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1. 发明申请

US20060235436A1 Sterile surgical adaptor 有权
标题翻译：无菌手术适配器
公开(公告)号：US20060235436A1
公开(公告)日：2006-10-19
申请号：US11395418
申请日：2006-03-31
申请人： S. Anderson , Joseph Orban , Bruce Schena , Thomas Cooper , Roman Devengenzo
发明人： S. Anderson , Joseph Orban , Bruce Schena , Thomas Cooper , Roman Devengenzo
IPC分类号： A61B19/00 , A61B17/00
CPC分类号： A61B46/10 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B2017/00477 , A61B2034/305 , A61B2034/741
摘要： A sterile adaptor, a sterile drape with the integrated sterile adaptor, and a telerobotic surgical system including the sterile drape with a drape interface are provided. The adaptor, drape, and system allow 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 between a robotic arm and a surgical instrument in the sterile field.
摘要翻译：提供无菌适配器，具有集成的无菌适配器的无菌悬垂布，以及包括具有悬垂接口的无菌覆盖物的远程外科手术系统。适配器，悬垂和系统允许跨部门手术系统的悬垂部分在无菌外科手术领域和非无菌机器人系统之间保持无菌屏障，同时还提供用于在机器人手臂之间传递机械和电能以及信号的接口和无菌领域的手术器械。

2. 发明申请

US20070119274A1 INSTRUMENT INTERFACE OF A ROBOTIC SURGICAL SYSTEM 有权
标题翻译：机器人手术系统的仪器界面
公开(公告)号：US20070119274A1
公开(公告)日：2007-05-31
申请号：US11613695
申请日：2006-12-20
申请人： Roman Devengenzo , Thomas Cooper , Joseph Orban , Bruce Schena , Alan Loh , S. Anderson
发明人： Roman Devengenzo , Thomas Cooper , Joseph Orban , Bruce Schena , Alan Loh , S. Anderson
IPC分类号： B25J18/00
CPC分类号： B25J15/04 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00477 , A61B2034/305 , Y10S483/901 , Y10T74/20305
摘要： An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including 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 integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.
摘要翻译：提供了机器人操纵器的仪器界面和包括仪器界面的手术系统。在一个实施例中，仪器接口包括用于向能够可操作地连接仪器的无菌适配器提供轴向负载和扭矩的弹簧加载输入。在另一个实施例中，机器人手术操纵器系统包括操纵器组件，其包括可操作地联接到操纵臂的远端的基部连杆和沿着纵向轴线可移动地联接到所述基部连杆的滑架连杆，所述滑架连杆包括集成仪器界面。该系统还包括经由仪器接口可操作地耦合到滑架连杆的仪器，以及可操作地耦合到操纵器组件的用于感测仪器存在的处理器。

3. 发明申请

US20060161137A1 Sterile surgical drape 有权
标题翻译：无菌手术悬垂
公开(公告)号：US20060161137A1
公开(公告)日：2006-07-20
申请号：US11240113
申请日：2005-09-30
申请人： Joseph Orban , Lisa Heaton , S. Anderson , Thomas Cooper
发明人： Joseph Orban , Lisa Heaton , S. Anderson , Thomas Cooper
IPC分类号： A61B17/00 , A61B19/00 , A61F5/37
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： An improved sterile drape, system, and method for draping portions of a telerobotic surgical system are provided. In one embodiment, a sterile drape includes an exterior surface adjacent to a sterile field for performing a surgical procedure, and an interior surface forming a cavity for receiving the non-sterile portion of a robotic surgical system, such as a manipulator. The drape further includes a fastener coupled to the exterior surface for securing the sterile drape to the non-sterile portion of the robotic surgical system while reducing the volume of the sterile drape. Advantageously, the drape allows for quick and simple installation and increases visualization of the patient by reducing the size of the drape with more form fitting features, while allowing for freedom of movement of the manipulator.
摘要翻译：提供了一种改进的无菌悬垂布，系统和方法，用于覆盖远程外科手术系统的部分。在一个实施例中，无菌悬垂包括邻近用于进行外科手术的无菌区域的外表面，以及形成用于接收诸如操纵器的机器人手术系统的非无菌部分的空腔的内表面。该悬垂布还包括连接到外表面的紧固件，用于将无菌覆盖物固定到机器人手术系统的非无菌部分，同时减少无菌盖布的体积。有利地，盖布允许快速和简单的安装，并且通过以更多的形状配合特征减小悬垂布的尺寸，同时允许操纵器的移动自由来增加患者的可视化。

