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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：EP2854689B1
公开(公告)日：2019-12-11
申请号：EP13797353.3
申请日：2013-05-31
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3.发明公开INSTRUMENT CARRIAGE ASSEMBLY FOR SURGICAL SYSTEM 有权INSTRUMENTENWAGENANORDNUNGFÜREIN CHIRURGISCHES系统
公开(公告)号：EP2854689A1
公开(公告)日：2015-04-08
申请号：EP13797353.3
申请日：2013-05-31
摘要： A robotic assembly is configured to support, insert, retract, and actuate a surgical instrument mounted to the robotic assembly. The robotic assembly includes an instrument holder base member, a motor housing moveably mounted to the instrument holder base member, a carriage drive mechanism operable to translate the motor housing along the instrument holder base member, a plurality of drive motors, and a plurality of output drive couplings driven by the drive motors. One or more of the drive motors includes one or more magnetic flux shields to inhibit magnetic interference with an adjacent drive motor and/or with an adjacent motor orientation sensor.
摘要翻译： 机器人组件被配置为支撑，插入，缩回和致动安装到机器人组件的外科器械。 所述机器人组件包括仪器座基座部件，可移动地安装到所述仪器保持架基座部件上的马达壳体，可沿着所述仪器保持器基座部件平移所述马达壳体的滑架驱动机构，多个驱动马达和多个输出 由驱动电机驱动的驱动联轴器。 一个或多个驱动马达包括一个或多个磁通屏蔽件，以阻止与相邻的驱动马达和/或与相邻的马达定位传感器的磁干扰。
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公开(公告)号：EP3372184B1
公开(公告)日：2020-08-12
申请号：EP18156122.6
申请日：2005-09-09
发明人： COOPER, Thomas , SOLOMON, Todd
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公开(公告)号：EP3372184A1
公开(公告)日：2018-09-12
申请号：EP18156122.6
申请日：2005-09-09
发明人： COOPER, Thomas , SOLOMON, Todd
摘要： Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.
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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：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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公开(公告)号：EP1793761B1
公开(公告)日：2013-05-01
申请号：EP05795948.8
申请日：2005-09-09
发明人： COOPER, Thomas , SOLOMON, Todd
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , Y10S901/15 , Y10T74/20305
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公开(公告)号：EP2568908A1
公开(公告)日：2013-03-20
申请号：EP11719953.9
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： 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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