公开(公告)号：US06804581B2

公开(公告)日：2004-10-12

申请号：US09996419

申请日：2001-11-28

申请人： Yulun Wang ,  Keith P. Laby ,  Darrin R. Uecker ,  Amante A. Mangaser ,  Modjtaba Ghodoussi

发明人： Yulun Wang ,  Keith P. Laby ,  Darrin R. Uecker ,  Amante A. Mangaser ,  Modjtaba Ghodoussi

IPC分类号： G05B1904

CPC分类号： A61B34/70 ,  A61B46/10 ,  A61B2017/00199 ,  A61B2017/00212 ,  A61B2017/00973 ,  A61B2034/2059 ,  A61B2034/742 ,  A61B2034/743

摘要： A robotic system that moves a surgical instrument in response to the actuation of a control panel that can be operated by the surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to the patient. The system includes a computer which controls the movement of the robotic arm in response to input signals received from the control panel. The robotic system is mounted to a cart which can be wheeled to and from an operating table. The cart has a clamping mechanism which attaches the cart to the table. The system also contains a spring loaded mount plate that allows the robotic arm to be rotated and adjusted relative to the cart and the patient. Both the robotic arm and the control panel are encapsulated by protective bags that prevent the system from being contaminated.

摘要翻译： 一种机器人系统，其响应于可由外科医生操作的控制面板的致动而移动外科器械。 机器人系统具有适于保持诸如内窥镜的外科器械的端部执行器。 末端执行器联接到可以相对于患者移动内窥镜的机器人臂组件。 该系统包括响应于从控制面板接收到的输入信号来控制机器臂的运动的计算机。 机器人系统安装到可以从操作台轮上移动的推车。 推车具有将推车安装在桌子上的夹紧机构。 该系统还包含弹簧加载的安装板，其允许机器人臂相对于推车和患者旋转和调节。 机器人手臂和控制面板均由保护袋封装，防止系统受到污染。

公开(公告)号：US5878193A

公开(公告)日：1999-03-02

申请号：US732015

申请日：1996-10-16

申请人： Yulun Wang ,  Keith P. Laby ,  Darrin R. Uecker ,  Amante A. Mangaser ,  Modjtaba Ghodoussi

发明人： Yulun Wang ,  Keith P. Laby ,  Darrin R. Uecker ,  Amante A. Mangaser ,  Modjtaba Ghodoussi

IPC分类号： A61B17/00 ,  A61B19/00 ,  A61B19/08 ,  A61B1/00 ,  A61C19/04 ,  G06F15/00

CPC分类号： A61B34/70 ,  A61B2017/00199 ,  A61B2017/00212 ,  A61B2017/00973 ,  A61B2034/2059 ,  A61B2034/742 ,  A61B2034/743 ,  A61B46/10

摘要： A robotic system that moves a surgical instrument in response to the actuation of a control panel that can be operated by the surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to the patient. The system includes a computer which controls the movement of the robotic arm in response to input signals received from the control panel. The robotic system is mounted to a cart which can be wheeled to and from an operating table. The cart has a clamping mechanism which attaches the cart to the table. The system also contains a spring loaded mount plate that allows the robotic arm to be rotated and adjusted relative to the cart and the patient. Both the robotic arm and the control panel are encapsulated by protective bags that prevent the system from being contaminated.

公开(公告)号：US07025761B2

公开(公告)日：2006-04-11

申请号：US10241139

申请日：2002-09-10

申请人： Yulun Wang ,  Darrin R. Uecker ,  Keith Phillip Laby ,  Jeff Wilson ,  Steve Jordan ,  James Wright

发明人： Yulun Wang ,  Darrin R. Uecker ,  Keith Phillip Laby ,  Jeff Wilson ,  Steve Jordan ,  James Wright

IPC分类号： A61B18/18

CPC分类号： A61B17/11 ,  A61B17/0469 ,  A61B17/29 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B46/10 ,  A61B50/00 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2017/00243 ,  A61B2017/00252 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2017/00703 ,  A61B2017/00973 ,  A61B2017/1107 ,  A61B2017/1135 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2034/2059 ,  A61B2034/742 ,  A61B2090/064 ,  B25J9/1689 ,  G05B2219/45119

摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site.

