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91.发明申请公开(公告)号：US20090182368A1
公开(公告)日：2009-07-16
申请号：US12408165
申请日：2009-03-20
CPC分类号： A61B17/0218 , A61B1/00082 , A61B17/0281 , A61B17/22032 , A61B17/3417 , A61B17/3421 , A61B17/3423 , A61B17/3462 , A61B90/361 , A61B90/50 , A61B2017/00261 , A61B2017/00535 , A61B2017/00557 , A61B2017/22059 , A61B2017/320048 , A61B2017/3466 , A61B2017/3486 , A61B2090/306
摘要： An apparatus for tissue dissection and instrument anchoring and methods for using such apparatus are disclosed. The apparatus includes a cannula, a dissection balloon releasably attached to the cannula at the distal end, an anchoring balloon disposed on the cannula, and a means for inflating both balloons.
摘要翻译： 公开了一种用于组织解剖和仪器锚定的装置以及使用这种装置的方法。 所述装置包括套管，在远端可释放地附接到套管的解剖囊，设置在套管上的锚定球囊，以及用于使气囊充气的装置。
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公开(公告)号：US20080262513A1
公开(公告)日：2008-10-23
申请号：US12032622
申请日：2008-02-15
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B2017/003 , A61B2034/2061 , A61B2034/301 , A61B2034/306 , A61B2034/741 , A61M25/0113
摘要： An instrument driver operable to control catheter instruments. First and second carriages are movably coupled to a frame of an instrument driver. Each carriage is configured to support a catheter instrument. The first and second carriages are independently rotatable about a longitudinal axis of the respective first and second catheter instruments and rotatable independently of an instrument driver frame. Independent carriage control provides for the carriages being independently movable in at least three different directions with at least two different types of motion.
摘要翻译： 可操作来控制导管器械的仪器驱动器。 第一和第二托架可移动地联接到仪器驱动器的框架。 每个托架配置成支撑导管器械。 第一和第二托架可独立地围绕相应的第一和第二导管器械的纵向轴线旋转，并且可独立于仪器驱动器框架旋转。 独立滑架控制提供滑架可在至少三种不同的方向上独立地移动至少两种不同类型的运动。
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公开(公告)号：US20080262480A1
公开(公告)日：2008-10-23
申请号：US12032626
申请日：2008-02-15
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B2017/003 , A61B2034/2061 , A61B2034/301 , A61B2034/306 , A61B2034/741 , A61M25/0113
摘要： A robotic medical instrument system for driving a segment of a catheter or other instrument. A segment, such as the distal end, of a catheter may be axially and/or rotatably driven. Drive elements include an internal and retractable catheter drive shaft, an actuation element coupled to an internal portion of the catheter body and including an internal guide in which a pin can move to drive a gear and rotate the catheter, a harmonic drive element, a wobble plate drive element, and a planetary gear drive element.
摘要翻译： 一种用于驱动导管或其他器械的部分的机器人医疗器械系统。 导管的诸如远端的段可以轴向和/或可旋转地驱动。 驱动元件包括内部和可缩回的导管驱动轴，致动元件，其联接到导管主体的内部部分并且包括内部引导件，销可以移动以驱动齿轮并旋转导管，谐波驱动元件，摆动 板驱动元件和行星齿轮传动元件。
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94.发明申请Resiliently deformable tool guide for use in minimally invasive telesurgical system 审中-公开弹性变形的工具指南，用于微创远程手术系统公开(公告)号：US20080255585A1
公开(公告)日：2008-10-16
申请号：US12142283
申请日：2008-06-19
IPC分类号： A61B19/00
CPC分类号： A61B17/34 , A61B17/3423 , A61B34/72
摘要： A tool guide for guiding an end effector of a robotically controlled surgical instrument from a position outside a patient body to a position in close proximity to an internal surgical site within the patient body is provided. The tool guide typically comprises a body, a seat formation on the body, the seat formation being arranged to seat in an aperture leading into the patient body so as to mount the tool guide on the patient body, and a sheath formation on the body. The sheath formation typically defines a longitudinally extending internal passage, an inlet leading into the passage and an outlet leading from the passage. The sheath formation is arranged to cooperate with the seat formation such that when the seat formation is seated in the aperture, the outlet of the sheath formation can be positioned in close proximity to the internal surgical site thereby to enable the end effector to be guided to a position in close proximity to the surgical site by passing it through the inlet, along the passage and out from the outlet, so as to emerge from the outlet at the position in close proximity to the internal surgical site.
