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1. 发明授权

US08628518B2 Wireless force sensor on a distal portion of a surgical instrument and method 有权
标题翻译：无线力传感器在外科器械的远端部分和方法
公开(公告)号：US08628518B2
公开(公告)日：2014-01-14
申请号：US12634489
申请日：2009-12-09
申请人： Stephen J. Blumenkranz , Brett J. Lockyer
发明人： Stephen J. Blumenkranz , Brett J. Lockyer
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/10 , A61B90/98 , A61B2017/00477 , A61B2017/2929 , A61B2034/305 , A61B2090/064 , A61B2562/08
摘要： A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification information. The wireless package also includes a small folded antenna electrically coupled to the surface acoustic wave strain sensor with identification information. The identification information includes an identification of a type of surgical instrument and unique identification of the specific surgical instrument in the type of surgical instrument.
摘要翻译：手术器械包括远端部分。力传感器可操作地安装在远端部分上。力传感器包括无线封装，其无线地提供（1）外科器械的识别信息和（2）与远端部分有关的应变数据。手术末端执行器包括钳口，并且远端部分位于钳口的非接触部分上。无线封装包括具有识别信息的表面声波应变传感器。无线封装还包括电耦合到具有识别信息的表面声波应变传感器的小折叠天线。识别信息包括手术器械的类型的识别和手术器械类型中的特定手术器械的独特识别。

2. 发明申请

US20100087835A1 WIRELESS FORCE SENSOR ON A DISTAL PORTION OF A SURGICAL INSTRUMENT AND METHOD 有权
标题翻译：手术仪器和方法的远程部分的无线传感器
公开(公告)号：US20100087835A1
公开(公告)日：2010-04-08
申请号：US12634489
申请日：2009-12-09
申请人： Stephen J. Blumenkranz , Brett J. Lockyer
发明人： Stephen J. Blumenkranz , Brett J. Lockyer
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/10 , A61B90/98 , A61B2017/00477 , A61B2017/2929 , A61B2034/305 , A61B2090/064 , A61B2562/08
摘要： A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification information. The wireless package also includes a small folded antenna electrically coupled to the surface acoustic wave strain sensor with identification information. The identification information includes an identification of a type of surgical instrument and unique identification of the specific surgical instrument in the type of surgical instrument.
摘要翻译：手术器械包括远端部分。力传感器可操作地安装在远端部分上。力传感器包括无线封装，其无线地提供（1）外科器械的识别信息和（2）与远端部分有关的应变数据。手术末端执行器包括钳口，并且远端部分位于钳口的非接触部分上。无线封装包括具有识别信息的表面声波应变传感器。无线封装还包括电耦合到具有识别信息的表面声波应变传感器的小折叠天线。识别信息包括手术器械的类型的识别和手术器械类型中的特定手术器械的独特识别。

3. 发明授权

US08758352B2 Mechanical actuator interface system for robotic surgical tools 有权
标题翻译：用于机器人手术工具的机械致动器接口系统
公开(公告)号：US08758352B2
公开(公告)日：2014-06-24
申请号：US12407101
申请日：2009-03-19
申请人： Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Robert G. Younge
发明人： Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Robert G. Younge
IPC分类号： A61F5/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
摘要翻译：用于准备和执行机器人手术的机器人手术工具，系统和方法包括安装在该工具上的存储器。当工具装载在工具操纵器上时，存储器可以执行多种功能：首先，存储器可以提供一个信号，以验证该工具是否与该特定机器人系统兼容。其次，工具存储器可以识别机器人系统的工具类型，使得机器人系统可以重新配置其编程。第三，工具的记忆可以指示工具特定的信息，包括指示工具驱动系统的未对准的测量校准偏移，工具寿命数据等。该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。本发明还提供了用于将机器人外科手术工具与机械手结构相结合的改进的接合结构。

