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    • 1. 发明申请
    • ARTICULATING NEEDLE DRIVER
    • 专用针驱动器
    • US20120289975A1
    • 2012-11-15
    • US13466188
    • 2012-05-08
    • David T. MartinJames A. Woodard, JR.Carl J. ShurtleffAndrew C. Yoo
    • David T. MartinJames A. Woodard, JR.Carl J. ShurtleffAndrew C. Yoo
    • A61B17/062
    • A61B17/062A61B17/0469A61B17/0483A61B2017/2926
    • A needle holder includes a shaft and a needle driver located at the distal end of the shaft. The needle driver is operable to rotate a needle such that the needle forms a non-perpendicular angle with a longitudinal axis of the shaft. In some versions, the needle driver includes a first arm and a rotatable assembly that is configured to longitudinally clamp about a portion of a needle. The rotatable assembly may include self-righting features to right the needle perpendicular to the first arm. The needle driver may further include a second arm that is pivotable relative to the first arm. The rotatable assembly may include a top member associated with the second arm and a bottom member associated with the first arm. In some versions, spring-loaded collets may secure the needle to a rotatable assembly. Alternatively, a pair of actuating arms may pivot the needle about a curved surface.
    • 针保持器包括位于轴的远端的轴和针驱动器。 针驱动器可操作以旋转针,使得针与轴的纵向轴线形成非垂直的角度。 在一些形式中,针驱动器包括第一臂和可旋转的组件,其被构造成围绕针的一部分纵向夹紧。 可旋转组件可以包括垂直于第一臂使针垂直的自对准特征。 针驱动器还可以包括可相对于第一臂枢转的第二臂。 可旋转组件可以包括与第二臂相关联的顶部构件和与第一臂相关联的底部构件。 在一些形式中,弹簧加载的夹头可将针固定到可旋转组件。 或者,一对致动臂可以围绕弯曲表面枢转针。
    • 4. 发明申请
    • CONTROL INTERFACE FOR LAPAROSCOPIC SUTURING INSTRUMENT
    • 腹腔镜仪器的控制界面
    • US20130267969A1
    • 2013-10-10
    • US13443101
    • 2012-04-10
    • David T. MartinJames A. Woodard, JR.
    • David T. MartinJames A. Woodard, JR.
    • A61B17/062
    • A61B17/0469A61B17/0491A61B17/0625A61B34/35A61B2017/00477A61B2034/302
    • An apparatus comprises an end effector, a shaft assembly, and a drive assembly. The end effector comprises needle receiving arms operable to grasp a needle. The drive assembly comprises drive members that are rotatable about respective drive axes that are perpendicular to the axis of the shaft assembly. The drive assembly is operable to drive the needle receiving arms to selectively engage and disengage the needle; and to selectively pass the needle from one needle receiving arm to the other needle receiving arm. The drive assembly provides an interface to a controller that is operable via a remote user interface. The drive assembly may include helical gears, clutch assemblies, a rack and pinion, or other components to convert motion of the drive members into motion at the end effector.
    • 一种装置包括端部执行器,轴组件和驱动组件。 末端执行器包括可操作地抓住针的针接收臂。 驱动组件包括可围绕垂直于轴组件的轴线的相应驱动轴线旋转的驱动构件。 驱动组件可操作以驱动针接收臂以选择性地接合和脱离针; 并且将针从一个针接收臂选择性地传递到另一个针接收臂。 驱动器组件提供到可经由远程用户界面操作的控制器的接口。 驱动组件可以包括斜齿轮,离合器组件,齿条和小齿轮或用于将驱动构件的运动转换成在末端执行器处运动的其他部件。