摘要翻译： 提供了一种用于将机器人控制的外科器械的末端执行器从患者身体外部的位置引导到靠近患者体内的内部手术部位的位置的工具引导件。 工具导向器通常包括主体，身体上的座椅构件，座椅构件布置成位于通向患者体内的孔中，以将工具导向件安装在患者身上，以及在身体上形成护套。 护套形成通常限定纵向延伸的内部通道，通向通道的入口和从通道引出的出口。 护套组合被布置成与座椅构件协作，使得当座椅构件位于孔中时，护套形成物的出口可以紧邻内部手术部位定位，从而使末端执行器能够被引导到 通过使其穿过入口，沿着通道并从出口离开外部位置，以便在靠近内部手术部位的位置处从出口出来。
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95.发明申请INTERFACE ASSEMBLY FOR CONTROLLING ORIENTATION OF ROBOTICALLY CONTROLLED MEDICAL INSTRUMENT 审中-公开用于控制机器人控制医疗仪器定向的接口装置公开(公告)号：US20080249536A1
公开(公告)日：2008-10-09
申请号：US12032639
申请日：2008-02-15
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B2017/003 , A61B2034/2061 , A61B2034/301 , A61B2034/306 , A61B2034/741 , A61M25/0113
摘要： Interface assemblies for controlling an orientation of a working instrument of a robotic medical instrument system. A base member is coupled to a distal end of an instrument such as a robotically controllable catheter. A spacer element is retained between the base member and a platform member, which is movable relative to the base member about the spacer element. One or more control elements extending through a base member aperture can be used to control an orientation of the platform member and working instrument.
摘要翻译： 用于控制机器人医疗仪器系统的工作仪器的定向的接口组件。 基部构件联接到诸如机器人可控导管之类的器械的远端。 间隔元件保持在基部构件和平台构件之间，平台构件相对于基座构件围绕间隔元件可移动。 可以使用延伸穿过基座孔的一个或多个控制元件来控制平台构件和工作仪器的取向。
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公开(公告)号：US06902560B1
公开(公告)日：2005-06-07
申请号：US10752934
申请日：2004-01-06
IPC分类号： A61B17/04 , A61B17/068 , A61B19/00 , B25J17/00 , A61B17/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B17/062 , A61B17/068 , A61B34/71 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , Y10T74/20305 , Y10T74/20335 , Y10T74/2036
摘要： A method of performing minimally invasive endoscopic surgery in a body cavity of a patient includes introducing an elongate shaft having a working end into the cavity. The elongate shaft has a proximal end and a shaft axis between the working end and the proximal end. A wrist member pivotally coupled with the working end is rotated relative to the working end. The wrist member has a wrist axis. The method further includes rotating at least one of the elongate shaft around the shaft axis and an end effector pivotally mounted on the wrist member around the wrist axis to position the end effector at a desired location inside the cavity.
摘要翻译： 在患者的体腔中执行微创内窥镜手术的方法包括将具有工作端的细长轴引入腔中。 细长轴具有在工作端和近端之间的近端和轴线。 与工作端枢转联接的腕部件相对于工作端旋转。 手腕构件具有腕轴。 该方法还包括使细长轴中的至少一个围绕轴线旋转，以及端部执行器，该端部执行器围绕腕轴枢转地安装在腕部构件上，以将末端执行器定位在空腔内的期望位置处。
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公开(公告)号：US06840938B1
公开(公告)日：2005-01-11
申请号：US10032317
申请日：2001-12-21
CPC分类号： A61B18/1445 , A61B34/30 , A61B34/71 , A61B2017/003 , A61B2017/00477 , A61B2018/00208 , A61B2018/1495 , A61B2018/1861 , A61B2034/305 , A61B2090/506
摘要： A bipolar surgical instrument that includes opposing grips that can engage the tissue. A current is delivered from an electrosurgical power source to electrodes disposed on the grips to cauterize the tissue. The electrode configurations provide efficient cauterization of the tissue. In some embodiments, the positive and negative electrodes will be offset from each other to prevent shorting and to provide a thin line of coagulation heating to the gripped tissue. In some embodiments the electrodes are removably coupled to the grips through nonconductive sleeves. In some embodiments, the first electrode is disposed in a groove and the second electrode is disposed on a boss.
