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1. 发明申请

WO2017053363A1 ROBOTIC SURGICAL ASSEMBLIES AND INSTRUMENT DRIVE CONNECTORS THEREOF 审中-公开
标题翻译：机械手术组件及仪器驱动连接器
公开(公告)号：WO2017053363A1
公开(公告)日：2017-03-30
申请号：PCT/US2016/052783
申请日：2016-09-21
申请人： COVIDIEN LP
发明人： KOPP, Brock
IPC分类号： A61B34/30 , A61B34/00 , A61B17/00
CPC分类号： A61B17/00 , A61B34/00 , A61B34/30 , A61B2017/00477
摘要： An instrument drive connector includes a housing assembly, an elongated shaft extending distally from the housing assembly, and a first drive assembly at least partially disposed within the housing assembly and the elongated shaft. The first drive assembly includes a first drive screw, a first input drive coupler non-rotatably coupled to a proximal end of the first drive screw, a first drive nut threadedly engaged with a threaded body portion of the first drive screw and longitudinally movable relative thereto in response to rotation of the first drive screw, and a locking link. The locking link includes an elongated body having a proximal end portion coupled to the first drive nut and longitudinally movable relative thereto between a proximal non-locking position and a distal locking position, and a distal end portion including a switch actuation assembly including a switch actuating arm biased towards the distal locking position.
摘要翻译：仪器驱动连接器包括壳体组件，从壳体组件向远侧延伸的细长轴，以及至少部分地设置在壳体组件和细长轴内的第一驱动组件。第一驱动组件包括第一驱动螺钉，第一输入驱动联接器，其不可旋转地联接到第一驱动螺杆的近端;第一驱动螺母，其与第一驱动螺杆的螺纹主体部分螺纹接合并且相对于其可纵向移动响应于第一驱动螺杆的旋转和锁定连杆。锁定连杆包括细长主体，其具有联接到第一驱动螺母的近端部分，并且在近端非锁定位置和远端锁定位置之间可纵向移动，以及远端部分，其包括开关致动组件，该开关致动组件包括开关致动器臂朝向远端锁定位置偏置。

2. 发明申请

WO2017053698A1 ROBOTIC SURGICAL ASSEMBLIES AND ELECTROMECHANICAL INSTRUMENTS THEREOF 审中-公开
标题翻译：机械手术装置及其电动仪器
公开(公告)号：WO2017053698A1
公开(公告)日：2017-03-30
申请号：PCT/US2016/053300
申请日：2016-09-23
申请人： COVIDIEN LP
发明人： KOPP, Brock
IPC分类号： A61B34/00 , A61B34/30 , A61B17/295 , A61B17/00
CPC分类号： A61B17/00 , A61B17/295 , A61B18/1445 , A61B34/00 , A61B34/30 , A61B2017/00477 , A61B2018/1455
摘要： An actuation mechanism for actuating an electromechanical end effector includes a housing, and a shaft assembly extending distally from the housing. The shaft assembly includes a shaft, a longitudinal knife bar, a first hub, and a second hub. The shaft is axially movable relative to the housing and configured to be coupled to the electromechanical end effector. Rotation of a first screw of the housing moves the first hub to effect longitudinal movement of the shaft. The longitudinal knife bar is axially movable relative to the shaft and configured to be coupled to a knife blade of the electromechanical end effector. Rotation of a second screw of the housing moves the second hub to effect axial movement of the longitudinal knife bar.
摘要翻译：用于致动机电端部执行器的致动机构包括壳体和从壳体向远侧延伸的轴组件。轴组件包括轴，纵向刀杆，第一轮毂和第二轮毂。轴可相对于壳体轴向移动并且构造成联接到机电端部执行器。壳体的第一螺钉的旋转移动第一毂以实现轴的纵向移动。纵向刀杆可相对于轴轴向移动，并且构造成与机电端部执行器的刀片连接。壳体的第二螺钉的旋转移动第二轮毂以实现纵向刀杆的轴向移动。