摘要翻译： 用于执行微创心脏手术的系统。 该系统包括耦合到一对机器人臂的一对外科器械。 仪器具有能够被操纵以保持和缝合组织的末端效应器。 机器人手臂通过控制器耦合到一对主手柄。 手柄可由外科医生移动以产生末端执行器的相应运动。 端部执行器的运动可以由输入按钮控制，使得当外科医生按下按钮时，末端执行器仅移动。 输入按钮允许外科医生调整手柄的位置而不移动末端执行器，使得手柄可以移动到更舒适的位置。 该系统还可以具有机器人控制的内窥镜，其允许外科医生远程观察手术部位。

公开(公告)号：US06911916B1

公开(公告)日：2005-06-28

申请号：US09615641

申请日：2000-07-13

申请人： Gang Wang ,  Joseph F. Hahn ,  Amante Mangaser ,  David B. Roe ,  Charles P. Steiner ,  Darrin R. Uecker

发明人： Gang Wang ,  Joseph F. Hahn ,  Amante Mangaser ,  David B. Roe ,  Charles P. Steiner ,  Darrin R. Uecker

IPC分类号： A61B5/00 ,  A61B17/00 ,  A61B18/00 ,  A61B19/00 ,  G06F19/00 ,  G10L15/26 ,  G05B23/02 ,  G10L21/00

CPC分类号： A61B5/7475 ,  A61B5/002 ,  A61B5/0022 ,  A61B17/00 ,  A61B18/00 ,  A61B34/70 ,  A61B90/00 ,  A61B2017/00017 ,  A61B2017/00203 ,  G06F19/00 ,  G06F19/3418 ,  G10L15/26 ,  G16H10/60 ,  G16H40/63

摘要： A method and apparatus for retrieving, accessing, and storing medical data relating to a patient during a medical procedure. The invention provides a single interface to many disparate forms of medical data, which is accessible over a local area network, wide area network, direct connection, or combinations thereof. In one embodiment, an operating room control system for use during a medical procedure on a patient includes an input device, a display device, and a controller that is coupled to the input device and the display device. The controller receives one or more user inputs, transmits a command to a server located outside of the operating room to retrieve medical data, receives the medical data from the server, and displays the medical data on the display device.

摘要翻译： 一种用于在医疗过程中检索，访问和存储与患者有关的医学数据的方法和装置。 本发明提供了许多不同形式的医疗数据的单一接口，其可通过局域网，广域网，直接连接或其组合来访问。 在一个实施例中，在患者的医疗过程中使用的手术室控制系统包括输入装置，显示装置和耦合到输入装置和显示装置的控制器。 所述控制器接收一个或多个用户输入，向位于所述手术室外部的服务器发送命令以检索医疗数据，从所述服务器接收所述医疗数据，并将所述医疗数据显示在所述显示装置上。

公开(公告)号：US06905491B1

公开(公告)日：2005-06-14

申请号：US09000934

申请日：1997-12-30

申请人： Yulun Wang ,  Darrin R. Uecker ,  Keith Phillip Laby ,  Jeff Wilson ,  Steve Jordan ,  James Wright

发明人： Yulun Wang ,  Darrin R. Uecker ,  Keith Phillip Laby ,  Jeff Wilson ,  Steve Jordan ,  James Wright

IPC分类号： A61B17/00 ,  A61B17/04 ,  A61B17/11 ,  A61B17/28 ,  A61B19/00 ,  A61B19/02 ,  A61B19/08

CPC分类号： A61B17/11 ,  A61B17/0469 ,  A61B17/29 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B46/10 ,  A61B50/00 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2017/00243 ,  A61B2017/00252 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2017/00703 ,  A61B2017/00973 ,  A61B2017/1107 ,  A61B2017/1135 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2034/2059 ,  A61B2034/742 ,  A61B2090/064 ,  B25J9/1689 ,  G05B2219/45119

摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The robotic arm may contain a passive joint that provides an additional degree of freedom. Additionally, the system may include a disconnect input device that decouples the arm from an input device such as the handles.

