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11.发明授权公开(公告)号：US09351754B2
公开(公告)日：2016-05-31
申请号：US13538711
申请日：2012-06-29
CPC分类号： A61B17/320092 , A61B17/295 , A61B18/1445 , A61B34/30 , A61B34/71 , A61B2018/00875 , A61B2018/1452 , A61B2018/1455 , A61B2034/302 , A61B2034/305
摘要： Various embodiments are directed to surgical instruments comprising an end effector, a shaft and a jaw assembly. The end effector may comprise an ultrasonic blade extending distally substantially parallel to a longitudinal axis. The shaft may extend proximally from the end effector along the longitudinal axis. The jaw assembly may comprise first and second jaw members. The jaw assembly may be pivotable about a first axis substantially perpendicular to the longitudinal axis from a first position where the first and second jaw members are substantially parallel to the ultrasonic blade to a second position. Additionally, the first and second jaw members may be pivotable about a second axis substantially perpendicular to the first axis.
摘要翻译： 各种实施例涉及包括端部执行器，轴和钳口组件的手术器械。 末端执行器可以包括沿着纵向轴线向远侧延伸的超声刀片。 轴可以沿着纵向轴线从端部执行器向近端延伸。 钳口组件可以包括第一和第二钳口构件。 钳口组件可以围绕基本上垂直于纵向轴线的第一轴线从第一和第二钳口构件基本上平行于第二位置的第一位置枢转到第二位置。 另外，第一和第二钳口构件可以围绕基本上垂直于第一轴线的第二轴线枢转。
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公开(公告)号：US20130140835A1
公开(公告)日：2013-06-06
申请号：US13309891
申请日：2011-12-02
IPC分类号： B25J15/00
CPC分类号： A61B17/29 , A61B17/2909 , A61B34/70 , A61B34/71 , A61B90/50 , A61B2017/00738 , A61B2017/2902 , A61B2017/291 , A61B2017/2926 , A61B2017/2927
摘要： Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.
摘要翻译： 本文公开的手术装置通常包括体内肘关节，以便于端部执行器的平移运动，同时允许手术装置的主体部分和套管针或工作通道，装置通过该套管针或工作通道保持在固定的角度定向相对 给病人 这允许使用单个切口或接入装置有效地使用多个这样的装置。 这样的装置还通常提供具有六个自由度的末端执行器运动，同时保持使用者和末端执行器之间的机械联动，同时模仿和/或镜像自然使用者的运动。 还公开了与这种装置有关的各种方法。
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公开(公告)号：US20130085510A1
公开(公告)日：2013-04-04
申请号：US13250018
申请日：2011-09-30
申请人： David Stefanchik , Omar J. Vakharia
发明人： David Stefanchik , Omar J. Vakharia
CPC分类号： A61G13/02 , A61B34/20 , A61B34/30 , A61B34/37 , A61G2203/36 , G06F19/3481
摘要： The systems and methods disclosed herein generally involve a robotically-assisted surgical system in which a platform for supporting a patient is physically and operatively coupled to a surgical robot and an associated controller. As a result, the position of the patient can be controlled remotely using the robot, and the controller can have an awareness of the position and orientation of the patient with respect to the operating room and with respect to various components of the robot. Such systems can thus maintain a fixed frame of reference between the patient and one or more end effectors of the surgical robot, eliminating the need for recalibration of the system due to patient movement.
摘要翻译： 本文公开的系统和方法通常涉及一种机器人辅助外科系统，其中用于支撑患者的平台物理地和操作地耦合到外科手术机器人和相关联的控制器。 结果，可以使用机器人远程控制患者的位置，并且控制器可以意识到患者相对于手术室的位置和取向以及关于机器人的各种部件。 因此，这样的系统可以在患者和手术机器人的一个或多个端部执行器之间保持固定的参考系，从而消除了由于患者移动而对系统进行重新校准的需要。
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公开(公告)号：US09247997B2
公开(公告)日：2016-02-02
申请号：US13249883
申请日：2011-09-30
申请人： David Stefanchik , Omar J. Vakharia
发明人： David Stefanchik , Omar J. Vakharia
CPC分类号： A61B19/26 , A61B17/3417 , A61B90/50 , A61B2017/00535 , A61B2017/00876 , A61B2017/00991 , A61B2017/3447 , A61B2017/347
摘要： A patient-referenced surgical support frame and method of use are provided. In one embodiment, a surgical support frame can have at least three support members coupled by adjustable linkages. Each support member can have a lumen extending therethrough for receiving a cannula, and each support member can be configured such that the at least three support members (or the cannulas extending therethrough) are angularly adjustable relative to one another, and such that a distance between each of the at least three support members is adjustable. In use, the surgical support frame can be positioned on a skin surface of a patient and used to retain one or more instruments extending through the support members in a fixed orientation or position with respect to the patient, thereby allowing more than two instruments to be used simultaneously.
