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1. 发明授权

US10376331B2 Sheaths for jointed instruments 有权
公开(公告)号：US10376331B2
公开(公告)日：2019-08-13
申请号：US12832580
申请日：2010-07-08
申请人： Thomas G. Cooper , S. Christopher Anderson , Matthew R. Williams
发明人： Thomas G. Cooper , S. Christopher Anderson , Matthew R. Williams
IPC分类号： A61B18/14 , A61B18/00 , A61B34/30 , A61B90/00 , A61B46/13 , A61B34/35
摘要： Sheaths for medical instruments cover wrist mechanisms to provide a barrier to infiltration of biological material into the instrument, electrical isolation of energized portions of the instrument, seal the instrument to help maintain cavity pressure within a patient, or reduce the chance that two jointed instruments will tangle during a medical procedure.

2. 发明授权

US09456839B2 Scissor bias for direct pull surgical instrument 有权
标题翻译：用于直接拉手术器械的剪刀偏置
公开(公告)号：US09456839B2
公开(公告)日：2016-10-04
申请号：US12910634
申请日：2010-10-22
申请人： Thomas G. Cooper
发明人： Thomas G. Cooper
IPC分类号： A61B17/28 , A61B17/3201 , A61B17/29
CPC分类号： A61B17/3201 , A61B17/28 , A61B17/2804 , A61B17/2816 , A61B34/30 , A61B34/71 , A61B2017/2926 , A61B2017/2937 , A61B2017/2939 , A61B2017/294 , Y10T29/49826
摘要： A surgical end effector includes a clevis having a first end to be supported by an elongated tube-like member and two jaws, each having a pivot portion and a working portion. The pivot portions are rotatably coupled to the clevis by two spaced apart pivots. The working portions may include a cutting edge that provide a shearing action as the first and second jaws rotate about their respective pivots. The pivot portion and the working portion of each jaw may be on opposite sides of a bisecting plane. A flexible cable or wire may be coupled to each jaw and extend through a guide way in the other jaw, between the first and second pivots, and through the first end of the clevis. One or more springs may urge the working portions together. A rocking pin pivotally supported by the clevis may constrain the jaws to have opposite motions.
摘要翻译：手术末端执行器包括具有由细长管状构件支撑的第一端和两个钳口的U形夹，每个钳口具有枢转部分和工作部分。枢转部分通过两个间隔开的枢轴可旋转地联接到U形夹。工作部分可以包括当第一和第二夹爪围绕它们各自的枢轴旋转时提供剪切动作的切割刃。每个钳口的枢转部分和工作部分可以在平分平面的相对侧上。柔性电缆或电线可以联接到每个钳口并且延伸穿过其它钳口中的引导方式，在第一和第二枢轴之间以及穿过U形夹的第一端。一个或多个弹簧可以将工作部分推到一起。由U形夹可枢转地支撑的摇摆销可以约束钳口以具有相反的运动。

3. 发明授权

US09339341B2 Direct pull surgical gripper 有权
标题翻译：直接拉手术夹具
公开(公告)号：US09339341B2
公开(公告)日：2016-05-17
申请号：US12702200
申请日：2010-02-08
申请人： Thomas G. Cooper
发明人： Thomas G. Cooper
IPC分类号： A61B17/00 , A61B19/00 , A61B17/29 , A61B18/14 , A61B18/00
CPC分类号： A61B17/29 , A61B18/1445 , A61B34/30 , A61B34/71 , A61B2017/003 , A61B2017/2932 , A61B2017/2933 , A61B2017/2938 , A61B2017/2939 , A61B2017/2945 , A61B2018/00595 , A61B2018/1432
摘要： A surgical end effector includes a clevis and two jaws pivotally coupled to the clevis. A wire is coupled to each jaw and extended through a guide way in the other jaw and through an end of the clevis. The jaws may be opened and closed by pushing and pulling on the two cables. Pulling on each wire creates a closing force in both jaws. A rocking pin may be pivotally supported by the clevis and pivotally coupled to the jaws to constrain the jaws to have opposite motions. The clevis may be coupled to an elongate shaft and the wires extended through the shaft to provide an endoscopic instrument. A wire guide may support the wires in the shaft such that they are able to transmit a compressive force without buckling. The wires may carry electricity to the jaws for electrocautery.
摘要翻译：手术末端执行器包括U形夹和枢转地联接到U形夹的两个钳口。线连接到每个钳口并且延伸穿过另一个钳口中的引导方式并且穿过U形夹的端部。通过推拉两根电缆可以将夹爪打开和关闭。拉扯每根线在两个颚上产生一个闭合力。摆动销可以由U形夹可枢转地支撑并且枢转地联接到钳口以约束钳口以具有相反的运动。 U形夹可以联接到细长轴并且电线延伸穿过轴以提供内窥镜器械。线引导件可以支撑轴中的线，使得它们能够传递压缩力而没有弯曲。电线可以携带电力到钳口进行电烙。

