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公开(公告)号：EP2568908B1
公开(公告)日：2020-03-11
申请号：EP11719953.9
申请日：2011-05-04
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公开(公告)号：EP2568894A1
公开(公告)日：2013-03-20
申请号：EP11720924.7
申请日：2011-05-04
发明人： ROGERS, Theodore W. , BROWN, Jeffrey D. , COOPER, Thomas G. , DIOLAITI, Nicola , DUVAL, Eugene F. , GOMEZ, Daniel , HOLOP, Robert E. , MCGROGAN, Anthony K. , RAMSTAD, Craig R.
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.
摘要翻译： 提供入口引导管和插管组件，包括组件的手术系统和外科器械插入的方法。 在一个实施例中，组件包括套管，其具有可操作地耦合到操纵臂的附件夹具的近侧部分和联接到近端部分的远端管状构件，管状构件具有用于通过至少一个器械轴 。 组件还包括可旋转地联接到套管的近端部分的入口引导管，入口引导管包括用于多个器械轴通过的多个通道，其中入口引导管相对于近端部分被可旋转地驱动 套管通过至少一个仪器轴围绕入口导管的纵向轴线旋转。
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公开(公告)号：EP3708105A1
公开(公告)日：2020-09-16
申请号：EP20168578.1
申请日：2014-08-13
发明人： COOPER, Thomas G. , MCGROGAN, Anthony K. , HOLOP, Robert E. , SOLOMON, Todd R. , DUVAL, Eugene F. , ANDERSON, Kent M.
IPC分类号： A61B34/00 , A61B90/00 , B25J19/00 , F16H57/12 , F16H25/20 , F16C23/04 , F16C27/08 , F16C27/02 , A61B34/30 , A61B17/00
摘要： A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
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公开(公告)号：EP3033031B1
公开(公告)日：2019-03-20
申请号：EP14836336.9
申请日：2014-08-14
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公开(公告)号：EP2996758A1
公开(公告)日：2016-03-23
申请号：EP14765610.2
申请日：2014-03-14
CPC分类号： A61B19/2203 , A61B17/0281 , A61B17/3421 , A61B17/3423 , A61B34/30 , A61B2017/3445 , A61B2017/3466 , A61B2017/347
摘要： Embodiments of a rotating assistant port device are presented. The assistant port device can be utilized to provide for additional assistant instruments in single port robotic surgery. In some embodiments, the assistant port device can be utilized for skin retraction during single port teleoperated robotic surgery.
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公开(公告)号：EP3033035B1
公开(公告)日：2020-11-25
申请号：EP14836832.7
申请日：2014-08-14
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公开(公告)号：EP3281752A1
公开(公告)日：2018-02-14
申请号：EP17188902.5
申请日：2011-05-04
发明人： SOLOMON, Todd , COOPER, Thomas G. , DIOLAITI, Nicola , DUVAL, Eugene F. , GOMEZ, Daniel , HOLOP, Robert E. , MCGROGAN, Anthony K. , RAMSTAD, Craig R. , ROGERS, Theodore W.
摘要： An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
摘要翻译： 提供了包括器械操纵器的器械操纵器和机器人手术系统。 在一个实施例中，器械操纵器包括多个独立的致动器驱动模块，多个致动器驱动模块中的每一个包括致动器输出，其中每个致动器输出被配置为独立地致动外科器械的相应致动器输入而无需力 从另一个执行器输出输入。 器械操纵器进一步包括容纳多个独立致动器驱动模块的框架，框架包括远端，致动器输出中的每一个从远端突出以用于接合外科器械的对应致动器输入。
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公开(公告)号：EP3033036A1
公开(公告)日：2016-06-22
申请号：EP14836874.9
申请日：2014-08-13
发明人： COOPER, Thomas G. , MCGROGAN, Anthony K. , HOLOP, Robert E. , SOLOMON, Todd R. , DUVAL, Eugene F. , ANDERSON, Kent M.
CPC分类号： A61B34/30 , A61B2017/00477 , A61B2034/303
摘要： A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
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公开(公告)号：EP3281752B1
公开(公告)日：2020-08-05
申请号：EP17188902.5
申请日：2011-05-04
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公开(公告)号：EP3677209A1
公开(公告)日：2020-07-08
申请号：EP20155212.2
申请日：2011-05-04
发明人： GOMEZ, Daniel , BROWN, Jeffrey D. , COOPER, Thomas, G , DUVAL, Eugene F. , HOLOP, Robert E. , MCGROGAN, Anthony K. , RAMSTAD, Craig R. , ROGERS, Theodore W. , SOLOMON, Todd
摘要： Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base (208); a setup link (222, 218) operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link (226) operably coupled to the setup link; and a distal link (238) operably coupled to the proximal link. A plurality of instrument manipulators (242a) are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs (442b,c,d,e) distally protruding from a distal end of a frame.
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