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31. 发明申请

US20110277580A1 Force Transmission for Robotic Surgical Instrument 有权
标题翻译：机械手术仪器的力传递
公开(公告)号：US20110277580A1
公开(公告)日：2011-11-17
申请号：US12780758
申请日：2010-05-14
申请人： Thomas G. Cooper , Anthony McGrogan , Matthew Reagan Williams , Eugene F. Duval , S. Christoper Anderson
发明人： Thomas G. Cooper , Anthony McGrogan , Matthew Reagan Williams , Eugene F. Duval , S. Christoper Anderson
IPC分类号： B25J13/00 , G05G9/00
CPC分类号： A61B34/30 , A61B34/71 , A61B2017/00477 , B25J13/00 , G05G9/00 , Y10T74/18832 , Y10T74/18856 , Y10T74/20018 , Y10T74/20323 , Y10T74/20329
摘要： A force transmission transmits a force received by an input gimbal plate having two degrees of freedom to an output gimbal plate. The input gimbal plate is coupled to a first end of least three lever arms supported by a pivot. The output gimbal plate is coupled to a second end of the lever arms. The output gimbal plate may be coupled to the lever arms by flexible cables. The cables may be substantially contained within a tube. The output gimbal plate may be substantially smaller than the input gimbal plate. The force transmission may include a secondary output gimbal plate coupled to secondary levers that are coupled to the lever arms. The secondary levers may be third class levers. The secondary output gimbal plate may move proportionately to movement of the output gimbal plate. The force transmission may control a surgical end effector in a robotic surgical instrument.
摘要翻译：力传递将由具有两个自由度的输入平衡板接收的力传递到输出万向板。输入万向板联接到由枢轴支撑的至少三个杠杆臂的第一端。输出万向板与杠杆臂的第二端连接。输出万向板可以通过柔性电缆耦合到杠杆臂。电缆可以基本上包含在管内。输出万向板可以比输入的万向板大得多。力传递可以包括耦合到耦合到杠杆臂的次级杠杆的次级输出万向板。次级杠杆可能是三级杠杆。二次输出万向板可以与输出万向板的移动成比例地移动。力传递可以控制机器人手术器械中的外科末端执行器。

32. 发明授权

US07967813B2 Surgical instrument control and actuation 有权
标题翻译：手术仪器控制和启动
公开(公告)号：US07967813B2
公开(公告)日：2011-06-28
申请号：US11762158
申请日：2007-06-13
申请人： Thomas G. Cooper , Anthony K. McGrogan
发明人： Thomas G. Cooper , Anthony K. McGrogan
IPC分类号： A61B19/00
CPC分类号： A61B1/00149 , A61B1/00087 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： Two or more telemanipulated surgical instruments are inserted through a guide tube. Each instrument has a transmission mechanism that transmits actuating forces from actuators to components of the instrument. The transmission mechanisms are arranged around an extended centerline of the guide tube and are wedge-shaped so that they can be positioned more closely to the extended centerline.
摘要翻译：两个或更多的远程操作的外科器械通过导管插入。每个仪器都具有一个传动机构，将致动力从致动器传递到仪器的部件。传动机构围绕引导管的延伸的中心线布置并且是楔形的，使得它们可以更靠近延伸的中心线定位。

33. 发明申请

US20110118755A1 Flexible Wrist for Surgical Tool 有权
标题翻译：软手腕手术工具
公开(公告)号：US20110118755A1
公开(公告)日：2011-05-19
申请号：US12948641
申请日：2010-11-17
申请人： Thomas G. Cooper , S. Christopher Anderson
发明人： Thomas G. Cooper , S. Christopher Anderson
IPC分类号： A61B19/00
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： 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. In one embodiment, a minimally invasive surgical instrument comprises an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend 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.
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。在一个实施例中，微创手术器械包括细长轴，其具有在工作端和近端之间的工作端，近端和轴线; 和末端执行器。手腕构件具有柔性管，其包括延伸穿过由壁围成的内部的轴线。柔性管的壁包括大致平行于柔性管的轴线定向的多个管腔。手腕构件具有连接到细长轴的工作端的近端部分和连接到端部执行器的远端部分。多个致动电缆具有连接到末端执行器的远端部分并且从远端部分延伸穿过腕部构件的壁的内腔朝向细长轴到近端部分，该近端部分可以在俯仰旋转和偏转旋转中使手腕构件弯曲。

