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公开(公告)号：US09198714B2
公开(公告)日：2015-12-01
申请号：US13539096
申请日：2012-06-29
申请人： Barry C. Worrell , Geoffrey S. Strobl , Gregory A. Trees , Jonathan T. Batross , Nicholas G. Molitor , Kristen T. Shoger , David K. Norvell , Michael J. Andreyko , Gregory W. Johnson , Shawn C. Snyder
发明人： Barry C. Worrell , Geoffrey S. Strobl , Gregory A. Trees , Jonathan T. Batross , Nicholas G. Molitor , Kristen T. Shoger , David K. Norvell , Michael J. Andreyko , Gregory W. Johnson , Shawn C. Snyder
CPC分类号： A61B17/320092 , A61B18/12 , A61B18/1442 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B34/77 , A61B90/90 , A61B2018/00303
摘要： Various embodiments of surgical robot control systems are disclosed. In one example embodiment, the surgical robot control system comprises a housing. A controller is located within the housing and is coupled to a socket. The socket receives a handheld surgical user interface therein to control a surgical instrument. The surgical instrument is connected to the surgical robot and comprises an end effector and a mechanical interface to manipulate the end effector. The mechanical interface is coupled to the controller. At least one sensor is coupled to the controller and the socket to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument. At least one feedback device is coupled to the controller to provide feedback to a user. The feedback is associated with a predetermined function of the surgical instrument.
摘要翻译： 公开了外科手术机器人控制系统的各种实施例。 在一个示例性实施例中，手术机器人控制系统包括壳体。 控制器位于壳体内并且联接到插座。 插座在其中接收手持式手术用户界面以控制手术器械。 手术器械连接到手术机器人，并且包括端部执行器和用于操纵端部执行器的机械接口。 机械接口耦合到控制器。 至少一个传感器耦合到控制器和插座，以将手持式手术用户界面的移动转换为对应于手术器械的运动的电信号。 至少一个反馈装置耦合到控制器以向用户提供反馈。 反馈与外科器械的预定功能相关联。
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公开(公告)号：US20140005682A1
公开(公告)日：2014-01-02
申请号：US13539096
申请日：2012-06-29
申请人： Barry C. Worrell , Geoffrey S. Strobl , Gregory A. Trees , Jonathan T. Batross , Nicholas G. Molitor , Kristen T. Shoger , David K. Norvell , Michael J. Andreyko , Gregory W. Johnson , Shawn C. Snyder , Chad P. Boudreaux
发明人： Barry C. Worrell , Geoffrey S. Strobl , Gregory A. Trees , Jonathan T. Batross , Nicholas G. Molitor , Kristen T. Shoger , David K. Norvell , Michael J. Andreyko , Gregory W. Johnson , Shawn C. Snyder , Chad P. Boudreaux
IPC分类号： A61B19/00
CPC分类号： A61B17/320092 , A61B18/12 , A61B18/1442 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B34/77 , A61B90/90 , A61B2018/00303
摘要： Various embodiments of surgical robot control systems are disclosed. In one example embodiment, the surgical robot control system comprises a housing. A controller is located within the housing and is coupled to a socket. The socket receives a handheld surgical user interface therein to control a surgical instrument. The surgical instrument is connected to the surgical robot and comprises an end effector and a mechanical interface to manipulate the end effector. The mechanical interface is coupled to the controller. At least one sensor is coupled to the controller and the socket to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument. At least one feedback device is coupled to the controller to provide feedback to a user. The feedback is associated with a predetermined function of the surgical instrument.
