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公开(公告)号:US07854738B2
公开(公告)日:2010-12-21
申请号:US12024039
申请日:2008-01-31
申请人: Woojin Lee , Andres Chamorro, III , Barry Weitzner
发明人: Woojin Lee , Andres Chamorro, III , Barry Weitzner
IPC分类号: A61B19/00
CPC分类号: A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/062 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/00371 , A61B2017/00477 , A61B2017/2902 , A61B2017/2927 , A61B2017/2936 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61B2090/571 , B25J3/04 , B25J9/104
摘要: A medical instrument assembly comprises an elongated shaft, a tool carried by the distal end of the elongated shaft for performing a medical procedure on a patient, a plurality of controllably bendable sections spaced along the elongated shaft and disposed proximal to the tool, a plurality of actuation elements extending within the elongated shaft for respectively actuating the controllably bendable sections, and an instrument coupler mounted to the proximal end of the elongated shaft, with the instrument coupler configured for coupling an electromechanical drive to the actuation elements. A robotic medical system comprises the previously described medical instrument assembly, a user interface configured for generating at least one command, a drive unit coupled to the plurality of actuating elements of the medical instrument assembly, and an electric controller configured, in response to the command(s), for directing the drive unit to moves the actuating elements to actuate the controllably bendable sections.
摘要翻译: 医疗器械组件包括细长轴,由细长轴的远端承载的用于在患者身上执行医疗程序的工具,沿着细长轴间隔并设置在工具附近的多个可控制地弯曲的部分,多个 致动元件,其在所述细长轴内延伸以分别致动所述可控制的可弯曲部分;以及仪器耦合器,其安装到所述细长轴的近端,所述仪器耦合器被配置为将机电驱动耦合到所述致动元件。 机器人医疗系统包括先前描述的医疗器械组件,被配置为产生至少一个命令的用户界面,耦合到医疗器械组件的多个致动元件的驱动单元和响应于该命令而配置的电控制器 用于引导驱动单元移动致动元件以致动可控制地弯曲的部分。
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公开(公告)号:US20100286480A1
公开(公告)日:2010-11-11
申请号:US12387716
申请日:2009-05-06
申请人: William J. Peine , Woojin Lee , Andres Chamorro
发明人: William J. Peine , Woojin Lee , Andres Chamorro
CPC分类号: A61B17/062 , A61B17/29 , A61B17/2909 , A61B2017/00424 , A61B2017/00446 , A61B2017/0046 , A61B2017/00477 , A61B2017/292 , A61B2017/2927 , A61B2017/2929 , A61B2017/294 , A61B2017/2946
摘要: A surgical instrument that includes an instrument shaft having proximal and distal ends, a tool disposed from the distal end of the instrument shaft, a control handle disposed from the proximal end of the instrument shaft, a distal motion member for coupling the distal end of the instrument shaft to the tool, a proximal motion member for coupling the proximal end of the instrument shaft to the handle, actuation means extending between the distal and proximal motion members for coupling motion of the proximal motion member to the distal motion member for controlling the positioning of the tool and a locking mechanism for fixing the position of the tool at a selected position and having locked and unlocked states.
摘要翻译: 一种手术器械,其包括具有近端和远端的器械轴,从仪器轴的远端设置的工具,从器械轴的近端设置的控制手柄,用于联接器械远端的远端运动构件 仪器轴到工具,用于将器械轴的近端连接到手柄的近端运动构件,在远端和近端运动构件之间延伸的致动装置,用于将近端运动构件运动到远端运动构件,用于控制定位 以及用于将工具的位置固定在选定位置并具有锁定和解锁状态的锁定机构。
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公开(公告)号:US07819884B2
公开(公告)日:2010-10-26
申请号:US12024013
申请日:2008-01-31
申请人: Woojin Lee , Andres Chamorro, III , Barry Weitzner
发明人: Woojin Lee , Andres Chamorro, III , Barry Weitzner
IPC分类号: A61B19/00
CPC分类号: A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/062 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/00371 , A61B2017/00477 , A61B2017/2902 , A61B2017/2927 , A61B2017/2936 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61B2090/571 , B25J3/04 , B25J9/104
摘要: A medical instrument assembly comprises a shaft, a tool carried by the distal end of the shaft for performing a medical procedure on a patient, an end effector, a threaded housing in which the threaded distal shaft end is configured for being screwed, and a first threaded piece disposed in the threaded housing and configured for being moved to actuate the end effector. The assembly further comprises an actuation element extending within the shaft. The actuation element includes a second threaded piece that distally extends from the threaded distal shaft end. The second threaded piece is configured for being screwed to the first threaded piece. A robotic system comprises the assembly, a user interface configured for generating command(s), a drive unit coupled to the actuating element, and an electric controller configured, in response to the command(s), for directing the drive unit to move the actuating element to actuate the tool.
