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51.发明申请公开(公告)号：US20100087835A1
公开(公告)日：2010-04-08
申请号：US12634489
申请日：2009-12-09
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/10 , A61B90/98 , A61B2017/00477 , A61B2017/2929 , A61B2034/305 , A61B2090/064 , A61B2562/08
摘要： A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification information. The wireless package also includes a small folded antenna electrically coupled to the surface acoustic wave strain sensor with identification information. The identification information includes an identification of a type of surgical instrument and unique identification of the specific surgical instrument in the type of surgical instrument.
摘要翻译： 手术器械包括远端部分。 力传感器可操作地安装在远端部分上。 力传感器包括无线封装，其无线地提供（1）外科器械的识别信息和（2）与远端部分有关的应变数据。 手术末端执行器包括钳口，并且远端部分位于钳口的非接触部分上。 无线封装包括具有识别信息的表面声波应变传感器。 无线封装还包括电耦合到具有识别信息的表面声波应变传感器的小折叠天线。 识别信息包括手术器械的类型的识别和手术器械类型中的特定手术器械的独特识别。
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公开(公告)号：US20090192522A1
公开(公告)日：2009-07-30
申请号：US12414534
申请日：2009-03-30
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , G01L1/00
摘要： In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and at least one fiber optic strain gauge positioned over each rib of the plurality of radial ribs. The strain gauges are comprised of a negative thermo-optic coefficient optical fiber material in one embodiment. A proximal end of the tube portion is operably couplable to a shaft of a surgical instrument that is operably couplable to a manipulator arm of a robotic surgical system, and a distal end of the tube portion is proximally couplable to a wrist joint coupled to an end effector. In another embodiment, adjacent fiber optic strain gauges with differing thermal responses are used to solve simultaneous equations in strain and temperature to derive strain while rejecting thermal effects. In yet another embodiment, a thermal shunt shell is over an outer surface of the tube portion. An advantageous surgical instrument having improved temperature compensation is also provided.
摘要翻译： 在一个实施例中，提供一种力传感器装置，其包括具有多个径向肋的管部分和位于多个径向肋的每个肋上的至少一个光纤应变计。 在一个实施例中，应变计由负热光系数光纤材料构成。 管部分的近端可操作地连接到外科器械的轴上，其可操作地连接到机器人手术系统的操纵臂，并且管部分的远端可近端连接到与端部相连的腕关节 效应器。 在另一个实施例中，具有不同热响应的相邻光纤应变计用于解决应变和温度中的联立方程，以在排除热效应的同时导出应变。 在另一个实施例中，热分流壳在管部分的外表面上方。 还提供了具有改善的温度补偿的有利的手术器械。
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公开(公告)号：US20090157092A1
公开(公告)日：2009-06-18
申请号：US11958772
申请日：2007-12-18
CPC分类号： G01L1/246 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/06 , A61B2017/00477 , A61B2034/305 , A61B2090/064
摘要： In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.
摘要翻译： 在一个实施例中，提供一种力传感器装置，其包括具有多个径向肋的管部分和位于所述多个径向肋的每一个上的应变仪，所述管部分的近端可操作地连接到手术的轴 可操作地耦合到机器人手术系统的操纵臂的器械，以及近端耦合到耦合到末端执行器的腕关节的管部分的远端。
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54.发明申请公开(公告)号：US20090088772A1
公开(公告)日：2009-04-02
申请号：US11863142
申请日：2007-09-27
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B5/0075 , A61B5/0084 , A61B5/0086 , A61B34/37 , A61B90/361 , A61B2017/00061 , A61B2017/00477 , A61B2090/306
摘要： In one embodiment, a surgical instrument is described, the instrument including a housing that operably interfaces with a manipulator arm of a robotic surgical system, a shaft including a lengthwise axis, a wrist joint operably coupled to the distal end of the shaft, an end portion operably coupled to the wrist joint, and an optical fiber having a first end operably coupled to the end portion and a second end operably coupled to a spectrophotometer. A system and method for using the surgical instrument are also described.
摘要翻译： 在一个实施例中，描述了一种手术器械，该器械包括与机器人手术系统的操纵器臂可操作地连接的壳体，包括纵向轴的轴，可操作地联接到轴的远端的腕关节， 可操作地联接到腕关节的部分，以及光纤，其具有可操作地耦合到端部的第一端和可操作地耦合到分光光度计的第二端。 还描述了一种使用该外科器械的系统和方法。
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公开(公告)号：USD444555S1
公开(公告)日：2001-07-03
申请号：US29097552
申请日：1998-12-08
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公开(公告)号：USD438617S1
公开(公告)日：2001-03-06
申请号：US29097550
申请日：1998-12-08
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