4. 发明授权

US09261172B2 Multi-ply strap drive trains for surgical robotic arms 有权
标题翻译：用于手术机器人手臂的多层带驱动列车
公开(公告)号：US09261172B2
公开(公告)日：2016-02-16
申请号：US11611849
申请日：2006-12-15
申请人： Todd R. Solomon , Thomas G. Cooper
发明人： Todd R. Solomon , Thomas G. Cooper
IPC分类号： B25J18/00 , F16H7/20 , A61B19/00 , B25J9/10
CPC分类号： F16H7/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00845 , A61B2034/305 , A61B2034/715 , B25J9/1045 , B25J18/00 , B25J18/005 , B25J18/007 , Y10S901/21 , Y10T29/49455 , Y10T29/49826 , Y10T74/20305 , Y10T74/20323
摘要： In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link.
摘要翻译：在本发明的一个实施例中，提供了包括连杆组件和带传动系的机器臂。连杆组件包括在第一，第二和第三关节处串联地联接在一起的第一，第二，第三和第四连杆，以限定具有插入轴的平行四边形。带传动系包括耦合到连杆组件的第一组和第二组皮带。当联动组件围绕俯仰轴线移动时，第一组皮带确保第三连杆相对于第一连杆保持相同的角度，并且第一和第二组皮带确保第四连杆相对于第二连杆保持相同的角度链接。

5. 发明授权

US09215967B2 Side looking minimally invasive surgery instrument assembly 有权
标题翻译：侧视微创手术器械组装
公开(公告)号：US09215967B2
公开(公告)日：2015-12-22
申请号：US13316060
申请日：2011-12-09
申请人： Thomas G. Cooper , David J. Rosa , Matthew R. Williams , Eugene F. Duval
发明人： Thomas G. Cooper , David J. Rosa , Matthew R. Williams , Eugene F. Duval
IPC分类号： A61B1/00 , A61B1/04 , A61B1/06 , A61B17/00 , A61B19/00 , A61B1/002 , A61B5/00 , A61B8/12 , A61B1/05 , A61B1/005 , A61B1/018 , A61B17/34
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. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.
摘要翻译：手术器械通过导管插入。手术器械在引导管的中间位置处离开，并且在其离开时被定向成基本上平行于引导管的纵向轴线。立体图像捕获部件位于导管之间的中间位置和导管的远端之间。图像捕获部件的视场大致垂直于导管的纵轴。导管被连接以允许图像捕获部件移动。手术器械和引导管被远程手术控制。

6. 发明授权

US09005112B2 Articulate and swapable endoscope for a surgical robot 有权
标题翻译：用于外科手术机器人的铰链和可切换内窥镜
公开(公告)号：US09005112B2
公开(公告)日：2015-04-14
申请号：US13434485
申请日：2012-03-29
申请人： Christopher J. Hasser , Nitish Swarup , Thomas G. Cooper , S. Christopher Anderson
发明人： Christopher J. Hasser , Nitish Swarup , Thomas G. Cooper , S. Christopher Anderson
IPC分类号： A61B1/00 , A61B1/005 , A61B1/008 , A61B19/00 , A61B1/04 , A61B1/018 , A61B17/00
CPC分类号： A61B1/0055 , A61B1/00142 , A61B1/00149 , A61B1/0058 , A61B1/008 , A61B1/018 , A61B1/05 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B2017/00243 , A61B2017/003 , A61B2017/00323 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.
摘要翻译：本发明涉及一种具有至少一个自由度的柔性手腕的关节式微创手术内窥镜。当与具有多个机器人手臂的外科手术机器人一起使用时，内窥镜可以与多个臂中的任一个一起使用，从而允许使用通用臂设计。根据本发明的内窥镜通过将用于控制至少一个自由度运动的参考框架附接到与至少一个自由度相关联的手腕运动的柔性手腕，使得用户更直观。根据本发明的内窥镜通过基于围绕位于柔性的近侧的旋转点旋转的参考框架来获取与至少一个自由度相关联的物体的图像来衰减其背部/近端处的不期望的运动腕。

7. 发明授权

US08998799B2 Sterile surgical adaptor 有权
标题翻译：无菌手术适配器
公开(公告)号：US08998799B2
公开(公告)日：2015-04-07
申请号：US13524438
申请日：2012-06-15
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 , A61B19/08 , B25J19/00 , A61B19/02 , A61B17/00
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 robotic surgical system comprises a manipulator arm including a spring loaded input and a spring loaded plunger. The system also comprises a sterile adaptor. The sterile adaptor includes a housing, an electrical contact coupled to the housing, and a retractor plate assembly including a top retractor plate and a bottom retractor plate. The retractor plate assembly is movably disposed relative to the housing and adapted to engage the spring loaded plunger. The sterile adaptor also includes a disc captured between and rotatable relative to the top retractor plate and the bottom retractor plate. The disc has a first surface adapted to engage the spring loaded input and a second rotatable surface adapted to engage a surgical instrument in a sterile field.
摘要翻译：机器人手术系统包括操纵臂，所述操纵臂包括弹簧加载的输入和弹簧加载柱塞。该系统还包括无菌适配器。无菌适配器包括壳体，联接到壳体的电触点以及包括顶部牵开器板和底部牵开器板的牵开器板组件。收缩器板组件相对于壳体可移动地设置并且适于接合弹簧加载柱塞。无菌适配器还包括捕获在顶部牵开器板和底部牵缩器板之间并可旋转的盘。盘具有适于接合弹簧加载输入的第一表面和适于在无菌区中接合手术器械的第二可旋转表面。

