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1. 发明授权

US09247997B2 Patient-referenced surgical support frame 有权
标题翻译：病人参考的手术支架
公开(公告)号：US09247997B2
公开(公告)日：2016-02-02
申请号：US13249883
申请日：2011-09-30
申请人： David Stefanchik , Omar J. Vakharia
发明人： David Stefanchik , Omar J. Vakharia
IPC分类号： A61B1/32 , A61B19/00 , A61B17/34 , A61B17/00
CPC分类号： A61B19/26 , A61B17/3417 , A61B90/50 , A61B2017/00535 , A61B2017/00876 , A61B2017/00991 , A61B2017/3447 , A61B2017/347
摘要： A patient-referenced surgical support frame and method of use are provided. In one embodiment, a surgical support frame can have at least three support members coupled by adjustable linkages. Each support member can have a lumen extending therethrough for receiving a cannula, and each support member can be configured such that the at least three support members (or the cannulas extending therethrough) are angularly adjustable relative to one another, and such that a distance between each of the at least three support members is adjustable. In use, the surgical support frame can be positioned on a skin surface of a patient and used to retain one or more instruments extending through the support members in a fixed orientation or position with respect to the patient, thereby allowing more than two instruments to be used simultaneously.
摘要翻译：提供了一种患者参考的手术支架和使用方法。在一个实施例中，手术支撑框架可以具有通过可调节联接件联接的至少三个支撑构件。每个支撑构件可以具有延伸穿过其中用于接纳插管的内腔，并且每个支撑构件可被构造成使得至少三个支撑构件（或穿过其中的插管）可相对于彼此成角度地调节，并且使得所述至少三个支撑构件中的每一个都是可调节的。在使用中，手术支撑框架可以定位在患者的皮肤表面上并用于保持一个或多个仪器以相对于患者的固定取向或位置延伸穿过支撑构件，从而允许两个以上的器械同时使用

2. 发明授权

US09211159B2 Surgical devices with intracorporeal elbow joint 有权
标题翻译：手术器械与体内肘关节
公开(公告)号：US09211159B2
公开(公告)日：2015-12-15
申请号：US13309856
申请日：2011-12-02
申请人： David Stefanchik , Omar J. Vakharia
发明人： David Stefanchik , Omar J. Vakharia
IPC分类号： A61B17/00 , A61B19/00 , A61B17/29
CPC分类号： A61B17/29 , A61B17/28 , A61B17/2804 , A61B17/2816 , A61B19/2203 , A61B34/30 , A61B34/70 , A61B34/71 , A61B90/50 , A61B2017/003 , A61B2017/00323 , A61B2017/00738 , A61B2017/2901 , A61B2017/2902 , A61B2017/291 , A61B2017/2927 , A61B2017/2939 , A61B2017/2947 , A61B2019/2223
摘要： Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.
摘要翻译：本文公开的手术装置通常包括体内肘关节，以便于端部执行器的平移运动，同时允许手术装置的主体部分和套管针或工作通道，装置通过该套管针或工作通道保持在固定的角度定向相对给病人这允许使用单个切口或接入装置有效地使用多个这样的装置。这样的装置还通常提供具有六个自由度的末端执行器运动，同时保持使用者和末端执行器之间的机械联动，同时模仿和/或镜像自然使用者的运动。还公开了与这种装置有关的各种方法。