3. 发明申请

WO2017053123A1 PATIENT MOVEMENT SENSOR 审中-公开
标题翻译：患者运动传感器
公开(公告)号：WO2017053123A1
公开(公告)日：2017-03-30
申请号：PCT/US2016/051449
申请日：2016-09-13
申请人： COVIDIEN LP
发明人： KOPP, Brock
IPC分类号： A61B5/11 , A61B5/00
CPC分类号： A61B5/11 , A61B34/30 , A61B2017/00694 , A61B2090/061 , A61B2090/067 , A61B2090/0807
摘要： A motion sensor for detecting the movement of a patient is provided and includes a housing, a spring loaded return mechanism supported in the housing, an encoder, and a sensor. The spring loaded return mechanism includes a spool rotatably supported within the housing, a biasing member coupled to the housing and the spool, and a cord supported on the spool. The encoder is located on the spool and is configured to monitor a length of cord extended from the housing. The sensor is configured to communicate a signal when the cord is extended beyond a predetermined or preset length.
摘要翻译：提供了一种用于检测患者运动的运动传感器，包括壳体，支撑在壳体中的弹簧加载的返回机构，编码器和传感器。弹簧加载的返回机构包括可旋转地支撑在壳体内的卷轴，联接到壳体和卷轴的偏置构件以及支撑在卷轴上的绳索。编码器位于线轴上，并被配置为监视从壳体延伸的一段电线。传感器被配置为当线延伸超过预定或预定长度时传送信号。

4. 发明申请

WO2016183054A1 COUPLING INSTRUMENT DRIVE UNIT AND ROBOTIC SURGICAL INSTRUMENT 审中-公开
标题翻译：耦合仪器驱动单元和机器人手术仪器
公开(公告)号：WO2016183054A1
公开(公告)日：2016-11-17
申请号：PCT/US2016/031594
申请日：2016-05-10
申请人： COVIDIEN LP
发明人： KOPP, Brock
IPC分类号： A61B34/30 , A61B34/00 , A61B34/35
CPC分类号： A61B34/35 , A61B17/00234 , A61B34/30 , A61B34/71 , A61B2017/00212 , A61B2017/00398 , A61B2017/00477
摘要： A surgical system for selective connection to a robotic arm includes an instrument drive unit and a surgical instrument detachably coupled to the instrument drive unit. The instrument drive unit includes a first actuator, a linkage member having opposing first and second portions, and a drive member. The first portion of the linkage member is operatively coupled to the first actuator such that actuation of the first actuator moves the first portion in a first direction and the second portion in a second direction opposite of the first direction. The drive member is operatively coupled to the second portion of the linkage member. The surgical instrument includes a driven member operatively associated with the drive member of the instrument drive unit and an end effector operatively coupled with the driven member, wherein translation of the driven member effects a first function of the end effector.
摘要翻译：用于选择性地连接到机器人手臂的手术系统包括仪器驱动单元和可拆卸地联接到仪器驱动单元的外科器械。仪器驱动单元包括第一致动器，具有相对的第一和第二部分的连杆构件和驱动构件。联动构件的第一部分可操作地联接到第一致动器，使得第一致动器的致动在第一方向上移动第一部分，并且第二部分沿与第一方向相反的第二方向移动。驱动构件可操作地联接到连杆构件的第二部分。手术器械包括与仪器驱动单元的驱动构件可操作地相关联的从动构件和与从动构件可操作地连接的端部执行器，其中从动构件的平移影响端部执行器的第一功能。