34. 发明授权

US07942868B2 Surgical instrument with parallel motion mechanism 有权
标题翻译：手术器具具有平行运动机制
公开(公告)号：US07942868B2
公开(公告)日：2011-05-17
申请号：US11762154
申请日：2007-06-13
申请人： Thomas G. Cooper
发明人： Thomas G. Cooper
IPC分类号： A61B17/00
CPC分类号： A61B1/00149 , A61B1/00087 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： A surgical instrument has a parallel motion mechanism coupled between an instrument body segment and the instrument's distal end. The parallel motion mechanism changes the end effector's position without changing the end effector's orientation. In an aspect of the invention, the parallel motion mechanism and the body segment have essentially the same cross section so that the parallel motion mechanism can be inserted through a guide tube. In an aspect of the invention, the parallel motion mechanism is telemanipulatively controlled.
摘要翻译：外科器械具有并联运动机构，其联接在仪器主体段和仪器的远端之间。平行运动机构改变末端执行器的位置，而不改变末端执行器的方向。在本发明的一个方面，平行运动机构和主体段具有基本上相同的横截面，使得平行运动机构可以通过导管插入。在本发明的一个方面，平行运动机构是远程电力控制的。

35. 发明申请

US20110028991A1 Cardiac Tissue Ablation Instrument with Flexible Wrist 审中-公开
标题翻译：心脏组织消融仪器与柔性手腕
公开(公告)号：US20110028991A1
公开(公告)日：2011-02-03
申请号：US12893743
申请日：2010-09-29
申请人： Michael H. Ikeda , David J. Rosa , Thomas G. Cooper , S. Christopher Anderson
发明人： Michael H. Ikeda , David J. Rosa , Thomas G. Cooper , S. Christopher Anderson
IPC分类号： A61B19/00
CPC分类号： A61B1/0052 , A61B1/00142 , A61B1/00149 , A61B1/0055 , A61B1/0058 , A61B1/008 , A61B1/018 , A61B34/30 , A61B34/70 , A61B34/71 , A61B90/361 , A61B2017/00243 , A61B2017/00309 , A61B2017/00323 , A61B2034/301 , A61B2034/304 , A61B2034/305 , A61B2034/306 , A61B2034/715
摘要： An articulate minimally invasive surgical instrument with a flexible wrist to facilitate the safe placement and provide visual verification of the ablation catheter or other devices in Cardiac Tissue Ablation (CTA) treatments is described. In one embodiment, the instrument is an endoscope which has an elongate shaft, a flexible wrist at the working end of the shaft, and a vision scope lens at the tip of the flexible wrist. The flexible wrist has at least one degree of freedom to provide the desired articulation. It is actuated and controlled by a drive mechanism located in the housing at the distal end of the shaft. The articulation of the endoscope allows images of hard-to-see places to be taken for use in assisting the placement of the ablation catheter on the desired cardiac tissue. The endoscope may further include couplings to releasably attach an ablation device/catheter or a catheter guide to the endoscope thereby further utilizing the endoscope articulation to facilitate placement of the ablation catheter on hard-to-reach cardiac tissues. In another embodiment, the articulate instrument is a grasper or any other instrument with a flexible wrist and a built-in lumen to allow an endoscope to insert and be guided to the distal end of the instrument.
摘要翻译：描述了一种具有柔性手腕的关节微创手术器械，以便于安全放置，并提供消融导管或心脏组织消融（CTA）治疗中的其他装置的视觉验证。在一个实施例中，仪器是具有细长轴，在轴的工作端的柔性腕部和在柔性腕部的尖端处的视力范围透镜的内窥镜。柔性手腕具有至少一个自由度以提供所需的铰接。它由位于轴远端的壳体中的驱动机构致动和控制。内窥镜的关节运动允许观看难看的位置的图像用于辅助将消融导管放置在期望的心脏组织上。内窥镜还可以包括联接器以将消融装置/导管或导管引导件可释放地附接到内窥镜，从而进一步利用内窥镜关节以便于将消融导管放置在难以到达的心脏组织上。在另一个实施例中，关节式器械是具有柔性手腕和内置内腔的抓紧器或任何其它器械，以允许内窥镜插入并被引导到器械的远端。

36. 发明授权

US07699855B2 Sterile surgical adaptor 有权
标题翻译：无菌手术适配器
公开(公告)号：US07699855B2
公开(公告)日：2010-04-20
申请号：US11395418
申请日：2006-03-31
申请人： S. Christopher Anderson , Joseph Orban, III , Bruce Schena , Thomas G. Cooper , Roman Devengenzo
发明人： S. Christopher Anderson , Joseph Orban, III , Bruce Schena , Thomas G. Cooper , Roman Devengenzo
IPC分类号： A61B19/00
CPC分类号： A61B46/10 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B2017/00477 , A61B2034/305 , A61B2034/741
摘要： A sterile adaptor, a sterile drape with the integrated sterile adaptor, and a telerobotic surgical system including the sterile drape with a drape interface are provided. The adaptor, drape, and system allow for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals between a robotic arm and a surgical instrument in the sterile field.
摘要翻译：提供无菌适配器，具有集成的无菌适配器的无菌悬垂布，以及包括具有悬垂接口的无菌覆盖物的远程外科手术系统。适配器，悬垂和系统允许跨部门手术系统的悬垂部分在无菌外科手术领域和非无菌机器人系统之间保持无菌屏障，同时还提供用于在机器人手臂之间传递机械和电能以及信号的接口和无菌领域的手术器械。

