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1. 发明授权

US07865266B2 Cooperative minimally invasive telesurgical system 有权
标题翻译：合作微创远程手术系统
公开(公告)号：US07865266B2
公开(公告)日：2011-01-04
申请号：US10424536
申请日：2003-04-24
申请人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
发明人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
IPC分类号： G06F19/00 , G05B19/18 , G05B15/02 , B25J1/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G06F19/00 , G09B23/285
摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
摘要翻译：改进的机器人手术系统，装置和方法包括可选择地可关联的主/从对，通常具有比外科医生的两只手同时移动的更多的操纵臂。四个操纵臂可以支撑图像捕获装置，左手组织操作工具，右手组织操作工具和第四手术器械，特别是用于稳定，缩回，换刀或受益于间歇运动的其他功能。四个或更多个臂可以顺序地由左和右主输入控制装置控制。第四臂可以用于支持另一图像捕获装置，并且可以在操作者和助手之间来回传送一些或所有臂的控制。可以耦合两个或更多个具有主控制器和从动操纵器的机器人系统，以实现两个或多个操作者之间的协作手术。

2. 发明授权

US06764445B2 Stabilizer for robotic beating-heart surgery 有权
标题翻译：用于机器人跳动心脏手术的稳定器
公开(公告)号：US06764445B2
公开(公告)日：2004-07-20
申请号：US10017641
申请日：2001-12-14
申请人： Andris D. Ramans , David J. Rosa , Volkmar Falk
发明人： Andris D. Ramans , David J. Rosa , Volkmar Falk
IPC分类号： A61B132
CPC分类号： A61B19/2203 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00243 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2034/742
摘要： Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficiently to treat the target tissues with robotic surgical tools which move in response to inputs of a robotic system operator. A stabilizing surface of the stabilizer is coupled to a drive system to position the surface from outside the patient, preferably by actuators of the robotic servomechanism. Exemplary stabilizers includes a suture or other flexible tension member spanning between a pair of jointed bodies, allowing the member to occlude a coronary blood vessel and/or help stabilize the target region between the stabilizing surfaces.
摘要翻译：手术方法和装置允许在心脏跳动时对患者的心脏进行闭胸手术。通过使心脏的表面与稳定剂接合而不必停止心脏来稳定心脏的区域。目标组织的运动受到充分的抑制，用机器人手术工具治疗目标组织，这些手术工具响应于机器人系统操作者的输入而移动。稳定器的稳定表面联接到驱动系统以将表面从患者外部优选地通过机器人伺服机构的致动器定位。示例性稳定器包括横跨在一对接合体之间的缝合线或其它柔性张紧构件，允许构件闭塞冠状血管和/或帮助稳定稳定表面之间的目标区域。

3. 发明授权

US06206903B1 Surgical tool with mechanical advantage 有权
标题翻译：外科手术具有机械优势
公开(公告)号：US06206903B1
公开(公告)日：2001-03-27
申请号：US09415783
申请日：1999-10-08
申请人： Andris D. Ramans
发明人： Andris D. Ramans
IPC分类号： A61B1728
CPC分类号： A61B17/29 , A61B34/30 , A61B34/70 , A61B34/71 , A61B2017/2929 , A61B2017/2939
摘要： A robotic surgical tool includes an end effector having a pair of fingers and incorporating a mechanical advantage. In specific embodiments, a pulley and cable mechanism is used to actuate the end effector by applying cable tension. The coupling between the pulleys and the fingers of the end effector takes advantage of changes in moment arms for force transfer to avoid or minimize force reduction between the applied cable tension and the resultant force at or near the distal tip of each finger. In some embodiments, the coupling of the pulleys and fingers results in a force gain, a moment gain, or both.
摘要翻译：机器人手术工具包括具有一对手指并结合机械优点的末端执行器。在具体实施例中，滑轮和缆索机构用于通过施加电缆张力致动末端执行器。皮带轮和末端执行器的手指之间的联接利用力矩传递的力矩臂的变化，以避免或最小化施加的电缆张力与在每个手指的远侧末端附近的合力之间的力减小。在一些实施例中，滑轮和手指的联接导致力增益，力矩增益或两者。