摘要翻译: 医疗器械组件包括轴,由轴的远端承载的工具,用于在患者身上执行医疗程序,末端执行器,螺纹壳体,螺纹远端轴端构造成螺纹连接,第一 螺纹件设置在螺纹壳体中并且构造成被移动以致动端部执行器。 组件还包括在轴内延伸的致动元件。 致动元件包括从螺纹远端轴端向远端延伸的第二螺纹件。 第二螺纹件构造成用于螺纹连接到第一螺纹件。 机器人系统包括组件,被配置为用于生成命令的用户界面,耦合到致动元件的驱动单元和响应于该命令配置的电控制器,用于引导驱动单元移动 致动元件以致动该工具。
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公开(公告)号:US07615067B2
公开(公告)日:2009-11-10
申请号:US11523103
申请日:2006-09-19
申请人: Woojin Lee , Andres Chamorro
发明人: Woojin Lee , Andres Chamorro
IPC分类号: A61B17/00
CPC分类号: A61B17/29 , A61B1/0052 , A61B1/0057 , A61B17/062 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , A61B2017/2902 , A61B2017/2905 , A61B2017/291 , A61B2017/2927
摘要: The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. The proximal movable member comprises a movable ring assembly supported from the handle and adapted for three dimensional motion relative to the handle. A manually rotatable member may be arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle. A locking member may be supported from the control handle. The locking member is manually operable by a user and includes a follower the position of which is responsive to the position of the movable members.
摘要翻译: 外科器械包括远端工具,支撑远侧工具的刚性或柔性细长轴以及近侧手柄或控制构件,其中工具和手柄经由远端和远端工具联接到细长轴的相应远端和近端,并且 近端可弯曲运动构件。 致动装置在所述远端和近端构件之间延伸,从而所述控制手柄相对于所述细长仪器轴的任何偏转导致所述远端运动构件的相应弯曲以控制所述工作构件。 近端可移动构件包括从手柄支撑并适于相对于手柄的三维运动的可移动环组件。 手动旋转构件可以布置成与控制手柄相邻,用于相对于控制手柄手动地旋转仪器轴和工作构件。 锁定构件可以从控制手柄支撑。 锁定构件可由使用者手动操作并且包括其位置响应于可移动构件的位置的随动件。
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公开(公告)号:US20080177282A1
公开(公告)日:2008-07-24
申请号:US12023981
申请日:2008-01-31
申请人: Woojin Lee , Andres Chamorro , Barry Weitzner
发明人: Woojin Lee , Andres Chamorro , Barry Weitzner
IPC分类号: A61B19/00
CPC分类号: A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/062 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/00371 , A61B2017/00477 , A61B2017/2902 , A61B2017/2927 , A61B2017/2936 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61B2090/571 , B25J3/04 , B25J9/104
摘要: A medical instrument assembly and robotic medical system are provided. The assembly comprises a shaft, a tool carried by the distal end of the shaft for performing a medical procedure on a patient, a controllably bendable section associated with shaft and disposed proximal to the tool, an actuation element extending within the shaft and along the bendable section for controlling actuation of the tool, another actuation element configured for actuating the bendable section, and means for decoupling motion at the bendable sections from the tool actuation. The system comprises the assembly, a user interface configured for generating commands, a drive unit coupled to the actuating element and the other actuating element, and an electric controller configured, in response to the commands, for directing the drive unit to move the actuating elements to actuate the tool and drive the other actuating element to bend the bendable section.