4. 发明申请

US20050182298A1 Cardiac tissue ablation instrument with flexible wrist 审中-公开
标题翻译：心脏组织消融仪器具有柔韧的手腕
公开(公告)号：US20050182298A1
公开(公告)日：2005-08-18
申请号：US11071480
申请日：2005-03-03
申请人： Michael Ikeda , David Rosa , Thomas Cooper , S. Anderson
发明人： Michael Ikeda , David Rosa , Thomas Cooper , S. Anderson
IPC分类号： A61B1/00 , A61B1/005 , A61B1/008 , A61B1/018 , A61B17/00 , A61B17/42 , A61B19/00
CPC分类号： A61B1/008 , A61B1/00142 , A61B1/00149 , A61B1/0055 , A61B1/0058 , A61B1/018 , A61B34/30 , A61B34/70 , A61B34/71 , A61B90/361 , A61B2017/00243 , A61B2017/00309 , A61B2034/305 , A61B2034/306
摘要： The present invention is directed to an articulate minimally invasive surgical instrument with a flexible wrist to facilitate the safe placement and provide visual verification of the ablation catheter or other devices in Cardiac Tissue Ablation (CTA) treatments. In one embodiment, the instrument is an endoscope which has an elongate shaft, a flexible wrist at the working end of the shaft, and a vision scope lens at the tip of the flexible wrist. The flexible wrist has at least one degree of freedom to provide the desired articulation. It is actuated and controlled by a drive mechanism located in the housing at the distal end of the shaft. The articulation of the endoscope allows images of hard-to-see places to be taken for use in assisting the placement of the ablation catheter on the desired cardiac tissue. The endoscope may further include couplings to releasably attach an ablation device/catheter or a catheter guide to the endoscope thereby further utilizing the endoscope articulation to facilitate placement of the ablation catheter on hard-to-reach cardiac tissues. In another embodiment, the articulate instrument is a grasper or any other instrument with a flexible wrist and a built-in lumen to allow an endoscope to insert and be guided to the distal end of the instrument.
摘要翻译：本发明涉及一种具有柔性手腕的关节微创手术器械，以便于安全放置，并提供消融导管或心脏组织消融（CTA）治疗中的其他装置的视觉验证。在一个实施例中，仪器是具有细长轴，在轴的工作端的柔性腕部和在柔性腕部的尖端处的视力范围透镜的内窥镜。柔性手腕具有至少一个自由度以提供所需的铰接。它由位于轴远端的壳体中的驱动机构致动和控制。内窥镜的关节运动允许观看难看的位置的图像用于辅助将消融导管放置在期望的心脏组织上。内窥镜还可以包括联接器以将消融装置/导管或导管引导件可释放地附接到内窥镜，从而进一步利用内窥镜关节以便于将消融导管放置在难以到达的心脏组织上。在另一个实施例中，关节式器械是具有柔性手腕和内置内腔的抓紧器或任何其它器械，以允许内窥镜插入并被引导到器械的远端。

5. 发明申请

US20070239203A1 FLEXIBLE WRIST FOR SURGICAL TOOL 有权
标题翻译：用于手术工具的柔性手腕
公开(公告)号：US20070239203A1
公开(公告)日：2007-10-11
申请号：US11733879
申请日：2007-04-11
申请人： Thomas Cooper , S. Anderson
发明人： Thomas Cooper , S. Anderson
IPC分类号： A61B17/00
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。

