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41. 发明授权

US09801526B2 Minimally invasive surgical system 有权
公开(公告)号：US09801526B2
公开(公告)日：2017-10-31
申请号：US13465842
申请日：2012-05-07
申请人： David Q. Larkin , Thomas G. Cooper , Catherine Mohr
发明人： David Q. Larkin , Thomas G. Cooper , Catherine Mohr
IPC分类号： A61B1/00 , A61B1/04 , A61B17/00 , A61B5/05 , A61B19/00 , A61B34/37 , A61B34/30 , A61B1/018 , A61B1/002 , A61B1/06 , A61B5/00 , A61B8/12 , A61B1/05 , A61B90/10 , A61B34/00 , A61B34/20 , A61B1/005 , A61B17/34 , A61B90/00
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 is inserted through a guide tube. A telemanipulation system moves the distal end of the surgical instrument in all six Cartesian degrees of freedom independently of any guide tube movements.

42. 发明授权

US09320568B2 Sterile surgical drape 有权
标题翻译：无菌手术悬垂
公开(公告)号：US09320568B2
公开(公告)日：2016-04-26
申请号：US13476083
申请日：2012-05-21
申请人： Joseph Orban, III , Lisa Heaton , S. Christopher Anderson , Thomas G. Cooper
发明人： Joseph Orban, III , Lisa Heaton , S. Christopher Anderson , Thomas G. Cooper
IPC分类号： A61B19/08 , A61B19/00 , A61B17/00
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , Y10T29/49826 , Y10T428/13
摘要： A surgical drape comprises an exterior surface adjacent to a sterile field for performing a surgical procedure and an interior surface forming a cavity for receiving a non-sterile portion of a robotic surgical system. The surgical drape also includes a first vent through the interior and exterior surfaces spaced apart from a second vent through the interior and exterior surfaces to create convection heat venting through the surgical drape. The exterior and interior surfaces include a window for positioning adjacent to a monitor screen, the window having a static charge.The drape further comprises second drape section connected to a first drape section and including an instrument sterile adapter for engaging a surgical tool and another non-sterile portion of the robotic surgical system, the sterile adapter configured to transfer signals between the surgical tool and the other non-sterile portion of the robotic surgical system.
摘要翻译：手术罩包括邻近无菌区域的外表面，用于执行外科手术，以及形成用于接收机器人手术系统的非无菌部分的空腔的内表面。手术罩还包括通过内部和外部表面的第一通气口，其通过内部和外部表面间隔开第二通气口，以产生穿过手术罩的对流热通气。外表面和内表面包括用于邻近监视器屏幕定位的窗口，窗口具有静电荷。所述盖布还包括连接到第一覆盖部分并且包括用于接合外科手术工具的机器无菌适配器和所述机器人手术系统的另一非无菌部分的第二覆盖部分，所述无菌适配器被配置为在所述外科手术工具与所述外科手术工具之间传递信号机器人手术系统的非无菌部分。

43. 发明授权

US09232984B2 Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system 有权
公开(公告)号：US09232984B2
公开(公告)日：2016-01-12
申请号：US12943754
申请日：2010-11-10
申请人： Gary S. Guthart , Gunter D. Niemeyer , Robert G. Younge , J. Kenneth Salisbury , Thomas G. Cooper
发明人： Gary S. Guthart , Gunter D. Niemeyer , Robert G. Younge , J. Kenneth Salisbury , Thomas G. Cooper
IPC分类号： A61B17/00 , A61B19/00 , A61B1/04 , A61B8/12 , A61B1/00 , A61B8/00 , A61B18/20 , A61B1/313
CPC分类号： A61B34/30 , A61B1/00045 , A61B1/0005 , A61B1/04 , A61B1/3132 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B17/00234 , A61B18/20 , A61B34/20 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2034/107 , A61B2034/305 , A61B2090/031 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2090/0807 , A61B2090/506
摘要： Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.

44. 发明授权

US08911428B2 Apparatus for pitch and yaw rotation 有权
标题翻译：用于俯仰和偏转旋转的装置
公开(公告)号：US08911428B2
公开(公告)日：2014-12-16
申请号：US13414445
申请日：2012-03-07
申请人： Thomas G. Cooper , Daniel T. Wallace , Stacey Chang , S. Christopher Anderson , Dustin Williams , Scott Manzo
发明人： Thomas G. Cooper , Daniel T. Wallace , Stacey Chang , S. Christopher Anderson , Dustin Williams , Scott Manzo
IPC分类号： A61B17/00 , A61B19/00 , A61B1/005 , A61B1/008 , A61B17/29
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.
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。可靠地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。

45. 发明授权

US08758352B2 Mechanical actuator interface system for robotic surgical tools 有权
标题翻译：用于机器人手术工具的机械致动器接口系统
公开(公告)号：US08758352B2
公开(公告)日：2014-06-24
申请号：US12407101
申请日：2009-03-19
申请人： Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Robert G. Younge
发明人： Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Robert G. Younge
IPC分类号： A61F5/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
摘要翻译：用于准备和执行机器人手术的机器人手术工具，系统和方法包括安装在该工具上的存储器。当工具装载在工具操纵器上时，存储器可以执行多种功能：首先，存储器可以提供一个信号，以验证该工具是否与该特定机器人系统兼容。其次，工具存储器可以识别机器人系统的工具类型，使得机器人系统可以重新配置其编程。第三，工具的记忆可以指示工具特定的信息，包括指示工具驱动系统的未对准的测量校准偏移，工具寿命数据等。该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。本发明还提供了用于将机器人外科手术工具与机械手结构相结合的改进的接合结构。