4. 发明授权

US08105235B2 Stabilizer for robotic beating-heart surgery 有权
标题翻译：用于机器人跳动心脏手术的稳定器
公开(公告)号：US08105235B2
公开(公告)日：2012-01-31
申请号：US10864899
申请日：2004-06-08
申请人： Andris D. Ramans , David J. Rosa , Volkmar Falk
发明人： Andris D. Ramans , David J. Rosa , Volkmar Falk
IPC分类号： A61B1/32
CPC分类号： A61B19/2203 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00243 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2034/742
摘要： Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficiently to treat the target tissues with robotic surgical tools which move in response to inputs of a robotic system operator. A stabilizing surface of the stabilizer is coupled to a drive system to position the surface from outside the patient, preferably by actuators of the robotic servomechanism. Exemplary stabilizers includes a suture or other flexible tension member spanning between a pair of jointed bodies, allowing the member to occlude a coronary blood vessel and/or help stabilize the target region between the stabilizing surfaces.
摘要翻译：手术方法和装置允许在心脏跳动时对患者的心脏进行闭胸手术。通过使心脏的表面与稳定剂接合而不必停止心脏来稳定心脏的区域。目标组织的运动受到充分的抑制，用机器人手术工具治疗目标组织，这些手术工具响应于机器人系统操作者的输入而移动。稳定器的稳定表面联接到驱动系统以将表面从患者外部优选地通过机器人伺服机构的致动器定位。示例性稳定器包括横跨在一对接合体之间的缝合线或其它柔性张紧构件，允许构件闭塞冠状血管和/或帮助稳定稳定表面之间的目标区域。

5. 发明申请

US20110137322A1 Cooperative Minimally Invasive Telesurgical System 有权
标题翻译：合作微创电话系统
公开(公告)号：US20110137322A1
公开(公告)日：2011-06-09
申请号：US12959704
申请日：2010-12-03
申请人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, JR. , Michael J. Tierney
发明人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, JR. , Michael J. Tierney
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G06F19/00 , G09B23/285
摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
摘要翻译：改进的机器人手术系统，装置和方法包括可选择地可关联的主/从对，通常具有比外科医生的两只手同时移动的更多的操纵臂。四个操纵臂可以支撑图像捕获装置，左手组织操作工具，右手组织操作工具和第四手术器械，特别是用于稳定，缩回，换刀或受益于间歇运动的其他功能。四个或更多个臂可以顺序地由左和右主输入控制装置控制。第四臂可以用于支持另一图像捕获装置，并且可以在操作者和助手之间来回传送一些或所有臂的控制。可以耦合两个或更多个具有主控制器和从动操纵器的机器人系统，以实现两个或多个操作者之间的协作手术。

6. 发明授权

US06858003B2 Performing cardiac surgery without cardioplegia 有权
公开(公告)号：US06858003B2
公开(公告)日：2005-02-22
申请号：US10214286
申请日：2002-08-06
申请人： Philip C. Evans , Frederic H. Moll , Gary S. Guthart , William C. Nowlin , Rand P. Pendleton , Christopher P. Wilson , Andris D. Ramans , David J. Rosa , Volkmar Falk , Robert G. Younge
发明人： Philip C. Evans , Frederic H. Moll , Gary S. Guthart , William C. Nowlin , Rand P. Pendleton , Christopher P. Wilson , Andris D. Ramans , David J. Rosa , Volkmar Falk , Robert G. Younge
IPC分类号： A61B17/00 , A61B17/04 , A61B19/00
CPC分类号： A61B34/32 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/77 , A61B90/361 , A61B2017/00243 , A61B2017/00703 , A61B2034/2065 , A61B2034/305 , A61B2034/742 , A61B2090/064
摘要： A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant. A video monitor is coupled to the control computer; and an input system is coupled to the servo-mechanical system and to the control computer for providing a movement of the surgical instrument. The video monitor displays movement of the surgical instrument while the resultant surgical cardiac worksite appears substantially stationary, and while a relative position of the surgical instrument moving in unison with the resultant surgical cardiac worksite, as a result from the movement information gathered by the motion tracking system, remains generally constant. A method of performing cardiac surgery without cardioplegia comprising removing at least one degree of movement freedom from a moving surgical cardiac worksite to produce at least a partially stationary surgical cardiac worksite while allowing a residual heart section, generally separate from the at least partially stationary surgical cardiac worksite, to move as a residual moving heart part. Cardiac surgery is performed on the at least partially stationary cardiac worksite with a surgical instrument such as needle drivers, forceps, blades and scissors.

7. 发明授权

US09119654B2 Stabilizer for robotic beating-heart surgery 有权
公开(公告)号：US09119654B2
公开(公告)日：2015-09-01
申请号：US13350459
申请日：2012-01-13
申请人： Andris D. Ramans , David J. Rosa , Volkmar Falk
发明人： Andris D. Ramans , David J. Rosa , Volkmar Falk
IPC分类号： A61B1/32 , A61B19/00 , A61B17/04 , A61B17/00
CPC分类号： A61B19/2203 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00243 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2034/742
摘要： Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficiently to treat the target tissues with robotic surgical tools which move in response to inputs of a robotic system operator. A stabilizing surface of the stabilizer is coupled to a drive system to position the surface from outside the patient, preferably by actuators of the robotic servomechanism. Exemplary stabilizers includes a suture or other flexible tension member spanning between a pair of jointed bodies, allowing the member to occlude a coronary blood vessel and/or help stabilize the target region between the stabilizing surfaces.