摘要翻译： 提供了一种患者参考的手术支架和使用方法。 在一个实施例中，手术支撑框架可以具有通过可调节联接件联接的至少三个支撑构件。 每个支撑构件可以具有延伸穿过其中用于接纳插管的内腔，并且每个支撑构件可被构造成使得至少三个支撑构件（或穿过其中的插管）可相对于彼此成角度地调节，并且使得 所述至少三个支撑构件中的每一个都是可调节的。 在使用中，手术支撑框架可以定位在患者的皮肤表面上并用于保持一个或多个仪器以相对于患者的固定取向或位置延伸穿过支撑构件，从而允许两个以上的器械 同时使用
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公开(公告)号：US09211159B2
公开(公告)日：2015-12-15
申请号：US13309856
申请日：2011-12-02
申请人： David Stefanchik , Omar J. Vakharia
发明人： David Stefanchik , Omar J. Vakharia
CPC分类号： A61B17/29 , A61B17/28 , A61B17/2804 , A61B17/2816 , A61B19/2203 , A61B34/30 , A61B34/70 , A61B34/71 , A61B90/50 , A61B2017/003 , A61B2017/00323 , A61B2017/00738 , A61B2017/2901 , A61B2017/2902 , A61B2017/291 , A61B2017/2927 , A61B2017/2939 , A61B2017/2947 , A61B2019/2223
摘要： Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.
摘要翻译： 本文公开的手术装置通常包括体内肘关节，以便于端部执行器的平移运动，同时允许手术装置的主体部分和套管针或工作通道，装置通过该套管针或工作通道保持在固定的角度定向相对 给病人 这允许使用单个切口或接入装置有效地使用多个这样的装置。 这样的装置还通常提供具有六个自由度的末端执行器运动，同时保持使用者和末端执行器之间的机械联动，同时模仿和/或镜像自然使用者的运动。 还公开了与这种装置有关的各种方法。
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公开(公告)号：US09131987B2
公开(公告)日：2015-09-15
申请号：US13309875
申请日：2011-12-02
申请人： David Stefanchik , Omar J. Vakharia
发明人： David Stefanchik , Omar J. Vakharia
CPC分类号： A61B19/22 , A61B17/29 , A61B17/2909 , A61B34/70 , A61B34/71 , A61B90/50 , A61B2017/003 , A61B2017/00738 , A61B2017/2902 , A61B2017/2908 , A61B2017/291 , A61B2017/2917 , A61B2017/2918 , A61B2017/2919 , A61B2017/2927 , Y10T403/32606
摘要： Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.
摘要翻译： 本文公开的手术装置通常包括体内肘关节，以便于端部执行器的平移运动，同时允许手术装置的主体部分和套管针或工作通道，装置通过该套管针或工作通道保持在固定的角度定向相对 给病人 这允许使用单个切口或接入装置有效地使用多个这样的装置。 这样的装置还通常提供具有六个自由度的末端执行器运动，同时保持使用者和末端执行器之间的机械联动，同时模仿和/或镜像自然使用者的运动。 还公开了与这种装置有关的各种方法。
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公开(公告)号：US08828046B2
公开(公告)日：2014-09-09
申请号：US12904280
申请日：2010-10-14
CPC分类号： A61B17/2909 , A61B2017/00738 , A61B2017/2902 , A61B2017/291 , A61B2017/2927 , A61B2017/2929
摘要： Methods and devices are provided for controlling movement of an end effector assembly, and in particular for causing mimicking motion between a handle and an end effector assembly. In an exemplary embodiment, a surgical device is provided having a handle or actuator, an elongate shaft, and an end effector assembly coupled to a distal end of the elongate shaft. The handle or actuator is configured such that movement of the handle is mimicked, not mirrored, by the end effector assembly. The mimicking motion can be achieved using various techniques, but in an exemplary embodiment the handle is located distal to an input joint, and motion is transferred to the end effector assembly through an output joint at a distal end of the elongate shaft. The motion is preferably transferred using a mechanical transmission coupled between the input and output joints.
