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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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公开(公告)号:US20100191278A1
公开(公告)日:2010-07-29
申请号:US12660979
申请日:2010-03-09
申请人: Woojin Lee , Andres Chamorro
发明人: Woojin Lee , Andres Chamorro
IPC分类号: A61B17/28
CPC分类号: A61B17/29 , A61B17/062 , A61B17/2909 , A61B2017/003 , A61B2017/00327 , A61B2017/00738 , A61B2017/2902 , A61B2017/2905 , A61B2017/291 , A61B2017/2919 , A61B2017/292 , A61B2017/2927 , A61B2017/2929 , A61B2017/2936 , A61B2017/294
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:US07744608B2
公开(公告)日:2010-06-29
申请号:US12023981
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 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:US20100106183A1
公开(公告)日:2010-04-29
申请号:US12587996
申请日:2009-10-15
申请人: Woojin Lee , Andres Chamorro
发明人: Woojin Lee , Andres Chamorro
IPC分类号: A61B17/28
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:US07686826B2
公开(公告)日:2010-03-30
申请号:US11185911
申请日:2005-07-20
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 , A61B17/062 , A61B17/2909 , A61B2017/003 , A61B2017/00327 , A61B2017/00738 , A61B2017/2902 , A61B2017/2905 , A61B2017/291 , A61B2017/2919 , A61B2017/292 , A61B2017/2927 , A61B2017/2929 , A61B2017/2936 , A61B2017/294
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:US20080255420A1
公开(公告)日:2008-10-16
申请号:US11786167
申请日:2007-04-10
申请人: Woojin Lee , Andres Chamorro
发明人: Woojin Lee , Andres Chamorro
IPC分类号: A61B1/313
CPC分类号: A61B17/2909 , A61B2017/2918 , A61B2017/2922 , A61B2017/2923 , A61B2017/2929 , A61B2017/2946
摘要: A surgical instrument having an instrument shaft having proximal and distal ends, a tool disposed from the distal end of the instrument shaft, a control handle coupled 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 and actuation means extending between 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. Rotation control and locking members are also disclosed.
摘要翻译: 具有近端和远端的器械轴的手术器械,从仪器轴的远端设置的工具,从仪器轴的近端连接的控制手柄,用于联接仪器的远端的远端运动构件 轴,连接到工具,用于将器械轴的近端连接到手柄的近端运动构件和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的运动耦合到远端运动构件,以控制定位 工具。 还公开了旋转控制和锁定构件。
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公开(公告)号:US20080046000A1
公开(公告)日:2008-02-21
申请号:US11605694
申请日:2006-11-28
申请人: Woojin Lee , Andres Chamorro , Richard Ross
发明人: Woojin Lee , Andres Chamorro , Richard Ross
IPC分类号: A61B17/00
CPC分类号: A61B17/29 , A61B2017/003 , A61B2017/2905 , A61B2017/291 , A61B2017/292
摘要: The surgical instrument includes a distal tool, an 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 bendable member comprises a ball and socket assembly supported between the handle and instrument shaft and constructed and arranged for three dimensional motion.
摘要翻译: 手术器械包括远端工具,支撑远端工具的细长轴和近侧手柄或控制构件,其中工具和手柄通过远端和近端可弯曲运动联接到细长轴的相应远端和近端 会员 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。 近端可弯曲构件包括支撑在手柄和仪器轴之间的球窝组件,并被构造和布置用于三维运动。
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公开(公告)号:US20170196546A1
公开(公告)日:2017-07-13
申请号:US15469813
申请日:2017-03-27
申请人: Woojin Lee
发明人: Woojin Lee
CPC分类号: A61B17/00 , A61B1/00154 , A61B1/0052 , A61B1/0057 , A61B17/00234 , A61B17/0218 , A61B17/062 , A61B17/068 , A61B17/1285 , A61B17/22 , A61B17/29 , A61B17/2909 , A61B17/3403 , A61B17/3417 , A61B17/3423 , A61B34/70 , A61B34/71 , A61B2017/003 , A61B2017/00309 , A61B2017/00367 , A61B2017/00469 , A61B2017/0225 , A61B2017/2905 , A61B2017/291 , A61B2017/292 , A61B2017/2927 , A61B2017/2929 , A61B2017/3445 , A61B2017/3447
摘要: An instrument guide device comprises an elongated guide shaft having proximal and distal ends and including an instrument lumen for receiving therethrough a manually operated instrument having an instrument shaft. A distal bendable member is disposed at the distal end of the guide shaft and a proximal bendable member is disposed at the proximal end of the guide shaft. Actuation means extends between the distal and proximal bendable members and provides a bending of the distal bendable member controlled from the proximal bendable member. The proximal bendable member is controlled from the manually operated instrument to cause a corresponding bending of said distal bendable member.