6. 发明申请

US20060199999A1 Cardiac tissue ablation instrument with flexible wrist 审中-公开
标题翻译：心脏组织消融仪器具有柔韧的手腕
公开(公告)号：US20060199999A1
公开(公告)日：2006-09-07
申请号：US11367836
申请日：2006-03-02
申请人： Michael Ikeda , David Rosa , Thomas Cooper , S. Anderson
发明人： Michael Ikeda , David Rosa , Thomas Cooper , S. Anderson
IPC分类号： A61B1/00
CPC分类号： A61B1/0052 , A61B1/00142 , A61B1/00149 , A61B1/0055 , A61B1/0058 , A61B1/008 , A61B1/018 , A61B34/30 , A61B34/70 , A61B34/71 , A61B90/361 , A61B2017/00243 , A61B2017/00309 , A61B2017/00323 , A61B2034/301 , A61B2034/304 , A61B2034/305 , A61B2034/306 , A61B2034/715
摘要： An articulate minimally invasive surgical instrument with a flexible wrist to facilitate the safe placement and provide visual verification of the ablation catheter or other devices in Cardiac Tissue Ablation (CTA) treatments is described. In one embodiment, the instrument is an endoscope which has an elongate shaft, a flexible wrist at the working end of the shaft, and a vision scope lens at the tip of the flexible wrist. The flexible wrist has at least one degree of freedom to provide the desired articulation. It is actuated and controlled by a drive mechanism located in the housing at the distal end of the shaft. The articulation of the endoscope allows images of hard-to-see places to be taken for use in assisting the placement of the ablation catheter on the desired cardiac tissue. The endoscope may further include couplings to releasably attach an ablation device/catheter or a catheter guide to the endoscope thereby further utilizing the endoscope articulation to facilitate placement of the ablation catheter on hard-to-reach cardiac tissues. In another embodiment, the articulate instrument is a grasper or any other instrument with a flexible wrist and a built-in lumen to allow an endoscope to insert and be guided to the distal end of the instrument.
摘要翻译：描述了一种具有柔性手腕的关节微创手术器械，以便于安全放置，并提供消融导管或心脏组织消融（CTA）治疗中的其他装置的视觉验证。在一个实施例中，仪器是具有细长轴，在轴的工作端的柔性腕部和在柔性腕部的尖端处的视力范围透镜的内窥镜。柔性手腕具有至少一个自由度以提供所需的铰接。它由位于轴远端的壳体中的驱动机构致动和控制。内窥镜的关节运动允许观看难看的位置的图像用于辅助将消融导管放置在期望的心脏组织上。内窥镜还可以包括联接器以将消融装置/导管或导管引导件可释放地附接到内窥镜，从而进一步利用内窥镜关节以便于将消融导管放置在难以到达的心脏组织上。在另一个实施例中，关节式器械是具有柔性手腕和内置内腔的抓紧器或任何其它器械，以允许内窥镜插入并被引导到器械的远端。

7. 发明申请

US20060178556A1 Articulate and swapable endoscope for a surgical robot 审中-公开
公开(公告)号：US20060178556A1
公开(公告)日：2006-08-10
申请号：US11319011
申请日：2005-12-27
申请人： Christopher Hasser , Nitish Swarup , Thomas Cooper , S. Anderson
发明人： Christopher Hasser , Nitish Swarup , Thomas Cooper , S. Anderson
IPC分类号： A61B1/00
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.

8. 发明申请

US20070156119A1 Platform link wrist mechanism 有权
标题翻译：平台链接手腕机构
公开(公告)号：US20070156119A1
公开(公告)日：2007-07-05
申请号：US11436988
申请日：2006-05-18
申请人： Daniel Wallace , S. Anderson , Scott Manzo
发明人： Daniel Wallace , S. Anderson , Scott Manzo
IPC分类号： A61B17/00
CPC分类号： A61B34/70 , A61B17/00234 , A61B34/30 , A61B34/71 , A61B34/72 , A61B2017/2929 , A61B2017/2934 , A61B2034/304 , A61B2034/305 , Y10S606/914 , Y10T74/20305 , Y10T74/20317 , Y10T74/20335
摘要： The present invention provides a robotic surgical tool for use in a robotic surgical system to perform a surgical operation. The robotic surgical tool includes a wrist mechanism disposed near the distal end of a shaft which connects with an end effector. The wrist mechanism includes a distal member configured to support the end effector, and a plurality of rods extending generally along an axial direction within the shaft and movable generally along this axial direction to adjust the orientation of the distal member with respect to the shaft. Advancement or retraction of a first rod generally along the axial direction tips the base through a first angle. The addition of a second angle allows the distal member to direct the end effector in essentially a compound angle. The robotic surgical tool may also include provisions for roll movement.
摘要翻译：本发明提供一种用于机器人手术系统中的用于执行外科手术的机器人手术工具。机器人手术工具包括设置在与末端执行器连接的轴的远端附近的手腕机构。手腕机构包括构造成支撑端部执行器的远端构件，以及大体上沿轴向方向延伸的多个杆，并且大体上可沿该轴向方向移动，以调节远侧构件相对于轴的取向。大体上沿着轴向方向推进或缩回第一杆将第一角通过第一角度。增加第二角度允许远端构件以基本上复合的角度引导末端执行器。机器人手术工具还可以包括用于辊运动的设置。

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