摘要翻译： 用于执行微创心脏手术的系统。 该系统包括耦合到一对机器人臂的一对外科器械。 仪器具有能够被操纵以保持和缝合组织的末端效应器。 机器人手臂通过控制器耦合到一对主手柄。 手柄可由外科医生移动以产生末端执行器的相应运动。 手柄的移动被缩放，使得末端执行器具有与由外科医生的手执行的运动不同的，通常较小的相应运动。 比例因子是可调节的，因此外科医生可以控制末端执行器运动的分辨率。 端部执行器的运动可以由输入按钮控制，使得当外科医生按下按钮时，末端执行器仅移动。 输入按钮允许外科医生调整手柄的位置而不移动末端执行器，使得手柄可以移动到更舒适的位置。 机器人臂可能包含一个提供额外自由度的被动接头。 另外，该系统可以包括一个断开输入装置，其将手臂与输入装置（例如把手）分离。

公开(公告)号：US06646541B1

公开(公告)日：2003-11-11

申请号：US08693352

申请日：1996-08-06

申请人： Yulun Wang ,  Charles S. Jordan ,  Darrin R. Uecker ,  Charles C. Wooters

发明人： Yulun Wang ,  Charles S. Jordan ,  Darrin R. Uecker ,  Charles C. Wooters

IPC分类号： H04Q100

CPC分类号： A61B17/00 ,  A61B18/00 ,  A61B18/14 ,  A61B18/20 ,  A61B34/30 ,  A61B34/70 ,  A61B2017/00199 ,  A61B2017/00203 ,  A61B2017/00225 ,  A61B2017/00973 ,  G06F19/00 ,  G16H40/63

摘要： A control system for controlling a plurality of medical devices. The control system includes a controller that receives select and control commands from an input device. The controller compares the select commands and control commands to corresponding lists of commands. The controller provides an output signal to control the medical device if there is a match between the commands and the lists of commands.

摘要翻译： 一种用于控制多个医疗装置的控制系统。 控制系统包括从输入设备接收选择和控制命令的控制器。 控制器将select命令和控制命令与相应的命令列表进行比较。 如果命令和命令列表之间存在匹配，则控制器提供输出信号来控制医疗设备。

公开(公告)号：US06496099B2

公开(公告)日：2002-12-17

申请号：US09354944

申请日：1999-07-15

申请人： Yulun Wang ,  Charles S. Jordan ,  Darrin R. Uecker ,  Charles C. Wooters

发明人： Yulun Wang ,  Charles S. Jordan ,  Darrin R. Uecker ,  Charles C. Wooters

IPC分类号： H04Q100

CPC分类号： G10L15/26 ,  A61B17/00 ,  A61B34/70 ,  A61B34/74 ,  A61B90/30 ,  A61B2017/00017 ,  A61B2017/00119 ,  A61B2017/00203 ,  A61B2017/00973 ,  G05B15/02 ,  G06F19/00 ,  G16H40/40 ,  G16H40/63

摘要： A medical system that can be used to perform a surgical procedure. The system includes a network gateway that can retrieve remotely located patient data and display the data on a monitor at the surgical site.

摘要翻译： 可用于执行外科手术的医疗系统。 该系统包括网络网关，其可以检索远程位置的患者数据并将数据显示在手术部位的监视器上。

公开(公告)号：US6001108A

公开(公告)日：1999-12-14

申请号：US933

申请日：1997-12-30

申请人： Yulun Wang ,  Darrin R. Uecker ,  Keith Phillip Laby ,  Jeff Wilson ,  Steve Jordan ,  James Wright

发明人： Yulun Wang ,  Darrin R. Uecker ,  Keith Phillip Laby ,  Jeff Wilson ,  Steve Jordan ,  James Wright

IPC分类号： A61B17/00 ,  A61B17/04 ,  A61B17/11 ,  A61B17/28 ,  A61B19/00 ,  A61B19/02 ,  A61B19/08

CPC分类号： A61B17/11 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  B25J9/1689 ,  A61B17/0469 ,  A61B17/29 ,  A61B2017/00199 ,  A61B2017/00243 ,  A61B2017/00252 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2017/00703 ,  A61B2017/00973 ,  A61B2017/1107 ,  A61B2017/1135 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2034/2059 ,  A61B2034/742 ,  A61B2090/064 ,  A61B46/10 ,  A61B50/00 ,  A61B90/361 ,  G05B2219/45119

摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.

