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公开(公告)号：US08182476B2
公开(公告)日：2012-05-22
申请号：US12727060
申请日：2010-03-18
申请人： Christopher A. Julian , Daniel T. Wallace , Frederick H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
发明人： Christopher A. Julian , Daniel T. Wallace , Frederick H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
IPC分类号： A61B18/18
CPC分类号： A61B18/18 , A61B1/00149 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/06061 , A61B17/062 , A61B17/064 , A61B17/068 , A61B17/11 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B17/32053 , A61B17/54 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B90/36 , A61B90/361 , A61B2017/00252 , A61B2017/00287 , A61B2017/00362 , A61B2017/00473 , A61B2017/00477 , A61B2017/0243 , A61B2017/1107 , A61B2017/1135 , A61B2017/2825 , A61B2017/2829 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929 , A61B2017/2931 , A61B2017/2937 , A61B2017/294 , A61B2017/2946 , A61B2034/305 , B66C23/48
摘要： Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical clips for use with a clip applier, single working member accessories such as a blade which can be grasped and manipulated by a grasping tool for cutting, sheath accessories that fit over working members of a tool, flow tubes for providing suction or introducing a fluid into the surgical site, and a retraction member resiliently biased to retract a tissue to expose an area in the surgical site for treatment. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.
摘要翻译： 手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。 体内附件的实例包括紧固附件，例如用于夹子施放器的手术夹子，单个工作构件附件，例如可被抓取工具抓握并操纵的刀片，用于切割，护套附件适合工具的工作构件 用于提供抽吸或将流体引入手术部位的流动管，以及弹性偏压以缩回组织以露出外科手术部位中用于治疗的区域的缩回构件。 附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。 附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。
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公开(公告)号：US07722599B2
公开(公告)日：2010-05-25
申请号：US11522852
申请日：2006-09-18
申请人： Christopher A. Julian , Daniel T. Wallace , Frederick H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
发明人： Christopher A. Julian , Daniel T. Wallace , Frederick H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
IPC分类号： A61B17/00
CPC分类号： A61B18/18 , A61B1/00149 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/06061 , A61B17/062 , A61B17/064 , A61B17/068 , A61B17/11 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B17/32053 , A61B17/54 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B90/36 , A61B90/361 , A61B2017/00252 , A61B2017/00287 , A61B2017/00362 , A61B2017/00473 , A61B2017/00477 , A61B2017/0243 , A61B2017/1107 , A61B2017/1135 , A61B2017/2825 , A61B2017/2829 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929 , A61B2017/2931 , A61B2017/2937 , A61B2017/294 , A61B2017/2946 , A61B2034/305 , B66C23/48
摘要： Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical clips for use with a clip applier, single working member accessories such as a blade which can be grasped and manipulated by a grasping tool for cutting, sheath accessories that fit over working members of a tool, flow tubes for providing suction or introducing a fluid into the surgical site, and a retraction member resiliently biased to retract a tissue to expose an area in the surgical site for treatment. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.
摘要翻译： 手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。 体内附件的实例包括紧固附件，例如用于夹子施放器的手术夹子，单个工作构件附件，例如可被抓取工具抓握并操纵的刀片，用于切割，护套附件适合工具的工作构件 用于提供抽吸或将流体引入手术部位的流动管，以及弹性偏压以缩回组织以露出外科手术部位中用于治疗的区域的缩回构件。 附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。 附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。
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公开(公告)号：US06879880B2
公开(公告)日：2005-04-12
申请号：US10437771
申请日：2003-05-13
申请人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
发明人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
CPC分类号： A61B34/76 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , B25J9/1689 , G05B2219/36455 , G05B2219/37396 , G05B2219/40146 , G05B2219/45169 , G06F19/00 , G16H50/50
摘要： Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.
摘要翻译： 手术机器人和其他远程呈现系统具有增强的手柄致动，用于操纵具有小尺寸的组织和物体。 使用主/从系统，其中当夹持构件接近关闭构造时，错误信号或增益被人为改变。
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公开(公告)号：US20100251514A1
公开(公告)日：2010-10-07
申请号：US12416201
申请日：2009-04-01
IPC分类号： B60B33/00
CPC分类号： B60B33/0028 , B60B33/0042 , B60B33/0049 , B60B33/0057 , B60B33/0068 , B60B33/0073 , Y10T16/1853
摘要： A caster assembly includes a primary wheel and a secondary wheel. As the caster assembly is rolled against and over an obstacle threshold, the secondary wheel is positioned to contact the obstacle threshold first. As the caster assembly begins to roll over the threshold, the secondary wheel lifts the caster assembly part way. As the caster assembly continues to roll over the threshold, the primary wheel contacts the threshold and lifts the caster assembly over the obstacle threshold. One or more secondary or primary wheels may be used. The secondary wheel or wheels may be positioned to remain within a sweep volume of the primary wheel as the caster assembly swivels around a caster swivel axis.