摘要翻译： 一种双极手术器械，其包括能够接合组织的相对的手柄。 将电流从电外科电源传送到设置在把手上的电极以烧制组织。 电极配置提供了组织的有效烧灼。 在一些实施例中，正电极和负电极将彼此偏移以防止短路并且向夹持的组织提供细线凝固加热。 在一些实施例中，电极通过非导电套筒可移除地联接到夹具。 在一些实施例中，第一电极设置在凹槽中，第二电极设置在凸台上。
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公开(公告)号：US06676684B1
公开(公告)日：2004-01-13
申请号：US09947214
申请日：2001-09-04
IPC分类号： A61B1728
CPC分类号： A61B34/30 , A61B34/71 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2090/506
摘要： A robotic surgical tool includes an elongate shaft having a working end and a shaft axis. A wrist member has a proximal portion pivotally connected to the working end to rotate relative to the working end around a pitch axis which is nonparallel to the shaft axis. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist roll axis of the wrist member. The wrist roll axis extends between the proximal portion and the distal portion of the wrist member. The end effector is pivotally mounted to rotate relative to the wrist member around a yaw axis which is nonparallel to the wrist roll axis. A torsion tube is coupled with the end effector base and is rotatable to turn the end effector base around the wrist roll axis of the wrist member. The torsion tube extends through an interior of the elongate shaft to a proximal end opposite from the working end of the elongate shaft. The torsion tube is bendable around the pitch axis with rotation of the wrist member around the pitch axis relative to the working end.
摘要翻译： 机器人手术工具包括具有工作端和轴线的细长轴。 手腕构件具有枢转地连接到工作端的近端部分，其围绕不平行于轴线的俯仰轴线相对于工作端旋转。 端部执行器枢转地安装在腕部构件的远端部分上以围绕腕部构件的手腕轴线轴线旋转。 手腕轴线在腕部件的近端部分和远端部分之间延伸。 端部执行器枢转地安装成相对于手腕构件围绕不平行于手腕轴线的偏转轴线旋转。 扭转管与端部执行器底座联接并且可旋转以使端部执行器底座围绕腕部构件的腕轮轴线转动。 扭转管延伸穿过细长轴的内部到与细长轴的工作端相对的近端。 扭转管可绕着俯仰轴线弯曲，随着腕部件相对于工作端围绕俯仰轴的转动。
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公开(公告)号：US5925058A
公开(公告)日：1999-07-20
申请号：US878293
申请日：1997-06-18
申请人： Jeffrey A. Smith , Daniel T. Wallace , Edwin J. Hlavka , Charles Gresl , John P. Lunsford , Albert K. Chin
发明人： Jeffrey A. Smith , Daniel T. Wallace , Edwin J. Hlavka , Charles Gresl , John P. Lunsford , Albert K. Chin
IPC分类号： A61B1/12 , A61B17/00 , A61B17/02 , A61B17/22 , A61B17/30 , A61B17/32 , A61B17/34 , A61B19/00 , A61B19/02 , A61M29/00
CPC分类号： A61B17/3462 , A61B1/00082 , A61B1/015 , A61B1/018 , A61B1/3132 , A61B17/0218 , A61B17/0281 , A61B17/22032 , A61B17/3421 , A61B90/50 , A61B17/00234 , A61B17/3417 , A61B2017/00261 , A61B2017/00535 , A61B2017/00557 , A61B2017/22059 , A61B2017/306 , A61B2017/320044 , A61B2017/320048 , A61B2017/3486 , A61B2090/306 , A61B90/361
摘要： An apparatus for tissue dissection and instrument anchoring, including a dissection balloon having a viewing window (preferably a rigid, transparent window) at its distal end, or including an anchoring or dissection balloon having nonuniform elasticity selected to achieve desired inflated shape and pressure characteristics, and methods for using such apparatus. The window, which can be a lens (such as a wide angle lens), is transparent and either rigid or non-rigid but sufficiently strong to retain a desired optical shape while (and after) being pushed against tissue layers by a rigid instrument deployed within the balloon. In preferred embodiments, the balloon is a long-necked dissection balloon deployed through