摘要翻译： 公开了外科手术机器人控制系统的各种实施例。 在一个示例性实施例中，手术机器人控制系统包括壳体。 控制器位于壳体内并且联接到插座。 插座在其中接收手持式手术用户界面以控制手术器械。 手术器械连接到手术机器人，并且包括端部执行器和用于操纵端部执行器的机械接口。 机械接口耦合到控制器。 至少一个传感器耦合到控制器和插座，以将手持式手术用户界面的移动转换为对应于手术器械的运动的电信号。 至少一个反馈装置耦合到控制器以向用户提供反馈。 反馈与外科器械的预定功能相关联。
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公开(公告)号：US20120078247A1
公开(公告)日：2012-03-29
申请号：US13235660
申请日：2011-09-19
申请人： Barry C. Worrell , David K. Norvell , Charles J. Scheib , Frederick E. Shelton, IV , Geoffrey S. Strobl , Jeffrey S. Swayze , Gregory A. Trees , Jason E. Zerkle , Kevin M. Montgomery
发明人： Barry C. Worrell , David K. Norvell , Charles J. Scheib , Frederick E. Shelton, IV , Geoffrey S. Strobl , Jeffrey S. Swayze , Gregory A. Trees , Jason E. Zerkle , Kevin M. Montgomery
IPC分类号： A61B18/18
CPC分类号： A61B18/1447 , A61B18/1445 , A61B2017/00314 , A61B2018/00601 , A61B2018/0063 , A61B2018/126 , A61B2018/1455
摘要： An electrosurgical device comprises a body, an end effector, a cutting member, and a shaft. The end effector includes a pair of jaws that are operable to deliver RF energy to tissue that is clamped between the jaws. The cutting member is operable to sever tissue that is clamped between the jaws. The shaft extends between the body and the end effector. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. Some versions include a rotation section that is distal to the articulation section. The rotation section is operable to rotate the end effector relative to the articulation section.
摘要翻译： 电外科装置包括主体，端部执行器，切割构件和轴。 末端执行器包括一对钳口，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作地切割夹在夹爪之间的组织。 轴在主体和端部执行器之间延伸。 轴包括铰接部分，其可操作以选择性地将末端执行器定位在相对于轴的纵向轴线的非平行位置。 一些版本包括在关节部分远端的旋转部分。 旋转部分可操作以相对于关节运动部分旋转末端执行器。
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公开(公告)号：US09402682B2
公开(公告)日：2016-08-02
申请号：US13235660
申请日：2011-09-19
申请人： Barry C. Worrell , David K. Norvell , Charles J. Scheib , Frederick E. Shelton, IV , Geoffrey S. Strobl , Jeffrey S. Swayze , Gregory A. Trees , Jason E. Zerkle , Kevin M. Montgomery
发明人： Barry C. Worrell , David K. Norvell , Charles J. Scheib , Frederick E. Shelton, IV , Geoffrey S. Strobl , Jeffrey S. Swayze , Gregory A. Trees , Jason E. Zerkle , Kevin M. Montgomery
CPC分类号： A61B18/1447 , A61B18/1445 , A61B2017/00314 , A61B2018/00601 , A61B2018/0063 , A61B2018/126 , A61B2018/1455
摘要： An electrosurgical device comprises a body, an end effector, a cutting member, and a shaft. The end effector includes a pair of jaws that are operable to deliver RF energy to tissue that is clamped between the jaws. The cutting member is operable to sever tissue that is clamped between the jaws. The shaft extends between the body and the end effector. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. Some versions include a rotation section that is distal to the articulation section. The rotation section is operable to rotate the end effector relative to the articulation section.