摘要翻译： 脚轮组件包括主轮和副轮。 当脚轮组件滚动并超过障碍物阈值时，辅助轮被定位成首先接触障碍物阈值。 当脚轮组件开始翻转阈值时，辅助轮将脚轮组件部分地提升。 当脚轮组件继续滚过阈值时，主轮接触阈值并将脚轮组件提升到障碍物阈值上。 可以使用一个或多个次轮或主轮。 当脚轮组件围绕脚轮旋转轴线旋转时，次轮或轮可被定位成保持在主轮的扫掠体积内。
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公开(公告)号：US20080154246A1
公开(公告)日：2008-06-26
申请号：US12016556
申请日：2008-01-18
申请人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Stephen J. Blumenkranz , Dean F. Hoornaert
发明人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Stephen J. Blumenkranz , Dean F. Hoornaert
CPC分类号： A61B34/76 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , B25J9/1689 , G05B2219/36455 , G05B2219/37396 , G05B2219/40146 , G05B2219/45169 , G06F19/00 , G16H50/50
摘要： Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.
摘要翻译： 手术机器人和其他远程呈现系统具有增强的手柄致动，用于操纵具有小尺寸的组织和物体。 使用主/从系统，其中当夹持构件接近关闭构造时，错误信号或增益被人为改变。
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公开(公告)号：US06594552B1
公开(公告)日：2003-07-15
申请号：US09544153
申请日：2000-04-06
申请人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
发明人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
IPC分类号： G05B1500
CPC分类号： A61B34/76 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , B25J9/1689 , G05B2219/36455 , G05B2219/37396 , G05B2219/40146 , G05B2219/45169 , G06F19/00 , G16H50/50
摘要： Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.
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公开(公告)号：US08870900B2
公开(公告)日：2014-10-28
申请号：US11689287
申请日：2007-03-21
申请人： Christopher A. Julian , Michael Ikeda , Andris D. Ramans , Dean F. Hoornaert , Margaret M. Isaac
发明人： Christopher A. Julian , Michael Ikeda , Andris D. Ramans , Dean F. Hoornaert , Margaret M. Isaac
IPC分类号： A61B17/08 , A61B1/32 , A61B19/00 , A61B17/122 , A61B17/132 , A61B17/04 , A61B17/00 , A61B17/12 , A61B17/29 , A61B17/02 , A61B17/30
CPC分类号： A61B17/00234 , A61B17/04 , A61B17/0401 , A61B17/0469 , A61B17/0487 , A61B17/12013 , A61B17/122 , A61B17/1327 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B90/361 , A61B90/50 , A61B2017/00243 , A61B2017/0243 , A61B2017/0404 , A61B2017/0414 , A61B2017/0454 , A61B2017/0464 , A61B2017/2905 , A61B2017/2932 , A61B2017/2933 , A61B2017/306 , A61B2034/742
摘要： Devices, systems and methods related to endoscopic surgery, particularly related to robotic surgical operations, provide a tissue stabilizer for endoscopically stabilizing a target tissue within a patient's body. For stabilizing a beating heart during a closed-chest coronary artery bypass grafting procedure, a stabilizer is inserted through an endoscopic cannula and provides sufficient surface area to contact the heart and effectively stabilize the target tissue area. The stabilizer can straddle a blood vessel, such as a coronary artery, which is targeted for an anastomosis. Vessel occlusion fasteners may occlude the target blood vessel prior to the anastomosis procedure.
摘要翻译： 与内窥镜手术有关的装置，系统和方法，特别是与机器人手术操作相关的装置，系统和方法提供用于内窥镜稳定患者体内的靶组织的组织稳定器。 为了在闭合胸腔冠状动脉旁路移植手术期间稳定跳动的心脏，通过内窥镜套管插入稳定器，并提供足够的表面积以接触心脏并有效地稳定目标组织区域。 稳定器可以跨越作为吻合靶向的血管，例如冠状动脉。 血管闭塞紧固件可能在吻合手术前闭塞目标血管。
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公开(公告)号：US07373219B2
公开(公告)日：2008-05-13
申请号：US11074372
申请日：2005-03-07
申请人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Tom G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
发明人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Tom G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
IPC分类号： G06F19/00
CPC分类号： A61B34/76 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , B25J9/1689 , G05B2219/36455 , G05B2219/37396 , G05B2219/40146 , G05B2219/45169 , G06F19/00 , G16H50/50
摘要： Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.