3. 发明授权

US09186220B2 Surgical system and methods for mimicked motion 有权
标题翻译：手术系统和模拟运动的方法
公开(公告)号：US09186220B2
公开(公告)日：2015-11-17
申请号：US12971491
申请日：2010-12-17
申请人： David Stefanchik , Michael J. Stokes
发明人： David Stefanchik , Michael J. Stokes
IPC分类号： A61B19/00 , A61B17/29 , A61B17/34 , A61B17/00
CPC分类号： A61B34/30 , A61B17/29 , A61B17/3417 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B2017/00477 , A61B2034/302 , A61B2034/305 , A61B2090/506 , B25J9/1689
摘要： The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to “float” above a patient and provide a weightless feel to movement of the surgical system. The floating frame can provides additional degrees of freedom for movement of the surgical system.
摘要翻译：本发明总体上提供了用于控制末端执行器的运动的方法和装置，特别是用于在外科手术过程中在输入工具和末端执行器之间引起模拟运动。在示例性实施例中，提供了具有主组件的外科系统，其具有输入工具和具有端部执行器的从动组件。主组件和从属组件可以通过机械组件耦合在一起，机械组件被配置为将模拟而不是镜像的运动从输入工具机械地传递到端部执行器。还提供浮动框架并且可以与外科系统一起使用。浮动框架可以具有允许手术系统在患者身上“漂浮”的平衡物，并且为外科系统的移动提供失重的感觉。浮动框架可为手术系统的移动提供额外的自由度。

4. 发明授权

US09131987B2 Elbow assembly for surgical devices 有权
标题翻译：手术器械的弯头组件
公开(公告)号：US09131987B2
公开(公告)日：2015-09-15
申请号：US13309875
申请日：2011-12-02
申请人： David Stefanchik , Omar J. Vakharia
发明人： David Stefanchik , Omar J. Vakharia
IPC分类号： A61B17/00 , A61B19/00 , A61B17/29
CPC分类号： A61B19/22 , A61B17/29 , A61B17/2909 , A61B34/70 , A61B34/71 , A61B90/50 , A61B2017/003 , A61B2017/00738 , A61B2017/2902 , A61B2017/2908 , A61B2017/291 , A61B2017/2917 , A61B2017/2918 , A61B2017/2919 , A61B2017/2927 , Y10T403/32606
摘要： Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.
摘要翻译：本文公开的手术装置通常包括体内肘关节，以便于端部执行器的平移运动，同时允许手术装置的主体部分和套管针或工作通道，装置通过该套管针或工作通道保持在固定的角度定向相对给病人这允许使用单个切口或接入装置有效地使用多个这样的装置。这样的装置还通常提供具有六个自由度的末端执行器运动，同时保持使用者和末端执行器之间的机械联动，同时模仿和/或镜像自然使用者的运动。还公开了与这种装置有关的各种方法。

5. 发明授权

US08828046B2 Laparoscopic device with distal handle 有权
标题翻译：腹腔镜手术器具
公开(公告)号：US08828046B2
公开(公告)日：2014-09-09
申请号：US12904280
申请日：2010-10-14
申请人： David Stefanchik , Omar J. Vakharia , Michael J. Stokes
发明人： David Stefanchik , Omar J. Vakharia , Michael J. Stokes
IPC分类号： A61B17/28 , A61B17/29 , A61B17/00
CPC分类号： A61B17/2909 , A61B2017/00738 , A61B2017/2902 , A61B2017/291 , A61B2017/2927 , A61B2017/2929
摘要： Methods and devices are provided for controlling movement of an end effector assembly, and in particular for causing mimicking motion between a handle and an end effector assembly. In an exemplary embodiment, a surgical device is provided having a handle or actuator, an elongate shaft, and an end effector assembly coupled to a distal end of the elongate shaft. The handle or actuator is configured such that movement of the handle is mimicked, not mirrored, by the end effector assembly. The mimicking motion can be achieved using various techniques, but in an exemplary embodiment the handle is located distal to an input joint, and motion is transferred to the end effector assembly through an output joint at a distal end of the elongate shaft. The motion is preferably transferred using a mechanical transmission coupled between the input and output joints.
摘要翻译：提供了用于控制末端执行器组件的移动的方法和装置，并且特别地用于引起手柄和末端执行器组件之间的模拟运动。在一个示例性实施例中，提供具有手柄或致动器，细长轴和联接到细长轴的远端的端部执行器组件的手术装置。手柄或致动器被配置成使得手柄的运动由末端执行器组件模拟而不被镜像。可以使用各种技术来实现模拟运动，但是在示例性实施例中，手柄位于输入接头的远侧，并且运动通过在细长轴的远端处的输出接头传递到端部执行器组件。该运动优选地使用耦合在输入和输出接头之间的机械传动来传递。