摘要翻译： 电外科装置包括主体，端部执行器，切割构件和轴。 末端执行器包括一对钳口，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作地切割夹在夹爪之间的组织。 轴在主体和端部执行器之间延伸。 轴包括铰接部分，其可操作以选择性地将末端执行器定位在相对于轴的纵向轴线的非平行位置。 一些版本包括在关节部分远端的旋转部分。 旋转部分可操作以相对于关节运动部分旋转末端执行器。
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公开(公告)号：US20120078244A1
公开(公告)日：2012-03-29
申请号：US13235648
申请日：2011-09-19
申请人： Barry C. Worrell , Chad P. Boudreaux , Matthew C. Miller , Charles J. Scheib , Frederick E. Shelton, IV , Geoffrey S. Strobl , Foster B. Stulen , Gregory A. Trees , Aaron C. Voegele , Steven D. Madsen , William E. Clem , Emron J. Henry
发明人： Barry C. Worrell , Chad P. Boudreaux , Matthew C. Miller , Charles J. Scheib , Frederick E. Shelton, IV , Geoffrey S. Strobl , Foster B. Stulen , Gregory A. Trees , Aaron C. Voegele , Steven D. Madsen , William E. Clem , Emron J. Henry
IPC分类号： A61B18/18
CPC分类号： A61B17/07207 , A61B2017/0038 , A61B2017/2908 , A61B2017/2927 , A61B2017/2946
摘要： An electrosurgical device includes a body, an end effector, a cutting member, and a shaft. The end effector comprises a pair of jaws and at least one electrode that is operable to deliver RF energy to tissue clamped between the jaws. The cutting member is operable to cut tissue clamped between the jaws. The shaft includes an articulation section that is operable to selectively articulate the end effector relative to the shaft. The body includes a controller operable to selectively actuate the articulation section. The controller may include a trigger that also drives the cutting member, a rotator that also rotates the shaft and end effector, a wedge-shaped pivoting member, a pivotally coupled pair of housing portions, or a pivoting cam member, etc. A release member may selectively release the articulation section from the controller, allowing a resilient bias to return the end effector into alignment with the shaft.
摘要翻译： 电外科装置包括主体，端部执行器，切割构件和轴。 末端执行器包括一对钳口和至少一个电极，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作以切割夹在夹爪之间的组织。 轴包括铰接部分，其可操作以相对于轴选择性地关闭端部执行器。 身体包括可操作以选择性地致动关节运动部分的控制器。 控制器可以包括还驱动切割构件的触发器，还使轴和端部执行器旋转的旋转器，楔形枢转构件，可枢转地联接的一对壳体部分或枢转凸轮构件等。释放构件 可以从控制器选择性地释放关节运动部分，允许弹性偏压使末端执行器与轴对准。
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公开(公告)号：US20120078243A1
公开(公告)日：2012-03-29
申请号：US13235623
申请日：2011-09-19
申请人： Barry C. Worrell , Zhifan F. Huang , Jason R. Lesko , Matthew C. Miller , Geoffrey S. Strobl , Gregory A. Trees , Charles S. Black , William E. Clem , Emron J. Henry , Kevin M. Montgomery
发明人： Barry C. Worrell , Zhifan F. Huang , Jason R. Lesko , Matthew C. Miller , Geoffrey S. Strobl , Gregory A. Trees , Charles S. Black , William E. Clem , Emron J. Henry , Kevin M. Montgomery
CPC分类号： A61B17/07207 , A61B2017/0038 , A61B2017/2908 , A61B2017/2927 , A61B2017/2946
摘要： An electrosurgical device includes a body, an end effector, a cutting member, and a shaft. The end effector comprises a pair of jaws and at least one electrode that is operable to deliver RF energy to tissue clamped between the jaws. The cutting member is operable to cut tissue clamped between the jaws. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. The body includes a controller operable to selectively actuate the articulation section. The controller may include a rotary knob, a pivoting knob, or a pivoting fin, among other things. An electrical coupling may contact a conductive moving member along at least two axes. A resiliently biased lever may assist a trigger in returning from an actuated position to a home position.