摘要翻译： 手术机器人和其他远程呈现系统具有增强的手柄致动，用于操纵具有小尺寸的组织和物体。 使用主/从系统，其中当夹持构件接近关闭构造时，错误信号或增益被人为改变。
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公开(公告)号：US07250028B2
公开(公告)日：2007-07-31
申请号：US09998004
申请日：2001-11-28
申请人： Christopher A. Julian , Michael Ikeda , Andris D. Ramans , Dean F. Hoornaert , Margaret M. Isaac
发明人： Christopher A. Julian , Michael Ikeda , Andris D. Ramans , Dean F. Hoornaert , Margaret M. Isaac
CPC分类号： A61B17/00234 , A61B17/04 , A61B17/0401 , A61B17/0469 , A61B17/0487 , A61B17/12013 , A61B17/122 , A61B17/1327 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B90/361 , A61B90/50 , A61B2017/00243 , A61B2017/0243 , A61B2017/0404 , A61B2017/0414 , A61B2017/0454 , A61B2017/0464 , A61B2017/2905 , A61B2017/2932 , A61B2017/2933 , A61B2017/306 , A61B2034/742
摘要： Devices, systems and methods related to endoscopic surgery, particularly related to robotic surgical operations, provide a tissue stabilizer for endoscopically stabilizing a target tissue within a patient's body. For stabilizing a beating heart during a closed-chest coronary artery bypass grafting procedure, a stabilizer is inserted through an endoscopic cannula and provides sufficient surface area to contact the heart and effectively stabilize the target tissue area. The stabilizer can straddle a blood vessel, such as a coronary artery, which is targeted for an anastomosis. Vessel occlusion fasteners may occlude the target blood vessel prior to the anastomosis procedure.
摘要翻译： 与内窥镜手术有关的装置，系统和方法，特别是与机器人手术操作相关的装置，系统和方法提供用于内窥镜稳定患者体内的靶组织的组织稳定器。 为了在闭合胸腔冠状动脉旁路移植手术期间稳定跳动的心脏，通过内窥镜套管插入稳定器，并提供足够的表面积以接触心脏并有效地稳定目标组织区域。 稳定器可以跨越作为吻合靶向的血管，例如冠状动脉。 血管闭塞紧固件可能在吻合手术前闭塞目标血管。
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公开(公告)号：US20100198215A1
公开(公告)日：2010-08-05
申请号：US12727060
申请日：2010-03-18
申请人： Christopher A. Julian , Daniel T. Wallace , Frederic H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
发明人： Christopher A. Julian , Daniel T. Wallace , Frederic H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
IPC分类号： A61B18/18
CPC分类号： A61B18/18 , A61B1/00149 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/06061 , A61B17/062 , A61B17/064 , A61B17/068 , A61B17/11 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B17/32053 , A61B17/54 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B90/36 , A61B90/361 , A61B2017/00252 , A61B2017/00287 , A61B2017/00362 , A61B2017/00473 , A61B2017/00477 , A61B2017/0243 , A61B2017/1107 , A61B2017/1135 , A61B2017/2825 , A61B2017/2829 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929 , A61B2017/2931 , A61B2017/2937 , A61B2017/294 , A61B2017/2946 , A61B2034/305 , B66C23/48
摘要： Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical clips for use with a clip applier, single working member accessories such as a blade which can be grasped and manipulated by a grasping tool for cutting, sheath accessories that fit over working members of a tool, flow tubes for providing suction or introducing a fluid into the surgical site, and a retraction member resiliently biased to retract a tissue to expose an area in the surgical site for treatment. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.
摘要翻译： 手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。 体内附件的实例包括紧固附件，例如用于夹子施放器的手术夹子，单个工作构件附件，例如可被抓取工具抓握并操纵的刀片，用于切割，护套附件适合工具的工作构件 用于提供抽吸或将流体引入手术部位的流动管，以及弹性偏压以缩回组织以露出外科手术部位中用于治疗的区域的缩回构件。 附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。 附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。
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