6. 发明授权

US08603078B2 Methods and devices for guiding and supporting surgical instruments 有权
标题翻译：引导和支持手术器械的方法和装置
公开(公告)号：US08603078B2
公开(公告)日：2013-12-10
申请号：US12903330
申请日：2010-10-13
申请人： David Stefanchik , James T. Spivey , Robert M. Trusty , Peter K. Shires , Michael J. Stokes
发明人： David Stefanchik , James T. Spivey , Robert M. Trusty , Peter K. Shires , Michael J. Stokes
IPC分类号： A61B17/00
CPC分类号： A61B17/0218 , A61B90/11 , A61B2017/3407
摘要： Methods and devices are provided for allowing a surgical instrument to be supported by a surgical support system configured to controllably guide the instrument to a desired position at surgical site. A surgical support system is provided that includes a guide port defining a pivot point about which a surgical instrument advance therethrough can pivot. The guide port, and hence the pivot point, can be located a distance above a tissue surface through which the instrument is advanced. Methods and devices are also provided for allowing insufflation of a body cavity without introduction of an insufflation fluid therein. A mechanical insufflation device is provided that includes an expandable distal member configured to selectively expand and unexpand to mechanically insufflate a body cavity. The mechanical insufflation device can optionally be used with the surgical support system.
摘要翻译：提供的方法和装置用于允许外科手术器械由外科支撑系统支撑，所述手术支撑系统构造成可手动地将器械引导到手术部位的期望位置。提供了一种手术支撑系统，其包括限定枢轴点的引导端口，手术器械可以通过该枢转点枢转。引导端口以及枢轴点可以位于仪器前进的组织表面上方的距离处。还提供了用于允许体腔内注射而不在其中引入注射液的方法和装置。提供了一种机械吹气装置，其包括可膨胀的远端构件，其构造成选择性地膨胀和展开以机械地灌注体腔。机械吹气装置可以可选地与外科支架系统一起使用。

7. 发明申请

US20130144395A1 ELBOW ASSEMBLY FOR SURGICAL DEVICES 有权
标题翻译：用于外科手术的ELBOW组装
公开(公告)号：US20130144395A1
公开(公告)日：2013-06-06
申请号：US13309875
申请日：2011-12-02
申请人： David Stefanchik , Omar J. Vakharia
发明人： David Stefanchik , Omar J. Vakharia
IPC分类号： A61F2/38 , F16C11/04
CPC分类号： A61B19/22 , A61B17/29 , A61B17/2909 , A61B34/70 , A61B34/71 , A61B90/50 , A61B2017/003 , A61B2017/00738 , A61B2017/2902 , A61B2017/2908 , A61B2017/291 , A61B2017/2917 , A61B2017/2918 , A61B2017/2919 , A61B2017/2927 , Y10T403/32606
摘要： Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.
摘要翻译：本文公开的手术装置通常包括体内肘关节，以便于端部执行器的平移运动，同时允许手术装置的主体部分和套管针或工作通道，装置通过该套管针或工作通道保持在固定的角度定向相对给病人这允许使用单个切口或接入装置有效地使用多个这样的装置。这样的装置还通常提供具有六个自由度的末端执行器运动，同时保持使用者和末端执行器之间的机械联动，同时模仿和/或镜像自然使用者的运动。还公开了与这种装置有关的各种方法。