5. 发明申请

WO2017205467A1 CANNULA ASSEMBLIES FOR USE WITH ROBOTIC SURGICAL SYSTEMS 审中-公开
标题翻译：用于机器人手术系统的套管组件
公开(公告)号：WO2017205467A1
公开(公告)日：2017-11-30
申请号：PCT/US2017/034178
申请日：2017-05-24
申请人： COVIDIEN LP
发明人： KOPP, Brock
IPC分类号： A61B34/30 , A61B17/3209 , A61B17/00
摘要： The present disclosure relates to cannula assemblies for use with robotic surgical systems. According to an aspect of the present disclosure, a surgical cannula assembly for use with a mounting structure of a robotic arm, is provided. The surgical cannula assembly includes a cannula configured for reception of a surgical instrument at least partially therethrough; an attachment mechanism configured to releasably engage the cannula; and a barrier configured to extend through a channel of the mounting structure. The barrier includes a proximal ring for positioning adjacent a proximal face of the mounting structure, a distal ring for positioning adjacent a distal face of the mounting structure, and a cylindrical section defining a lumen therein and extending between the proximal ring and the distal ring, the cannula configured for insertion within the lumen in a distal -to-proximal direction.
摘要翻译：本公开涉及用于机器人手术系统的套管组件。根据本公开的一个方面，提供了一种与机器人臂的安装结构一起使用的手术套管组件。外科插管组件包括套管，该套管构造成用于接收至少部分地穿过其中的手术器械; 配置为可释放地接合套管的附接机构; 以及构造成延伸穿过安装结构的通道的屏障。该阻挡件包括用于邻近安装结构的近侧面定位的近侧环，用于邻近安装结构的远侧面定位的远侧环以及在其中限定内腔并且在近侧环与远侧环之间延伸的圆柱形部分，插管被配置用于沿远端到近端的方向插入管腔内。

6. 发明申请

WO2017044406A1 ROBOTIC SURGICAL SYSTEM CONTROL SCHEME FOR MANIPULATING ROBOTIC END EFFCTORS 审中-公开
标题翻译：机器人手术系统控制方案，用于操纵机器人终端EFFCTOR
公开(公告)号：WO2017044406A1
公开(公告)日：2017-03-16
申请号：PCT/US2016/050359
申请日：2016-09-06
申请人： COVIDIEN LP
发明人： KOPP, Brock , SLISZ, Kevin
IPC分类号： A61B34/30 , A61B34/32 , A61B34/00
CPC分类号： A61B34/30 , A61B17/3421 , A61B34/32 , A61B2090/061 , A61B2090/0807
摘要： A method of controlling a robotic surgical system is provided, where the robotic surgical system including an arm having an instrument with jaws and an access port each coupled to the arm. The method includes detecting a position of the instrument, and opening the jaws of the instrument, in response to a determination that a distance between the position of the instrument and a position of the access port is greater than a predetermined distance.
摘要翻译：提供了一种控制机器人手术系统的方法，其中所述机器人手术系统包括具有钳口的手臂和各自联接到所述臂的进入口的臂。所述方法包括响应于所述仪器的位置与所述进入口的位置之间的距离大于预定距离的确定，检测所述仪器的位置并打开所述仪器的所述钳口。

7. 发明申请

WO2016205266A1 ROBOTIC SURGICAL SYSTEM TORQUE TRANSDUCTION SENSING 审中-公开
标题翻译：机械手术系统扭矩传感器
公开(公告)号：WO2016205266A1
公开(公告)日：2016-12-22
申请号：PCT/US2016/037478
申请日：2016-06-15
申请人： COVIDIEN LP
发明人： KOPP, Brock , IRKA, Philip , MACLEOD, Mark
IPC分类号： G01R31/34 , G01R19/00 , H02K11/24 , H02K11/27 , H02K11/00 , A61B34/30
CPC分类号： A61B34/30 , A61B34/76 , A61B2017/00119 , A61B2017/00123 , A61B2017/00128 , A61B2090/066 , G01R19/00 , G01R31/34 , H02K11/20 , H02K11/24 , H02K11/27 , H02P29/02
摘要： A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.
摘要翻译：验证仪器驱动单元的反作用转矩传感器的转矩测量的方法包括：控制器，接收验证信号，产生可接受的转矩范围，接收转矩信号，将转矩信号与可接受的转矩范围进行比较，并停止如果电动机施加的转矩超出了可接受的转矩范围，则电动机。验证信号表示由电动机吸取的电流，转矩信号表示由电动机施加的转矩。