4. 发明授权

US08491574B2 Polarization and temperature insensitive surgical instrument force transducer 有权
标题翻译：极化和温度不敏感的手术器械力传感器
公开(公告)号：US08491574B2
公开(公告)日：2013-07-23
申请号：US12541848
申请日：2009-08-14
申请人： Stephen J. Blumenkranz
发明人： Stephen J. Blumenkranz
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/71 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , Y10T156/10
摘要： A force sensor apparatus, operatively mounted in a surgical instrument includes the force transducer. The force transducer includes a transducer body having a coefficient of thermal expansion, and at least one optic fiber, fixedly attached to the transducer body, including a Bragg grating; and having a coefficient of thermal expansion matched to the coefficient of thermal expansion of the transducer body to mitigate polarization and calibration drift effects on the force transducer. The transducer body comprises a metal transducer body, and the metal transducer body is selected from a group of metal bodies including an aluminum alloy transducer body, a stainless steel alloy transducer body, a maraging steel alloy transducer body, and a titanium alloy transducer body. The at least one optic fiber comprises an optic fiber having a negative thermo-optic coefficient, such as a phosphate glass optic fiber reducing the thermal sensitivity of the transducer.
摘要翻译：可操作地安装在手术器械中的力传感器装置包括力传感器。力传感器包括具有热膨胀系数的换能器主体，以及至少一个光纤，固定地附接到换能器主体，包括布拉格光栅; 并且具有与换能器体的热膨胀系数匹配的热膨胀系数，以减轻对力传感器的偏振和校准漂移效应。换能器主体包括金属换能器体，并且金属换能器主体从包括铝合金换能器主体，不锈钢合金换能器本体，马氏体时效钢合金换能器本体和钛合金换能器本体的一组金属体中选择。所述至少一个光纤包括具有负热光系数的光纤，例如降低传感器的热敏感性的磷酸盐玻璃光纤。

5. 发明授权

US08463439B2 Optic fiber connection for a force sensing instrument 有权
标题翻译：用于力传感仪器的光纤连接
公开(公告)号：US08463439B2
公开(公告)日：2013-06-11
申请号：US12415795
申请日：2009-03-31
申请人： Stephen J. Blumenkranz , Gregory W. Dachs, II , Ian McDowall , Christopher J. Hasser
发明人： Stephen J. Blumenkranz , Gregory W. Dachs, II , Ian McDowall , Christopher J. Hasser
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： A61B34/20 , A61B18/00 , A61B34/30 , A61B2017/00477 , A61B2034/2061 , A61B2034/305 , A61B2090/064 , A61B2562/0266 , G01B11/16 , G01L1/242 , G02B6/12019 , G02B6/264 , G02B6/32 , Y10T74/20335
摘要： In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.
摘要翻译：在一个实施例中，手术器械包括可与机器人手术系统的操纵臂连接的壳体，可操作地联接到壳体的轴，在轴的远端上的力传感器，以及多个光纤应变计力传感器。在一个示例中，多个应变计可操作地耦合到光纤分离器或阵列波导光栅（AWG）多路复用器。光纤连接器可操作地耦合到光纤分离器或AWG多路复用器。腕关节可操作地联接到力传感器的远端，并且端部执行器可操作地联接到腕关节。在另一个实施例中，机器人外科手术操纵器包括可操作地联接到操纵器定位系统的远端的基部连杆和可移动地联接到基部连杆的远端连杆，其中远端连杆包括仪器接口和可光学连接的光纤连接到手术器械。还提供了通过光学连接器在仪器和操纵器之间传递数据的方法。

6. 发明申请

US20130046317A1 MEDICAL INSTRUMENT WITH FLEXIBLE WRIST MECHANISM 审中-公开
标题翻译：具有柔性手腕机构的医用仪器
公开(公告)号：US20130046317A1
公开(公告)日：2013-02-21
申请号：US13210196
申请日：2011-08-15
申请人： Stephen J. Blumenkranz
发明人： Stephen J. Blumenkranz
IPC分类号： A61B19/00
CPC分类号： A61B34/70 , A61B2017/00309 , A61B2034/306
摘要： A medical instrument includes a unitary wrist structure having: a first connector portion having a lower stop surface, a compact flexure integral with the first connector portion, and a second connector portion integral with the compact flexure with the second connector portion having an upper stop surface integral with the compact flexure below the lower stop surface and forming an angle with the lower stop surface.
摘要翻译：一种医疗器械包括一体式腕部结构，其具有：具有下止动面的第一连接器部分，与第一连接器部分成一体的紧凑型弯曲部，以及与紧凑型弯曲部一体的第二连接部，第二连接部具有上止动面与下止动表面下方的紧凑型挠曲成一体，并与下止动表面形成一角度。