摘要翻译: 提供医疗器械组件和机器人医疗系统。 组件包括轴,由轴的远端承载的用于在患者身上执行医疗程序的工具,与轴相关联并且设置在工具附近的可控制的可弯曲部分,在轴内延伸并沿着可弯曲的 用于控制工具的致动部分,用于致动可弯曲部分的另一个致动元件,以及用于使可弯曲部分处的运动与工具致动分离的装置。 该系统包括组件,被配置为用于产生命令的用户界面,耦合到致动元件和另一个致动元件的驱动单元,以及电控制器,其被配置为响应于该命令,用于引导驱动单元移动致动元件 以启动工具并驱动另一致动元件以弯曲可弯曲部分。
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公开(公告)号:US20080065116A1
公开(公告)日:2008-03-13
申请号:US11649352
申请日:2007-01-02
申请人: Woojin Lee , Andres Chamorro , Woojoong Lee
发明人: Woojin Lee , Andres Chamorro , Woojoong Lee
IPC分类号: A61B17/00
CPC分类号: A61B17/2909 , A61B2017/00424 , A61B2017/2905 , A61B2017/2925 , A61B2017/2927 , A61B2017/2929 , A61B2017/2946
摘要: A surgical instrument that includes an instrument shaft having proximal and distal ends, a tool disposed from the distal end of the instrument shaft, a control handle disposed from the proximal end of the instrument shaft, a distal motion member for coupling the distal end of the instrument shaft to the tool, a proximal motion member for coupling the proximal end of the instrument shaft to the handle, actuation means extending between the distal and proximal motion members for coupling motion of the proximal motion member to the distal motion member for controlling the positioning of the tool and a locking mechanism for fixing the position of the tool at a selected position and having locked and unlocked states.
摘要翻译: 一种手术器械,其包括具有近端和远端的器械轴,从仪器轴的远端设置的工具,从器械轴的近端设置的控制手柄,用于联接器械远端的远端运动构件 仪器轴到工具,用于将器械轴的近端连接到手柄的近端运动构件,在远端和近端运动构件之间延伸的致动装置,用于将近端运动构件运动到远端运动构件,用于控制定位 以及用于将工具的位置固定在选定位置并具有锁定和解锁状态的锁定机构。
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公开(公告)号:US07338513B2
公开(公告)日:2008-03-04
申请号:US11302654
申请日:2005-12-14
申请人: Woojin Lee , Andres Chamorro
发明人: Woojin Lee , Andres Chamorro
IPC分类号: A61B17/115 , A61B17/29 , A61B17/125
CPC分类号: A61B17/2909 , A61B17/29 , A61B2017/2902 , A61B2017/291 , A61B2017/2927 , A61B2017/2929 , A61B2017/2946
摘要: The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. A manually rotatable member is arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle.
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公开(公告)号:US20070276430A1
公开(公告)日:2007-11-29
申请号:US11505003
申请日:2006-08-16
申请人: Woojin Lee , Andres Chamorro
发明人: Woojin Lee , Andres Chamorro
CPC分类号: A61B17/29 , A61B1/00071 , A61B1/00078 , A61B1/0052 , A61B1/008 , A61B90/03 , A61B2017/00314 , A61B2017/00323 , A61B2017/2905 , A61B2017/291 , A61B2017/2929 , A61B2090/508
摘要: The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. A manually rotatable member is arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle. A locking member is supported from the control handle and has locked and unlocked states; in the unlocked state enabling control of the distal work member from the proximal control handle via the bendable members; and in the locked state, holding the bendable members in a pre-selected relative fixed position.