8. 发明申请

WO2022235644A1 BLADE OPTIMIZATION FOR ROBOTIC ASSISTED SEALING INSTRUMENT 审中-公开
公开(公告)号：WO2022235644A1
公开(公告)日：2022-11-10
申请号：PCT/US2022/027438
申请日：2022-05-03
申请人： COVIDIEN LP
发明人： KINGSLEY, Dylan R. , TSCHUDY, Christopher T. , AGRAWAL, Alok , THAYER, Jessica B. , KOPP, Brock
IPC分类号： A61B34/30 , A61B34/35 , A61B18/00 , A61B17/295 , A61B17/00
摘要： A method of determining the distal throw of a knife blade of a robotic surgical instrument includes selectively engaging an end effector onto a housing of a robotic surgical instrument homing a knife blade. The method further includes initiating an end stop detection algorithm including: actuating a knife drive coupler to advance the knife blade distally through a knife channel defined within the end effector; calculating the running torque average of the knife drive coupler as the knife blade translates through the knife channel; determining a spike above the running torque average within a predetermined threshold and recording the position of the knife blade as a maximum distal throw of the knife blade; retracting the knife blade to determine an offset position from the maximum distal throw of the knife blade; and recording the offset position of the knife blade for subsequent usage.

9. 发明申请

WO2019139841A1 STERILE INTERFACE MODULE FOR ROBOTIC SURGICAL ASSEMBLIES 审中-公开
公开(公告)号：WO2019139841A1
公开(公告)日：2019-07-18
申请号：PCT/US2019/012472
申请日：2019-01-07
申请人： COVIDIEN LP
发明人： KAPADIA, Jaimeen , KOPP, Brock , MACLEOD, Mark , SEOW, Chin Min , ZEMLOK, Michael
IPC分类号： A61B46/10 , A61B34/00 , A61B17/29 , A61B17/00
摘要： The sterile interface module includes a body member for coupling a surgical instrument to a robotic surgical assembly, a decoupling collar supported on the body member and movable relative to the body member from a first position to a second position, and a drive transfer assembly supported by the body member. The drive transfer assembly includes a drive coupler and a transfer shaft extending from the drive coupler. The drive coupler engages the robotic surgical assembly and the transfer shaft engages the surgical instrument. The drive coupler engages the robotic surgical assembly while the decoupling collar is in the first position to enable the robotic surgical assembly to robotically control the surgical instrument. The drive coupler is retracted within the body member while the decoupling collar is in the second position to prevent the drive coupler from engaging the robotic surgical assembly.

10. 发明申请

WO2017151993A1 ELECTROMECHANICAL SURGICAL SYSTEMS AND ROBOTIC SURGICAL INSTRUMENTS THEREOF 审中-公开
标题翻译：机电手术系统和机器人外科手术器械
公开(公告)号：WO2017151993A1
公开(公告)日：2017-09-08
申请号：PCT/US2017/020563
申请日：2017-03-03
申请人： COVIDIEN LP
发明人： KOPP, Brock
IPC分类号： A61B34/30 , A61B18/00
摘要： A robotic surgical instrument for actuating an electromechanical end effector includes a housing, a first input drive, a second input drive, and a shaft assembly. The housing has a proximal end configured to be coupled to an instrument drive unit. The first and second input drives are rotatably disposed within the housing and configured to be drivingly coupled to respective first and second motors of the instrument drive unit. The shaft assembly extends distally from within the housing and includes a shaft and a rod. The shaft has a distal end, and a proximal end operably coupled to the first and second input drives. The rod has a proximal end threadingly coupled to the distal end of the shaft. Rotation of the first and second input drives rotates the shaft to effect axial movement of the rod relative to the shaft.
摘要翻译：用于致动机电末端执行器的机器人手术器械包括壳体，第一输入驱动器，第二输入驱动器和轴组件。壳体具有构造成联接到器械驱动单元的近端。第一输入驱动器和第二输入驱动器可旋转地设置在壳体内并且构造成驱动地联接到器械驱动单元的相应的第一电动机和第二电动机。轴组件从壳体内向远侧延伸并且包括轴和杆。轴具有远端和可操作地联接到第一和第二输入驱动器的近端。杆具有螺纹连接到轴的远端的近端。第一和第二输入驱动器的旋转使轴转动以实现杆相对于轴的轴向运动。

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