摘要翻译： 电外科装置包括主体，端部执行器，切割构件和轴。 末端执行器包括一对钳口和至少一个电极，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作以切割夹在夹爪之间的组织。 轴包括铰接部分，其可操作以选择性地将末端执行器定位在相对于轴的纵向轴线的非平行位置。 身体包括可操作以选择性地致动关节运动部分的控制器。 控制器可以包括旋钮，旋转旋钮或枢转翅片等。 电耦合可以沿着至少两个轴接触导电移动构件。 弹性偏压杆可以帮助触发器从致动位置返回到原始位置。
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公开(公告)号：US09877720B2
公开(公告)日：2018-01-30
申请号：US13235623
申请日：2011-09-19
申请人： Barry C. Worrell , Zhifan F. Huang , Jason R. Lesko , Matthew C. Miller , Geoffrey S. Strobl , Gregory A. Trees , Charles S. Black , William E. Clem , Emron Henry , Kevin M. Montgomery
发明人： Barry C. Worrell , Zhifan F. Huang , Jason R. Lesko , Matthew C. Miller , Geoffrey S. Strobl , Gregory A. Trees , Charles S. Black , William E. Clem , Emron Henry , Kevin M. Montgomery
IPC分类号： A61B19/00 , A61B17/072 , A61B17/00 , A61B17/29
CPC分类号： A61B17/07207 , A61B2017/0038 , A61B2017/2908 , A61B2017/2927 , A61B2017/2946
摘要： An electrosurgical device includes a body, an end effector, a cutting member, and a shaft. The end effector comprises a pair of jaws and at least one electrode that is operable to deliver RF energy to tissue clamped between the jaws. The cutting member is operable to cut tissue clamped between the jaws. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. The body includes a controller operable to selectively actuate the articulation section. The controller may include a rotary knob, a pivoting knob, or a pivoting fin, among other things. An electrical coupling may contact a conductive moving member along at least two axes. A resiliently biased lever may assist a trigger in returning from an actuated position to a home position.
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公开(公告)号：US20120078248A1
公开(公告)日：2012-03-29
申请号：US13235683
申请日：2011-09-19
申请人： Barry C. Worrell , Chad P. Boudreaux , Sean P. Conlon , Gary W. Knight , Matthew C. Miller , Charles J. Scheib , Frederick E. Shelton, IV , Geoffrey S. Strobl , Jeffrey S. Swayze , Gregory A. Trees , Aaron C. Voegele , Charles S. Black , Kreena R. Modi
发明人： Barry C. Worrell , Chad P. Boudreaux , Sean P. Conlon , Gary W. Knight , Matthew C. Miller , Charles J. Scheib , Frederick E. Shelton, IV , Geoffrey S. Strobl , Jeffrey S. Swayze , Gregory A. Trees , Aaron C. Voegele , Charles S. Black , Kreena R. Modi
IPC分类号： A61B18/18
CPC分类号： A61B18/1447 , A61B18/1445 , A61B2017/00314 , A61B2018/00601 , A61B2018/0063 , A61B2018/126 , A61B2018/1455
摘要： An electrosurgical device comprises a body, an end effector, a cutting member, and a shaft extending between the body and the end effector. The end effector includes a pair of jaws and at least one electrode operable to deliver RF energy to tissue clamped between the jaws. The cutting member is operable to cut tissue clamped between the jaws. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. The articulation section may include beads, segments, asymmetric features, preformedly bent features, an integral hinge, a helical cutout or spring, clevis features, an angled joint, a beaded actuation linkage, and/or an offset pivot, among other things. The device may also include a crimped cutting member, a retroacting cutting member, dual pivoting jaws, and/or a wire tensioning assembly.