8. 发明授权

US06659939B2 Cooperative minimally invasive telesurgical system 有权
公开(公告)号：US06659939B2
公开(公告)日：2003-12-09
申请号：US09433120
申请日：1999-11-03
申请人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury , Michael Tierney
发明人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury , Michael Tierney
IPC分类号： A61B100
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G06F19/00 , G09B23/285
摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

9. 发明授权

US06468265B1 Performing cardiac surgery without cardioplegia 有权
公开(公告)号：US06468265B1
公开(公告)日：2002-10-22
申请号：US09436982
申请日：1999-11-09
申请人： Philip C. Evans , Frederic H. Moll , Gary S. Guthart , William C. Nowlin , Rand P. Pendleton , Christopher P. Wilson , Andris D. Ramans , David J. Rosa , Volkmar Falk , Robert G. Younge
发明人： Philip C. Evans , Frederic H. Moll , Gary S. Guthart , William C. Nowlin , Rand P. Pendleton , Christopher P. Wilson , Andris D. Ramans , David J. Rosa , Volkmar Falk , Robert G. Younge
IPC分类号： A61B1700
CPC分类号： A61B34/32 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/77 , A61B90/361 , A61B2017/00243 , A61B2017/00703 , A61B2034/2065 , A61B2034/305 , A61B2034/742 , A61B2090/064
摘要： A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant. A video monitor is coupled to the control computer; and an input system is coupled to the servo-mechanical system and to the control computer for providing a movement of the surgical instrument. The video monitor displays movement of the surgical instrument while the resultant surgical cardiac worksite appears substantially stationary, and while a relative position of the surgical instrument moving in unison with the resultant surgical cardiac worksite, as a result from the movement information gathered by the motion tracking system, remains generally constant. A method of performing cardiac surgery without cardioplegia comprising removing at least one degree of movement freedom from a moving surgical cardiac worksite to produce at least a partially stationary surgical cardiac worksite while allowing a residual heart section, generally separate from the at least partially stationary surgical cardiac worksite, to move as a residual moving heart part. Cardiac surgery is performed on the at least partially stationary cardiac worksite with a surgical instrument such as needle drivers, forceps, blades and scissors.

10. 发明授权

US08600551B2 Medical robotic system with operatively couplable simulator unit for surgeon training 有权
标题翻译：医疗机器人系统，具有操作性耦合模拟器单元，用于外科医生训练
公开(公告)号：US08600551B2
公开(公告)日：2013-12-03
申请号：US12755889
申请日：2010-04-07
申请人： Brandon D. Itkowitz , Stephen J. Blumenkranz , Brian E. Miller , Frederic H. Moll , Andris D. Ramans , David J. Rosa
发明人： Brandon D. Itkowitz , Stephen J. Blumenkranz , Brian E. Miller , Frederic H. Moll , Andris D. Ramans , David J. Rosa
IPC分类号： G06F19/00 , G05B19/18
CPC分类号： G09B23/285 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/77 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2034/742 , A61B2090/506
摘要： A medical robotic system has a surgeon console which is operatively couplable to a patient side unit for performing medical procedures or operatively couplable to a simulator unit for training purposes. The surgeon console has a monitor, input devices and foot pedals. The patient side unit has robotic arm assemblies coupled to instruments and an endoscope. When the surgeon console is coupled to the patient side unit, the instruments move in response to movement of the input devices to perform a medical procedure while captured images of the instruments are displayed on the monitor. When the surgeon console is coupled to the simulator unit, virtual instruments move in response to movement of the input devices to perform a user selected virtual procedure while virtual images of the virtual instruments are displayed on the monitor.
摘要翻译：医疗机器人系统具有外科医生控制台，其可操作地耦合到患者侧单元，用于执行医疗程序或可操作地耦合到用于训练目的的模拟器单元。外科医生控制台有一个监视器，输入设备和脚踏板。患者侧单元具有耦合到器械和内窥镜的机器人手臂组件。当外科医生控制台耦合到患者侧单元时，仪器响应于输入设备的移动而移动以执行医疗过程，同时将仪器的捕获图像显示在监视器上。当外科医生控制台耦合到模拟器单元时，虚拟仪器响应于输入设备的移动而移动以执行用户选择的虚拟过程，同时虚拟仪器的虚拟图像显示在监视器上。

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