公开(公告)号：US5911036A

公开(公告)日：1999-06-08

申请号：US904047

申请日：1997-07-31

申请人： James Wright ,  Hamid Wasti ,  Darrin R. Uecker

发明人： James Wright ,  Hamid Wasti ,  Darrin R. Uecker

IPC分类号： A61B1/05 ,  A61B1/313 ,  A61B19/00 ,  G06F3/038 ,  G06F3/042 ,  H04N5/225 ,  A61B17/00 ,  A61B1/00

CPC分类号： G06F3/0386 ,  A61B1/00039 ,  A61B1/313 ,  A61B90/36 ,  A61B1/05 ,  A61B2017/00216 ,  A61B34/70 ,  A61B90/30 ,  H04N2005/2255

摘要： An interface that allows a surgeon to remotely control surgical devices and conditions of an operation room. The surgeon views a video image that is displayed by a monitor. The monitor may be coupled to a video device such as a laparoscopic camera that is attached to the end of an endoscope. Static graphic images and a dynamic graphic cursor are overlayed onto the video image. The graphic cursor has a pixel location on the monitor which corresponds to a spatial location of a pointer signal. The pointer signal is transmitted by a transmitter worn on the head of the surgeon. The pointer signal may be a laser which is directed to a screen that is located adjacent to a detection camera. The surgeon may move the graphic cursor relative to the video image by tilting his head and varying the spatial location of the pointer signal. The interface may have a controller which generates output signals in response to the movement of the pointer signal. The output signals may move a robotic arm which controls the position of the endoscope. The controller may also generate command signals when the graphic cursor is moved into a static graphic image. The command may vary a condition of the operating room such as the position of the operating table.

摘要翻译： 允许外科医生远程控制手术器械和手术室条件的界面。 外科医生查看显示器显示的视频图像。 监视器可以耦合到诸如附接到内窥镜的端部的腹腔镜摄像机的视频设备。 静态图形图像和动态图形光标叠加在视频图像上。 图形光标在监视器上具有对应于指针信号的空间位置的像素位置。 指针信号由佩戴在外科医生头部的发射器传输。 指针信号可以是被定向到与检测相机邻近的屏幕的激光器。 外科医生可以通过倾斜头部并改变指针信号的空间位置来相对于视频图像移动图形光标。 接口可以具有响应于指示器信号的移动而产生输出信号的控制器。 输出信号可以移动控制内窥镜位置的机器臂。 当图形光标移动到静态图形图像中时，控制器还可以产生命令信号。 该命令可以改变手术室的状况，例如手术台的位置。

公开(公告)号：US5825982A

公开(公告)日：1998-10-20

申请号：US529095

申请日：1995-09-15

申请人： James Wright ,  Hamid Wasti ,  Darrin R. Uecker

发明人： James Wright ,  Hamid Wasti ,  Darrin R. Uecker

IPC分类号： A61B1/05 ,  A61B1/313 ,  A61B19/00 ,  G06F3/038 ,  G06F3/042 ,  H04N5/225 ,  A61B1/04 ,  A61B5/00

CPC分类号： G06F3/0386 ,  A61B1/00039 ,  A61B1/313 ,  A61B90/36 ,  A61B1/05 ,  A61B2017/00216 ,  A61B34/70 ,  A61B90/30 ,  H04N2005/2255

摘要： An interface that allows a surgeon to remotely control surgical devices and conditions of an operation room. The surgeon views a video image that is displayed by a monitor. The monitor may be coupled to a video device such as a laparoscopic camera that is attached to the end of an endoscope. Static graphic images and a dynamic graphic cursor are overlayed onto the video image. The graphic cursor has a pixel location on the monitor which corresponds to a spatial location of a pointer signal. The pointer signal is transmitted by a transmitter worn on the head of the surgeon. The pointer signal may be a laser which is directed to a screen that is located adjacent to a detection camera. The surgeon may move the graphic cursor relative to the video image by tilting his head and varying the spatial location of the pointer signal. The interface may have a controller which generates output signals in response to the movement of the pointer signal. The output signals may move a robotic arm which controls the position of the endoscope. The controller may also generate command signals when the graphic cursor is moved into a static graphic image. The command may vary a condition of the operating room such as the position of the operating table.