摘要翻译: 外科器械包括远端工具,支撑远侧工具的刚性或柔性细长轴以及近侧手柄或控制构件,其中工具和手柄经由远端和远端工具联接到细长轴的相应远端和近端,并且 近端可弯曲运动构件。 致动装置在所述远端和近端构件之间延伸,从而所述控制手柄相对于所述细长仪器轴的任何偏转导致所述远端运动构件的相应弯曲以控制所述工作构件。 手动旋转构件邻近控制手柄设置,用于相对于控制手柄手动旋转仪器轴和工作构件。 锁定构件由控制手柄支撑并具有锁定和解锁状态; 在所述解锁状态下,能够经由所述可弯曲构件从所述近侧控制手柄控制所述远端工作构件; 并且在锁定状态下,将可弯曲构件保持在预选的相对固定位置。
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公开(公告)号:US08221450B2
公开(公告)日:2012-07-17
申请号:US12074378
申请日:2008-03-03
申请人: Woojin Lee , Andres Chamorro
发明人: Woojin Lee , Andres Chamorro
IPC分类号: A61B17/00
CPC分类号: A61B17/2909 , A61B17/29 , A61B2017/2902 , A61B2017/291 , A61B2017/2927 , A61B2017/2929 , A61B2017/2946
摘要: The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. A manually rotatable member is arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle.
摘要翻译: 外科器械包括远端工具,支撑远侧工具的刚性或柔性细长轴以及近侧手柄或控制构件,其中工具和手柄经由远端和远端工具联接到细长轴的相应远端和近端,并且 近端可弯曲运动构件。 致动装置在所述远端和近端构件之间延伸,从而所述控制手柄相对于所述细长仪器轴的任何偏转导致所述远端运动构件的相应弯曲以控制所述工作构件。 手动旋转构件邻近控制手柄设置,用于相对于控制手柄手动旋转仪器轴和工作构件。
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公开(公告)号:US08029531B2
公开(公告)日:2011-10-04
申请号:US11528134
申请日:2006-09-27
申请人: Woojin Lee , Andres Chamorro , Woojoong Lee
发明人: Woojin Lee , Andres Chamorro , Woojoong Lee
IPC分类号: A61B17/00
CPC分类号: A61B17/29 , A61B1/0052 , A61B1/0057 , A61B17/062 , A61B17/068 , A61B2017/003 , A61B2017/00424 , A61B2017/2905 , A61B2017/2911 , A61B2017/2925 , A61B2017/2927 , A61B2017/2929
摘要: A surgical instrument that includes an instrument shaft having proximal and distal ends, a tool disposed from the distal end of the instrument shaft, a control handle disposed from the proximal end of the instrument shaft, a distal motion member for coupling the distal end of the instrument shaft to the tool, a proximal motion member for coupling the proximal end of the instrument shaft to the handle, actuation means extending between the distal and proximal motion members for coupling motion of the proximal motion member to the distal motion member for controlling the positioning of the tool, a rotation knob disposed adjacent the control handle and rotatable relative to the control handle for causing a corresponding rotation of the instrument shaft and tool and a locking mechanism for fixing the position of the tool at a selected position and having locked and unlocked states. The rotation knob has a first position in which the locking mechanism is controlled to be in its locked state and a second position in which the locking mechanism is released to its unlocked state so as to allow tool positioning.
摘要翻译: 一种手术器械,其包括具有近端和远端的器械轴,从仪器轴的远端设置的工具,从器械轴的近端设置的控制手柄,用于联接器械远端的远端运动构件 仪器轴到工具,用于将器械轴的近端连接到手柄的近端运动构件,在远端和近端运动构件之间延伸的致动装置,用于将近端运动构件运动到远端运动构件,用于控制定位 所述旋转旋钮设置在所述控制手柄附近,并且相对于所述控制手柄可旋转,用于引起所述仪器轴和工具的相应旋转;以及锁定机构,用于将所述工具的位置固定在选定位置并具有锁定和解锁 状态。 旋转旋钮具有第一位置,其中锁定机构被控制在其锁定状态,并且第二位置中锁定机构被释放到其解锁状态,以便允许刀具定位。
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