a cannula. In other embodiments, the invention is a dissection balloon having a viewing window at its distal end, or an anchoring or dissection balloon having nonuniform elasticity selected to achieve desired inflated shape and pressure characteristics, for use in an apparatus for tissue dissection, tissue retraction, and instrument anchoring. In other embodiments, the invention is a dissection balloon assembly including a long-necked dissection balloon having a viewing window at its distal end, and a housing to which the dissection balloon's mouth is attached. In accordance with the method of the invention, the distal end of a long-necked dissection balloon (deployed through a cannula) is inserted between tissue layers and inflated to dissect the tissue layers. The dissection balloon has a window at its distal end, or nonuniform elasticity selected to achieve desired inflated shape and pressure characteristics, or both such a window and such nonuniform elasticity.
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100.发明授权
公开(公告)号：US5779728A
公开(公告)日：1998-07-14
申请号：US583563
申请日：1996-01-05
IPC分类号： A61B1/12 , A61B17/00 , A61B17/02 , A61B17/22 , A61B17/30 , A61B17/32 , A61B17/34 , A61B19/00 , A61B19/02
CPC分类号： A61B17/0281 , A61B1/00082 , A61B17/0218 , A61B17/22032 , A61B17/3421 , A61B17/3462 , A61B90/50 , A61B1/015 , A61B17/00234 , A61B17/3417 , A61B2017/00261 , A61B2017/00535 , A61B2017/00557 , A61B2017/22059 , A61B2017/306 , A61B2017/320044 , A61B2017/320048 , A61B2017/3486 , A61B2090/306 , A61B90/02 , A61B90/361
摘要： An apparatus for tissue dissection and instrument anchoring, including a dissection balloon having a viewing window (preferably a rigid, transparent window) at its distal end, or including an anchoring or dissection balloon having nonuniform elasticity selected to achieve desired inflated shape and pressure characteristics, and methods for using such apparatus. The window, which can be a lens (such as a wide angle lens), is transparent and either rigid or non-rigid but sufficiently strong to retain a desired optical shape while (and after) being pushed against tissue layers by a rigid instrument deployed within the balloon. In preferred embodiments, the balloon is a long-necked dissection balloon deployed through a cannula. In other embodiments, the invention is a dissection balloon having a viewing window at its distal end, or an anchoring or dissection balloon having nonuniform elasticity selected to achieve desired inflated shape and pressure characteristics, for use in an apparatus for tissue dissection, tissue retraction, and instrument anchoring. In other embodiments, the invention is a dissection balloon assembly including a long-necked dissection balloon having a viewing window at its distal end, and a housing to which the dissection balloon's mouth is attached.
摘要翻译： 一种用于组织解剖和仪器锚定的装置，包括在其远端具有观察窗（优选为刚性的透明窗）的解剖气囊，或包括具有选择的不均匀弹性以获得期望的膨胀形状和压力特性的锚定或解剖球囊， 以及使用这种装置的方法。 可以是透镜（例如广角透镜）的窗口是透明的，刚性的或非刚性的，但是足够坚固以保持期望的光学形状，同时（以及之后）被部署的刚性仪器推压到组织层上 在气球内 在优选实施例中，气囊是通过插管展开的长颈切开囊。 在其它实施例中，本发明是一种在其远端具有观察窗的解剖气囊，或者选择具有不均匀弹性的锚固或解剖球囊以实现期望的膨胀形状和压力特性，用于组织解剖，组织缩回装置， 和仪器锚定。 在其它实施例中，本发明是一种解剖气囊组件，其包括在其远端具有观察窗口的长颈解剖气囊，以及与解剖气囊的嘴部连接的外壳。
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