7. 发明授权

US07763015B2 Modular manipulator support for robotic surgery 有权
标题翻译：机器人手术的模块化机械手支持
公开(公告)号：US07763015B2
公开(公告)日：2010-07-27
申请号：US11043688
申请日：2005-01-24
申请人： Thomas G. Cooper , Stephen J. Blumenkranz , Gary S. Guthart , David J Rosa
发明人： Thomas G. Cooper , Stephen J. Blumenkranz , Gary S. Guthart , David J Rosa
IPC分类号： A61B17/00 , G06F19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B90/10 , A61B90/361 , A61B2017/00477 , A61B2034/304 , A61B2034/305 , A61B2090/506 , Y10S901/09 , Y10S901/14 , Y10S901/15 , Y10S901/16 , Y10S901/17 , Y10S901/18
摘要： A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
摘要翻译：机器人手术系统包括安装基座，多个外科器械和关节支撑组件。每个器械可以通过相关的微创孔径插入到患者体内到期望的内部手术部位。铰接支撑组件相对于基座可移动地支撑仪器。支撑件通常包括定向平台，相对于基座可移动地支撑定向平台的平台连接器和安装到定向平台的多个操纵器，其中每个操纵器可移动地支撑相关联的工具。

8. 发明授权

US06866671B2 Surgical robotic tools, data architecture, and use 有权
标题翻译：手术机器人工具，数据架构和使用
公开(公告)号：US06866671B2
公开(公告)日：2005-03-15
申请号：US09929826
申请日：2001-08-13
申请人： Michael J. Tierney , Thomas Cooper , Chris Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
发明人： Michael J. Tierney , Thomas Cooper , Chris Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
IPC分类号： A61B17/00 , A61B19/00 , A61B19/08 , G06Q30/02
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
摘要翻译：用于准备和执行机器人手术的机器人手术工具，系统和方法包括安装在该工具上的存储器。当工具装载在工具操纵器上时，存储器可以执行多种功能：首先，存储器可以提供一个信号，以验证该工具是否与该特定机器人系统兼容。其次，工具存储器可以识别机器人系统的工具类型，使得机器人系统可以重新配置其编程。第三，工具的记忆可以指示工具特定的信息，包括指示工具驱动系统的未对准的测量校准偏移，工具寿命数据等。该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。本发明还提供了用于将机器人外科手术工具与机械手结构相结合的改进的接合结构。

9. 发明授权

US08608773B2 Surgical robotic tools, data architecture, and use 有权
公开(公告)号：US08608773B2
公开(公告)日：2013-12-17
申请号：US11522695
申请日：2006-09-18
申请人： Michael J. Tierney , Thomas Cooper , Chris Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
发明人： Michael J. Tierney , Thomas Cooper , Chris Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

10. 发明申请

US20130046137A1 SURGICAL INSTRUMENT AND METHOD WITH MULTIPLE IMAGE CAPTURE SENSORS 审中-公开
标题翻译：具有多个图像捕获传感器的手术仪器和方法
公开(公告)号：US20130046137A1
公开(公告)日：2013-02-21
申请号：US13210123
申请日：2011-08-15
申请人： Tao Zhao , Simon P. DiMaio , David W. Bailey , Amy E. Kerdok , Gregory W. Dachs, II , Stephen J. Blumenkranz , Austin Reiter , Christopher J. Hasser
发明人： Tao Zhao , Simon P. DiMaio , David W. Bailey , Amy E. Kerdok , Gregory W. Dachs, II , Stephen J. Blumenkranz , Austin Reiter , Christopher J. Hasser
IPC分类号： A61B1/05 , A61B1/045 , A61B1/012
CPC分类号： A61B1/00193 , A61B1/00181 , A61B1/00183 , A61B1/05
摘要： A surgical instrument has a distal end portion with an outer surface with an outer radius. One or more image capture elements are movably mounted in the distal end portion. In a first state, the one or more image capture elements are un-deployed. In the first state, a surface having an aperture of at least one of the one or more image capture elements is enclosed within the outer surface of the surgical instrument so that the surface having the aperture does not extend beyond the outer surface. In a second state, the one or more image capture elements are deployed. In the second state the surface having the aperture of the at least one of the one or more image capture elements extends beyond the outer surface.
摘要翻译：外科器械具有具有外半径的外表面的远端部分。一个或多个图像捕获元件可移动地安装在远端部分中。在第一状态下，一个或多个图像捕获元件未部署。在第一状态下，具有一个或多个图像捕获元件中的至少一个的孔的表面被封装在外科器械的外表面内，使得具有孔的表面不延伸超出外表面。在第二状态下，部署一个或多个图像捕获元件。在第二状态下，具有一个或多个图像捕获元件中的至少一个的孔的表面延伸超过外表面。

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