8. 发明授权

US08991278B2 Overforce protection mechanism 有权
标题翻译：强制保护机制
公开(公告)号：US08991278B2
公开(公告)日：2015-03-31
申请号：US12780773
申请日：2010-05-14
申请人： Thomas G. Cooper
发明人： Thomas G. Cooper
IPC分类号： B25J19/00 , G05G9/00
CPC分类号： G05G9/00 , Y10S901/49 , Y10T74/20006 , Y10T74/20012 , Y10T74/20582
摘要： A overload protection mechanism protects a driven load, such as a driven lever. An overload lever is pivotally coupled to a first part of the driven load. The overload lever has a first end that receives an applied force and an opposing second end. A zero length spring mechanism is coupled to a second part of the driven load spaced apart from the first part and to the second end of the overload lever. The zero length spring mechanism urges the second end of the overload lever toward the second part of the driven load with a force that is substantially proportional to the distance between the second end of the overload lever and the second part of the driven load. A stop mechanism is coupled to the zero length spring mechanism to maintain a minimum distance between the second end of the overload lever and the second part of the driven load.
摘要翻译：过载保护机构保护被驱动的负载，例如从动杠杆。过载杆枢转地联接到被驱动负载的第一部分。过载杠杆具有接收施加的力的第一端和相对的第二端。零长度弹簧机构联接到与第一部分和过载杠杆的第二端间隔开的从动负载的第二部分。零长度弹簧机构以大体上与过载杆的第二端和从动负载的第二部分之间的距离成比例的力来促使过载杠杆的第二端朝向被动负载的第二部分。止动机构联接到零长度弹簧机构以保持过载杆的第二端和从动负载的第二部分之间的最小距离。

9. 发明授权

US08986196B2 Minimally invasive surgery instrument assembly with reduced cross section 有权
标题翻译：微创手术器械组件截面减小
公开(公告)号：US08986196B2
公开(公告)日：2015-03-24
申请号：US11762189
申请日：2007-06-13
申请人： David Q. Larkin , Thomas G. Cooper , David C. Shafer , David J. Rosa , Matthew R. Williams , Eugene F. Duval
发明人： David Q. Larkin , Thomas G. Cooper , David C. Shafer , David J. Rosa , Matthew R. Williams , Eugene F. Duval
IPC分类号： A61B1/00 , A61B1/04 , A61B1/06 , A61B17/00 , A61B19/00 , A61B1/002 , A61B5/00 , A61B8/12 , A61B1/05 , A61B1/005 , A61B1/018 , A61B17/34
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 extends through a guide tube and exits at an intermediate position of the guide tube. The instrument includes a parallel motion mechanism that changes the position of a distal end of the surgical instrument without changing the orientation of the distal end. An image capture component is at the distal end of the guide tube, and a joint allows the image capture component to move while the intermediate position remains stationary. The configuration allows a cross section of the guide tube to be oblong. In some aspects, a joint for the image capture component is placed between exit ports for surgical instruments, which allows the guide tube cross section to be further reduced.
摘要翻译：手术器械延伸穿过导管并在导管的中间位置离开。仪器包括平行运动机构，其改变外科器械的远端的位置，而不改变远端的取向。图像捕获部件在引导管的远端处，并且关节允许图像捕获部件在中间位置保持静止时移动。该构造允许导管的横截面为长方形。在一些方面，用于图像捕获部件的接头被放置在用于外科器械的出口之间，这允许导管横截面进一步减小。

10. 发明授权

US08746252B2 Surgical system sterile drape 有权
标题翻译：手术系统无菌悬垂
公开(公告)号：US08746252B2
公开(公告)日：2014-06-10
申请号：US12855499
申请日：2010-08-12
申请人： Anthony K. McGrogan , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Craig R. Ramstad
发明人： Anthony K. McGrogan , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Craig R. Ramstad
IPC分类号： A61B19/08
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.
摘要翻译：提供了无菌悬垂布，具有悬垂布的手术系统和悬垂方法。在一个实施例中，无菌悬垂包括多个覆盖袋，每个覆盖袋包括与无菌区相邻的用于执行外科手术的外表面和与非无菌器械操纵器相邻的内表面机器人手术系统的手术臂。盖布还包括在每个覆盖袋的远侧面处的多个柔性膜，用于在仪器操纵器的输出和相应的手术器械的输入之间进行接口，以及可旋转的密封件，其适于将每个覆盖物的近端开口在操纵臂的远端处的可旋转元件的口袋。

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