37. 发明申请

US20090292299A1 OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY 有权
标题翻译：偏心机器人远程中心操纵器
公开(公告)号：US20090292299A1
公开(公告)日：2009-11-26
申请号：US12499392
申请日：2009-07-08
申请人： Thomas G. Cooper , Todd R. Solomon
发明人： Thomas G. Cooper , Todd R. Solomon
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , Y10S901/15 , Y10T74/20305
摘要： Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.
摘要翻译：公开了医疗，手术和/或机器人设备和系统，其通常包括在微创机器人手术期间限制手术器械的位置的偏移远程中心平行四边形操纵器联动组件。改进的远程中心操纵器联动装置有利地增强了仪器运动的范围，同时降低了机器人手术系统的整体复杂性，大小和体重。

38. 发明申请

US20090248040A1 Coupler to Transfer Controller Motion from a Robotic Manipulator to an Attached Instrument 有权
标题翻译：耦合器将控制器运动从机器人操纵器传输到附加仪器
公开(公告)号：US20090248040A1
公开(公告)日：2009-10-01
申请号：US12060104
申请日：2008-03-31
申请人： Thomas G. Cooper , Anthony K. McGrogan
发明人： Thomas G. Cooper , Anthony K. McGrogan
IPC分类号： A61B19/00 , B25J17/02
CPC分类号： A61B34/30 , A61B34/71 , A61B90/10 , A61B2017/00477 , Y10T74/20323 , Y10T74/20335
摘要： A coupler to provide controller motion from a robotic manipulator includes a pin having a tip with a spherical bearing surface and a plate supported on the spherical bearing surface of the pin with two degrees of rotational freedom about the center of the spherical bearing surface. The plate has a back surface and an opposing driving surface that bears against a first surface of an inner gimbal of a gimbal assembly of a driven device. The plate includes a pin receiving portion that extends outwardly from the driving surface and away from the back surface. The pin receiving portion includes a spherical receiving surface to receive the spherical bearing surface of the pin. The spherical bearing surface is located at a distance above the driving surface such that the center of the spherical bearing surface coincides with an intersection of the gimbal assembly axes of the driven device.
摘要翻译：用于提供来自机器人操纵器的控制器运动的耦合器包括具有带有球面轴承表面的尖端的销和支撑在销的球形支承表面上的板，围绕球面轴承表面的中心具有两个旋转自由度。板具有背面和相对的驱动表面，该驱动表面抵靠驱动装置的万向节组件的内万向架的第一表面。板包括从驱动表面向外延伸并远离后表面的销接收部分。销接收部分包括球形接收表面以接收销的球面轴承表面。球面轴承表面位于驱动表面上方的距离处，使得球面轴承表面的中心与被驱动装置的万向节组件轴线的交点重合。

39. 发明授权

US07594912B2 Offset remote center manipulator for robotic surgery 有权
标题翻译：用于机器人手术的偏移中心机械手
公开(公告)号：US07594912B2
公开(公告)日：2009-09-29
申请号：US10957077
申请日：2004-09-30
申请人： Thomas G. Cooper , Todd R. Solomon
发明人： Thomas G. Cooper , Todd R. Solomon
IPC分类号： A61B17/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , Y10S901/15 , Y10T74/20305
摘要： Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.
摘要翻译：公开了医疗，手术和/或机器人设备和系统，其通常包括在微创机器人手术期间限制手术器械的位置的偏移远程中心平行四边形操纵器联动组件。改进的远程中心操纵器联动装置有利地增强了仪器运动的范围，同时降低了机器人手术系统的整体复杂性，大小和体重。

40. 发明授权

US07320700B2 Flexible wrist for surgical tool 有权
标题翻译：柔性手腕用于外科手术工具
公开(公告)号：US07320700B2
公开(公告)日：2008-01-22
申请号：US10726795
申请日：2003-12-02
申请人： Thomas G. Cooper , S. Christopher Anderson
发明人： Thomas G. Cooper , S. Christopher Anderson
IPC分类号： A61B17/28
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： 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. In one embodiment, a minimally invasive surgical instrument comprises an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend 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.
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。在一个实施例中，微创手术器械包括细长轴，其具有在工作端和近端之间的工作端，近端和轴线; 和末端执行器。手腕构件具有柔性管，其包括延伸穿过由壁围成的内部的轴线。柔性管的壁包括大致平行于柔性管的轴线定向的多个管腔。手腕构件具有连接到细长轴的工作端的近端部分和连接到端部执行器的远端部分。多个致动电缆具有连接到末端执行器的远端部分并且从远端部分延伸穿过腕部构件的壁的内腔朝向细长轴到近端部分，该近端部分可以在俯仰旋转和偏转旋转中使手腕构件弯曲。

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