摘要翻译： 电外科装置包括主体，端部执行器，切割构件以及在主体和端部执行器之间延伸的轴。 末端执行器包括一对钳口和至少一个电极，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作以切割夹在夹爪之间的组织。 轴包括铰接部分，其可操作以选择性地将末端执行器定位在相对于轴的纵向轴线的非平行位置。 关节运动部分可以包括珠，段，不对称特征，预成型弯曲特征，整体铰链，螺旋切口或弹簧，U形夹特征，成角度接头，串珠致动连杆，和/或偏移枢轴等。 该装置还可以包括卷曲切割构件，追溯切割构件，双重枢转夹爪和/或线张紧组件。
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公开(公告)号：US20140005681A1
公开(公告)日：2014-01-02
申请号：US13538733
申请日：2012-06-29
申请人： Jacob S. Gee , Foster B. Stulen , Kevin L. Houser , Craig N. Faller , Geoffrey S. Strobl , Sora Rhee , William D. Dannaher , Barry C. Worrell , Gregory W. Johnson
发明人： Jacob S. Gee , Foster B. Stulen , Kevin L. Houser , Craig N. Faller , Geoffrey S. Strobl , Sora Rhee , William D. Dannaher , Barry C. Worrell , Gregory W. Johnson
IPC分类号： A61B19/00
CPC分类号： A61B17/320092 , A61B34/30 , A61B34/71 , A61B2017/003 , A61B2017/00305 , A61B2017/00323 , A61B2017/00327 , A61B2017/00526 , A61B2017/00734 , A61B2017/22015 , A61B2017/22018 , A61B2090/508 , A61F9/00745
摘要： Various embodiments are directed to surgical instruments for use in handheld applications or with robotic surgical systems. The surgical instruments may comprise an end effector to treat tissue and a shaft extending proximally from the end effector along a longitudinal axis. Some embodiments may be usable with an instrument mounting portion of a robotic surgical instrument. For example, the shaft may extend proximally to the instrument mounting portion.
摘要翻译： 各种实施例涉及用于手持应用或机器人手术系统的手术器械。 手术器械可以包括用于治疗组织的末端执行器和沿着纵向轴线从端部执行器向近侧延伸的轴。 一些实施例可以与机器人手术器械的器械安装部分一起使用。 例如，轴可以向近侧延伸到仪器安装部分。
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公开(公告)号：US09220559B2
公开(公告)日：2015-12-29
申请号：US13235683
申请日：2011-09-19
申请人： Barry C. Worrell , Sean P. Conlon , Gary W. Knight , Matthew C. Miller , Charles J. Scheib , Frederick E. Shelton, IV , Geoffrey S. Strobl , Jeffrey S. Swayze , Aaron C. Voegele , Charles S. Black , Kreena R. Modi
发明人： Barry C. Worrell , Sean P. Conlon , Gary W. Knight , Matthew C. Miller , Charles J. Scheib , Frederick E. Shelton, IV , Geoffrey S. Strobl , Jeffrey S. Swayze , Aaron C. Voegele , Charles S. Black , Kreena R. Modi
CPC分类号： A61B18/1447 , A61B18/1445 , A61B2017/00314 , A61B2018/00601 , A61B2018/0063 , A61B2018/126 , A61B2018/1455
摘要： An electrosurgical device comprises a body, an end effector, a cutting member, and a shaft extending between the body and the end effector. The end effector includes a pair of jaws and at least one electrode operable to deliver RF energy to tissue clamped between the jaws. The cutting member is operable to cut tissue clamped between the jaws. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. The articulation section may include beads, segments, asymmetric features, preformedly bent features, an integral hinge, a helical cutout or spring, clevis features, an angled joint, a beaded actuation linkage, and/or an offset pivot, among other things. The device may also include a crimped cutting member, a retroacting cutting member, dual pivoting jaws, and/or a wire tensioning assembly.
摘要翻译： 电外科装置包括主体，端部执行器，切割构件以及在主体和端部执行器之间延伸的轴。 末端执行器包括一对钳口和至少一个电极，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作以切割夹在夹爪之间的组织。 轴包括铰接部分，其可操作以选择性地将末端执行器定位在相对于轴的纵向轴线的非平行位置。 关节运动部分可以包括珠，段，不对称特征，预成型弯曲特征，整体铰链，螺旋切口或弹簧，U形夹特征，成角度接头，串珠致动连杆，和/或偏移枢轴等。 该装置还可以包括卷曲切割构件，追溯切割构件，双重枢转夹爪和/或线张紧组件。
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