8. 发明申请

US20130144306A1 Surgical Devices with Intracorporeal Elbow Joint 有权
标题翻译：手术器械与体内肘关节
公开(公告)号：US20130144306A1
公开(公告)日：2013-06-06
申请号：US13309856
申请日：2011-12-02
申请人： David Stefanchik , Omar J. Vakharia
发明人： David Stefanchik , Omar J. Vakharia
IPC分类号： A61B19/00
CPC分类号： A61B17/29 , A61B17/28 , A61B17/2804 , A61B17/2816 , A61B19/2203 , A61B34/30 , A61B34/70 , A61B34/71 , A61B90/50 , A61B2017/003 , A61B2017/00323 , A61B2017/00738 , A61B2017/2901 , A61B2017/2902 , A61B2017/291 , A61B2017/2927 , A61B2017/2939 , A61B2017/2947 , A61B2019/2223
摘要： Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.
摘要翻译：本文公开的手术装置通常包括体内肘关节，以便于端部执行器的平移运动，同时允许手术装置的主体部分和套管针或工作通道，装置通过该套管针或工作通道保持在固定的角度定向相对给病人这允许使用单个切口或接入装置有效地使用多个这样的装置。这样的装置还通常提供具有六个自由度的末端执行器运动，同时保持使用者和末端执行器之间的机械联动，同时模仿和/或镜像自然使用者的运动。还公开了与这种装置有关的各种方法。

9. 发明申请

US20130085342A1 PATIENT-REFERENCED SURGICAL SUPPORT FRAME 有权
标题翻译：患者参考手术支持框架
公开(公告)号：US20130085342A1
公开(公告)日：2013-04-04
申请号：US13249883
申请日：2011-09-30
申请人： David Stefanchik , Omar J. Vakharia
发明人： David Stefanchik , Omar J. Vakharia
IPC分类号： A61B1/32
CPC分类号： A61B19/26 , A61B17/3417 , A61B90/50 , A61B2017/00535 , A61B2017/00876 , A61B2017/00991 , A61B2017/3447 , A61B2017/347
摘要： A patient-referenced surgical support frame and method of use are provided. In one embodiment, a surgical support frame can have at least three support members coupled by adjustable linkages. Each support member can have a lumen extending therethrough for receiving a cannula, and each support member can be configured such that the at least three support members (or the cannulas extending therethrough) are angularly adjustable relative to one another, and such that a distance between each of the at least three support members is adjustable. In use, the surgical support frame can be positioned on a skin surface of a patient and used to retain one or more instruments extending through the support members in a fixed orientation or position with respect to the patient, thereby allowing more than two instruments to be used simultaneously.
摘要翻译：提供了一种患者参考的手术支架和使用方法。在一个实施例中，手术支撑框架可以具有通过可调节联接件联接的至少三个支撑构件。每个支撑构件可以具有延伸穿过其中用于接纳插管的内腔，并且每个支撑构件可被构造成使得至少三个支撑构件（或穿过其中的插管）可相对于彼此成角度地调节，并且使得所述至少三个支撑构件中的每一个都是可调节的。在使用中，手术支撑框架可以定位在患者的皮肤表面上并用于保持一个或多个仪器以相对于患者的固定取向或位置延伸穿过支撑构件，从而允许两个以上的器械同时使用

10. 发明申请

US20120158013A1 Surgical System and Methods for Mimicked Motion 有权
标题翻译：手动系统和模拟运动方法
公开(公告)号：US20120158013A1
公开(公告)日：2012-06-21
申请号：US12971434
申请日：2010-12-17
申请人： David Stefanchik , Michael J. Stokes
发明人： David Stefanchik , Michael J. Stokes
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B17/29 , A61B17/3417 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B2017/00477 , A61B2034/302 , A61B2034/305 , A61B2090/506 , B25J9/1689
摘要： The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to “float” above a patient and provide a weightless feel to movement of the surgical system. In addition, the floating frame can provide a number of additional degrees of freedom for ease of movement of the surgical system around the patient and/or the operating room.
摘要翻译：本发明总体上提供了用于控制末端执行器的运动的方法和装置，特别是用于在外科手术过程中在输入工具和末端执行器之间引起模拟运动。在示例性实施例中，提供了具有主组件的外科系统，其具有输入工具和具有端部执行器的从动组件。主组件和从属组件可以通过机械组件耦合在一起，机械组件被配置为将模拟而不是镜像的运动从输入工具机械地传递到端部执行器。还提供浮动框架并且可以与外科系统一起使用。浮动框架可以具有允许手术系统在患者身上“漂浮”的平衡物，并且为外科系统的移动提供失重的感觉。此外，浮动框架可以提供多个额外的自由度，以便于手术系统围绕患者和/或手术室的移动。

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