般方面，各种实施例涉及一种超声波手术器械，其包括可旋转地支撑超声波换能器组件的手持件壳体，该超声波换能器组件可以通过各种电机配置选择性地旋转。公开了用于从控制系统提供超声波电信号和电机驱动信号的各种滑环装置。公开了各种形式的刀片和切割工具用于附接到超声换能器组件，使得这样的器具可以在中空的外护套内选择性地旋转。可以将真空施加到切割工具或通过外护套将组织穿过护套中的开口并与切割工具接触。

29. 发明授权

US08196796B2 Shaft based rotary drive system for surgical instruments 有权
标题翻译：基于轴的旋转驱动系统用于外科器械
公开(公告)号：US08196796B2
公开(公告)日：2012-06-12
申请号：US13020053
申请日：2011-02-03
申请人： Frederick E. Shelton, IV , Richard W. Timm
发明人： Frederick E. Shelton, IV , Richard W. Timm
IPC分类号： A61B17/10
CPC分类号： A61B17/07207 , A61B17/072 , A61B2017/00367 , A61B2017/07285 , A61B2017/2923 , A61B2090/0811
摘要： A surgical instrument including a drive mechanism configured to advance a staple driver and/or cutting member at a first rate and retract the staple driver and/or cutting member at a different rate. In at least one embodiment, the rate at which the driver and cutting member is advanced and/or retracted is the distance that the driver and/or cutting member is translated per actuation of a trigger, for example. In various embodiments, the cutting member can be retracted at a faster rate as compared to the rate in which it is advanced. In such embodiments, the surgical instrument can, owing to the slower advancing rate, provide a greater torque or advancing force to the cutting member while, owing to the faster retracting rate, reduce the time required for the surgeon to retract the cutting member.
摘要翻译：一种手术器械，包括驱动机构，其构造成以第一速率推进缝钉驱动器和/或切割构件，并以不同的速率使钉驱动器和/或切割构件缩回。在至少一个实施例中，例如，驱动器和切割构件前进和/或缩回的速率是驾驶员和/或切割构件按照触发器的致动而平移的距离。在各种实施例中，与其前进的速率相比，切割构件可以以更快的速度缩回。在这样的实施例中，由于较慢的推进速率，手术器械可以向切割构件提供更大的扭矩或推进力，同时由于更快的收缩速度，外科医生缩短了切割构件所需的时间。

30. 发明申请

US20120132450A1 SHIFTABLE DRIVE INTERFACE FOR ROBOTICALLY-CONTROLLED SURGICAL TOOL 有权
标题翻译：用于机器人控制的手术工具的可移动驱动接口
公开(公告)号：US20120132450A1
公开(公告)日：2012-05-31
申请号：US13369578
申请日：2012-02-09
申请人： Richard W. Timm , Frederick E. Shelton, IV
发明人： Richard W. Timm , Frederick E. Shelton, IV
IPC分类号： A61B19/00 , B25J19/00
CPC分类号： A61B17/068 , A61B17/00234 , A61B17/0684 , A61B17/072 , A61B17/07207 , A61B17/105 , A61B17/32 , A61B17/320068 , A61B18/1445 , A61B34/30 , A61B50/30 , A61B50/36 , A61B2017/00115 , A61B2017/00314 , A61B2017/00323 , A61B2017/00367 , A61B2017/00398 , A61B2017/00473 , A61B2017/00477 , A61B2017/00685 , A61B2017/00734 , A61B2017/0688 , A61B2017/07257 , A61B2017/07271 , A61B2017/07278 , A61B2017/07285 , A61B2017/2905 , A61B2017/2923 , A61B2017/2927 , A61B2017/2933 , A61B2017/2937 , A61B2017/2943 , A61B2018/1455 , A61B2034/302 , A61B2090/0811 , Y10T29/53
摘要： A surgical instrument including an end effector that has a selectively reciprocatable implement movably supported therein. The implement is selectively advanceable in a distal direction upon application of a rotary actuation motion thereto and retractable in a proximal direction upon application of a rotary retraction motion thereto. An elongate shaft assembly is coupled to the end effector and is configured to transmit the rotary actuation motion and rotary retraction motion to the reciprocatable implement from a robotic system that is configured to generate the rotary actuation motion and said rotary retraction motion.
摘要翻译：包括端部执行器的手术器械具有可移动地支撑在其中的可选择的往复运动的器具。当向其施加旋转致动运动时，该工具可以在远端方向上选择性地前进，并且在对其施加旋转回缩运动时可在近端方向上缩回。细长轴组件联接到末端执行器，并且被配置为将旋转致动运动和旋转回缩运动从被配置为产生旋转致动运动和所述旋转回缩运动的机器人系统传递到可往复运动的工具。

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