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公开(公告)号:US20160354114A1
公开(公告)日:2016-12-08
申请号:US15240449
申请日:2016-08-18
申请人: Woojin Lee
发明人: Woojin Lee
IPC分类号: A61B17/34 , A61B17/068 , A61B1/005 , A61B17/29 , A61B1/00 , A61B17/062 , A61B17/128
CPC分类号: A61B17/00 , A61B1/00154 , A61B1/0052 , A61B1/0057 , A61B17/00234 , A61B17/0218 , A61B17/062 , A61B17/068 , A61B17/1285 , A61B17/22 , A61B17/29 , A61B17/2909 , A61B17/3403 , A61B17/3417 , A61B17/3423 , A61B34/70 , A61B34/71 , A61B2017/003 , A61B2017/00309 , A61B2017/00367 , A61B2017/00469 , A61B2017/0225 , A61B2017/2905 , A61B2017/291 , A61B2017/292 , A61B2017/2927 , A61B2017/2929 , A61B2017/3445 , A61B2017/3447
摘要: An instrument guide device comprises an elongated guide shaft having proximal and distal ends and including an instrument lumen for receiving therethrough a manually operated instrument having an instrument shaft. A distal bendable member is disposed at the distal end of the guide shaft and a proximal bendable member is disposed at the proximal end of the guide shaft. Actuation means extends between the distal and proximal bendable members and provides a bending of the distal bendable member controlled from the proximal bendable member. The proximal bendable member is controlled from the manually operated instrument to cause a corresponding bending of said distal bendable member.
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公开(公告)号:US09427256B2
公开(公告)日:2016-08-30
申请号:US14541261
申请日:2014-11-14
申请人: Woojin Lee
发明人: Woojin Lee
IPC分类号: A61B17/34 , A61B17/062 , A61B17/29 , A61B1/005 , A61B17/02 , A61B17/068 , A61B17/128 , A61B17/00 , A61B1/00
CPC分类号: A61B17/00 , A61B1/00154 , A61B1/0052 , A61B1/0057 , A61B17/00234 , A61B17/0218 , A61B17/062 , A61B17/068 , A61B17/1285 , A61B17/22 , A61B17/29 , A61B17/2909 , A61B17/3403 , A61B17/3417 , A61B17/3423 , A61B34/70 , A61B34/71 , A61B2017/003 , A61B2017/00309 , A61B2017/00367 , A61B2017/00469 , A61B2017/0225 , A61B2017/2905 , A61B2017/291 , A61B2017/292 , A61B2017/2927 , A61B2017/2929 , A61B2017/3445 , A61B2017/3447
摘要: An instrument guide device comprises an elongated guide shaft having proximal and distal ends and including an instrument lumen for receiving therethrough a manually operated instrument having an instrument shaft. A distal bendable member is disposed at the distal end of the guide shaft and a proximal bendable member is disposed at the proximal end of the guide shaft. Actuation means extends between the distal and proximal bendable members and provides a bending of the distal bendable member controlled from the proximal bendable member. The proximal bendable member is controlled from the manually operated instrument to cause a corresponding bending of said distal bendable member.
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