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公开(公告)号：US08551116B2
公开(公告)日：2013-10-08
申请号：US13454312
申请日：2012-04-24
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： A61B19/00
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. 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。 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：US20120259345A1
公开(公告)日：2012-10-11
申请号：US13454312
申请日：2012-04-24
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： A61B19/00
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. 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。 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：US07778733B2
公开(公告)日：2010-08-17
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
IPC分类号： G05B15/00
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：US07125403B2
公开(公告)日：2006-10-24
申请号：US10116504
申请日：2002-04-03
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
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.
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15.发明授权Devices and methods for moving an image capture device in telesurgical systems 有权用于在远程外科系统中移动图像捕获设备的装置和方法公开(公告)号：US06451027B1
公开(公告)日：2002-09-17
申请号：US09464287
申请日：1999-12-15
IPC分类号： A61B1900
CPC分类号： A61B1/00149 , A61B34/30 , A61B34/70 , A61B90/36 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , B25J18/005
摘要： A positional control system, comprising a robotically controlled arm, for varying the position of a robotic surgical tool, is provided. The robotic surgical tool can be in the form of an image capture device, such as an endoscope, for example. The positional control system comprises a base and a mounting formation arranged to support the robotic surgical tool. The positional control system further comprises an articulated arm extending between the base and the mounting formation. The articulated arm has an upper arm portion, a forearm portion, a forearm link member and an upper arm link member. The portions and the link members are pivotally secured relative to one another to effect displacement of the mounting formation relative to the base. The forearm link member is positioned at least partially within the forearm portion and the upper arm link member is positioned at least partially within the upper arm portion.
摘要翻译： 提供了一种位置控制系统，其包括用于改变机器人手术工具的位置的由机器人控制的臂。 机器人手术工具可以是诸如内窥镜的图像捕获装置的形式。 位置控制系统包括基座和布置成支撑机器人手术工具的安装结构。 位置控制系统还包括在基座和安装结构之间延伸的铰接臂。 铰接臂具有上臂部，前臂部，前臂连杆部件和上臂连杆部件。 所述部分和所述连接构件相对于彼此枢转地固定以实现所述安装结构相对于所述基座的移动。 前臂连杆构件至少部分地定位在前臂部分内，并且上臂连杆构件至少部分地定位在上臂部分内。
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公开(公告)号：US06309397B1
公开(公告)日：2001-10-30
申请号：US09453978
申请日：1999-12-02
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： A61B1900
CPC分类号： A61B17/062 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/064 , A61B17/068 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B2017/00265 , A61B2017/00349 , A61B2017/00362 , A61B2017/00477 , A61B2017/2825 , A61B2017/2829 , A61B2017/2931 , A61B2034/305
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：USD394712S
公开(公告)日：1998-05-26
申请号：US36882
申请日：1995-03-29
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