公开(公告)号：US07543588B2

公开(公告)日：2009-06-09

申请号：US11473349

申请日：2006-06-21

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

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

IPC分类号： A61B19/00

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： An interface which allows a surgeon to operate multiple surgical devices from a single input device. The input device may be a foot pedal that provides output signals to actuate a number of different surgical devices. The surgical devices may include a robotic arm, a laser, an electrocautery device, or an operating table. The interface has an input channel that is coupled to the input device and a plurality of output channels that are coupled to the surgical devices. The interface also has a select input channel which can receive input commands to switch the input channel to one of the output channels. The select channel may be coupled to a speech interface that allows the surgeon to select one of the surgical devices with a voice command. The surgeon can operate any device by providing an input command which switches the input channel to the desired output channel.

摘要翻译： 允许外科医生从单个输入装置操作多个手术装置的界面。 输入装置可以是提供输出信号以致动许多不同手术装置的脚踏板。 手术装置可以包括机器人手臂，激光，电烙术装置或手术台。 接口具有耦合到输入设备的输入通道和耦合到外科设备的多个输出通道。 该接口还具有可以接收输入命令以将输入通道切换到输出通道之一的选择输入通道。 选择通道可以耦合到允许外科医生用语音命令选择外科装置之一的语音界面。 外科医生可以通过提供将输入通道切换到期望的输出通道的输入命令来操作任何装置。

公开(公告)号：US20080221731A1

公开(公告)日：2008-09-11

申请号：US12051957

申请日：2008-03-20

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

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

IPC分类号： B25J9/00

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 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 controller controls and limits movement of robotic arms relative to the patient.

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。 控制器控制和限制机器人臂相对于患者的运动。

公开(公告)号：US07118582B1

公开(公告)日：2006-10-10

申请号：US09169169

申请日：1998-10-08

申请人： Yulun Wang ,  Darrin R. Uecker ,  Charles S. Jordan ,  James W. Wright ,  Keith Phillip Laby ,  Jeff D. Wilson ,  Modjtaba Ghoudoussi

发明人： Yulun Wang ,  Darrin R. Uecker ,  Charles S. Jordan ,  James W. Wright ,  Keith Phillip Laby ,  Jeff D. Wilson ,  Modjtaba Ghoudoussi

IPC分类号： A61B17/04

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 medical system which has a robotic arm that can move a surgical instrument. The surgical instrument is coupled to a tool driver of the arm that allows for a quick connect and disconnect of the instrument. The system does not require any tools to attach the surgical instrument to the tool driver. The instrument has an end effector that is actuated by the driver.

摘要翻译： 具有能够移动外科器械的机器臂的医疗系统。 外科器械联接到臂的工具驱动器，其允许快速连接和断开仪器。 该系统不需要任何工具将手术器械连接到刀具驱动器。 仪器具有由驾驶员驱动的末端执行器。

公开(公告)号：US06943663B2

公开(公告)日：2005-09-13

申请号：US10315893

申请日：2002-12-09

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： A61B17/00 ,  A61B19/00 ,  G05B15/02 ,  G05B23/02 ,  G06F3/16 ,  G06F19/00 ,  G10L15/26 ,  H04Q1/00

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： The present invention pertains to control systems and provides a run time configurable control system for selecting and operating one of a plurality of operating room devices from a single input source, the system comprising a master controller having a voice control interface and means for routing control signals. The system additionally may include a plurality of slave controllers to provide expandability of the system. Also, the system includes output means for generating messages to the user relating to the status of the control system in general and to the status of devices connected thereto.

公开(公告)号：US6007550A

公开(公告)日：1999-12-28

申请号：US168527

申请日：1998-10-08

申请人： Yulun Wang ,  Darrin R. Uecker ,  Charles S. Jordan ,  James W. Wright ,  Keith Phillip Laby ,  Jeff D. Wilson ,  Modjtaba Ghoudoussi

发明人： Yulun Wang ,  Darrin R. Uecker ,  Charles S. Jordan ,  James W. Wright ,  Keith Phillip Laby ,  Jeff D. Wilson ,  Modjtaba Ghoudoussi

IPC分类号： A61B17/06 ,  A61B1/00 ,  A61B17/00 ,  A61B17/04 ,  A61B17/11 ,  A61B17/28 ,  A61B19/00 ,  A61B19/02 ,  A61B19/08 ,  B25J1/00 ,  B25J11/00

CPC分类号： B25J9/1689 ,  A61B17/11 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B17/0469 ,  A61B17/29 ,  A61B2017/00199 ,  A61B2017/00203 ,  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：US5762458A

公开(公告)日：1998-06-09

申请号：US603543

申请日：1996-02-20

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 ,  B25J1/00

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.