46. 发明授权

US08597280B2 Surgical instrument actuator 有权
标题翻译：手术仪器执行器
公开(公告)号：US08597280B2
公开(公告)日：2013-12-03
申请号：US11762172
申请日：2007-06-13
申请人： Thomas G. Cooper , Matthew R. Williams
发明人： Thomas G. Cooper , Matthew R. Williams
IPC分类号： A61B17/00
CPC分类号： A61B34/70 , A61B34/30 , A61B34/71 , A61B90/11 , A61B2017/003 , A61B2017/00314 , A61B2017/00477 , A61B2017/2902 , A61B2017/2905 , A61B2017/2927 , A61B2017/2929 , A61B2034/305 , A61B2034/306 , A61B2034/715
摘要： A surgical instrument body has a proximal portion, a distal portion, and a joint between the proximal and distal instrument body portions. A drive element housing extends through the proximal and distal instrument body portions and through the joint. A force to actuate a component at the distal end of the instrument body is applied to the drive element. A second force in the opposite direction is applied to the drive element housing, and this second force is also applied to the component. The opposite direction forces stabilize the component so that when the distal component is actuated, the actuation does not significantly affect the joint position.
摘要翻译：外科器械主体具有近端部分，远端部分和近端和远端器械主体部分之间的接头。驱动元件壳体延伸穿过近端和远端器械主体部分并且穿过接头。将驱动仪器主体远端的部件的力施加到驱动元件。向驱动元件壳体施加相反方向的第二力，并且该第二力也施加到部件上。相反的方向力使部件稳定，使得当远端部件被致动时，致动不会显着影响关节位置。

47. 发明申请

US20120220831A1 SURGICAL TOOL HAVING POSITIVELY POSITIONABLE TENDON-ACTUATED MULTI-DISK WRIST JOINT 有权
标题翻译：手术工具，具有可立式定位的多功能多功能多功能笔记本接口
公开(公告)号：US20120220831A1
公开(公告)日：2012-08-30
申请号：US13414445
申请日：2012-03-07
申请人： Thomas G. Cooper , Daniel T. Wallace , Stacey Chang , S. Christopher Anderson , Dustin Williams , Scott Manzo
发明人： Thomas G. Cooper , Daniel T. Wallace , Stacey Chang , S. Christopher Anderson , Dustin Williams , Scott Manzo
IPC分类号： A61B1/005 , A61B1/008
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.
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。可靠地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。

48. 发明申请

US20120209292A1 Telescoping Insertion Axis of a Robotic Surgical System 有权
标题翻译：机器人手术系统的伸缩插入轴
公开(公告)号：US20120209292A1
公开(公告)日：2012-08-16
申请号：US13454925
申请日：2012-04-24
申请人： Roman L. Devengenzo , Thomas G. Cooper , Bruce Schena
发明人： Roman L. Devengenzo , Thomas G. Cooper , Bruce Schena
IPC分类号： A61B19/00
CPC分类号： A61B34/71 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2046/234 , B25J15/04 , Y10T74/20305
摘要： A telescopic insertion axis, a robotic surgical system including the telescopic insertion axis, and a method of instrument insertion are provided. In one embodiment, a telescopic insertion axis includes a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an instrument interface.
摘要翻译：提供伸缩插入轴，包括伸缩插入轴的机器人手术系统以及器械插入方法。在一个实施例中，伸缩插入轴线包括可操作地联接到操纵臂的远端的基座连杆和沿着纵向轴线可移动地联接到基座连杆的滑架连杆，滑架连杆包括仪器接口。

49. 发明授权

US08216250B2 Sterile surgical adaptor 有权
标题翻译：无菌手术适配器
公开(公告)号：US08216250B2
公开(公告)日：2012-07-10
申请号：US12650835
申请日：2009-12-31
申请人： Joseph P. Orban, III , S. Christopher Anderson , Roman Devengenzo , Bruce M. Schena , Michael Prindiville , Thomas G. Cooper , William A. Burbank
发明人： Joseph P. Orban, III , S. Christopher Anderson , Roman Devengenzo , Bruce M. Schena , Michael Prindiville , Thomas G. Cooper , William A. Burbank
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B46/10 , A61B50/10 , A61B90/50 , A61B2017/00477 , A61B2034/305 , A61B2034/741 , B25J19/0075
摘要： A sterile drape with integrated sterile adaptor, a telerobotic surgical system, and method of use are provided 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.
摘要翻译：提供具有集成无菌适配器，远程外科手术系统和使用方法的无菌悬垂布，用于悬挂远程外科手术系统的部分以在无菌手术区域和非无菌机器人系统之间保持无菌屏障，同时还提供用于传输机电能和信号。

50. 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。

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