摘要翻译： 提供了用于控制末端执行器组件的移动的方法和装置，并且特别地用于引起手柄和末端执行器组件之间的模拟运动。 在一个示例性实施例中，提供具有手柄或致动器，细长轴和联接到细长轴的远端的端部执行器组件的手术装置。 手柄或致动器被配置成使得手柄的运动由末端执行器组件模拟而不被镜像。 可以使用各种技术来实现模拟运动，但是在示例性实施例中，手柄位于输入接头的远侧，并且运动通过在细长轴的远端处的输出接头传递到端部执行器组件。 该运动优选地使用耦合在输入和输出接头之间的机械传动来传递。
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公开(公告)号：US20130144395A1
公开(公告)日：2013-06-06
申请号：US13309875
申请日：2011-12-02
申请人： David Stefanchik , Omar J. Vakharia
发明人： David Stefanchik , Omar J. Vakharia
CPC分类号： A61B19/22 , A61B17/29 , A61B17/2909 , A61B34/70 , A61B34/71 , A61B90/50 , A61B2017/003 , A61B2017/00738 , A61B2017/2902 , A61B2017/2908 , A61B2017/291 , A61B2017/2917 , A61B2017/2918 , A61B2017/2919 , A61B2017/2927 , Y10T403/32606
摘要： Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.
摘要翻译： 本文公开的手术装置通常包括体内肘关节，以便于端部执行器的平移运动，同时允许手术装置的主体部分和套管针或工作通道，装置通过该套管针或工作通道保持在固定的角度定向相对 给病人 这允许使用单个切口或接入装置有效地使用多个这样的装置。 这样的装置还通常提供具有六个自由度的末端执行器运动，同时保持使用者和末端执行器之间的机械联动，同时模仿和/或镜像自然使用者的运动。 还公开了与这种装置有关的各种方法。
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公开(公告)号：US20130144306A1
公开(公告)日：2013-06-06
申请号：US13309856
申请日：2011-12-02
申请人： David Stefanchik , Omar J. Vakharia
发明人： David Stefanchik , Omar J. Vakharia
IPC分类号： A61B19/00
CPC分类号： A61B17/29 , A61B17/28 , A61B17/2804 , A61B17/2816 , A61B19/2203 , A61B34/30 , A61B34/70 , A61B34/71 , A61B90/50 , A61B2017/003 , A61B2017/00323 , A61B2017/00738 , A61B2017/2901 , A61B2017/2902 , A61B2017/291 , A61B2017/2927 , A61B2017/2939 , A61B2017/2947 , A61B2019/2223
摘要： Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.
摘要翻译： 本文公开的手术装置通常包括体内肘关节，以便于端部执行器的平移运动，同时允许手术装置的主体部分和套管针或工作通道，装置通过该套管针或工作通道保持在固定的角度定向相对 给病人 这允许使用单个切口或接入装置有效地使用多个这样的装置。 这样的装置还通常提供具有六个自由度的末端执行器运动，同时保持使用者和末端执行器之间的机械联动，同时模仿和/或镜像自然使用者的运动。 还公开了与这种装置有关的各种方法。
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公开(公告)号：US20130085342A1
公开(公告)日：2013-04-04
申请号：US13249883
申请日：2011-09-30
申请人： David Stefanchik , Omar J. Vakharia
发明人： David Stefanchik , Omar J. Vakharia
IPC分类号： A61B1/32
CPC分类号： A61B19/26 , A61B17/3417 , A61B90/50 , A61B2017/00535 , A61B2017/00876 , A61B2017/00991 , A61B2017/3447 , A61B2017/347
摘要： A patient-referenced surgical support frame and method of use are provided. In one embodiment, a surgical support frame can have at least three support members coupled by adjustable linkages. Each support member can have a lumen extending therethrough for receiving a cannula, and each support member can be configured such that the at least three support members (or the cannulas extending therethrough) are angularly adjustable relative to one another, and such that a distance between each of the at least three support members is adjustable. In use, the surgical support frame can be positioned on a skin surface of a patient and used to retain one or more instruments extending through the support members in a fixed orientation or position with respect to the patient, thereby allowing more than two instruments to be used simultaneously.
摘要翻译： 提供了一种患者参考的手术支架和使用方法。 在一个实施例中，手术支撑框架可以具有通过可调节联接件联接的至少三个支撑构件。 每个支撑构件可以具有延伸穿过其中用于接纳插管的内腔，并且每个支撑构件可被构造成使得至少三个支撑构件（或穿过其中的插管）可相对于彼此成角度地调节，并且使得 所述至少三个支撑构件中的每一个都是可调节的。 在使用中，手术支撑框架可以定位在患者的皮肤表面上并用于保持一个或多个仪器以相对于患者的固定取向或位置延伸穿过支撑构件，从而允许两个以上的器械 同时使用
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