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公开(公告)号：US08603077B2
公开(公告)日：2013-12-10
申请号：US12780758
申请日：2010-05-14
申请人： Thomas G. Cooper , Anthony McGrogan , Matthew Reagan Williams , Eugene F. Duval , S. Christoper Anderson
发明人： Thomas G. Cooper , Anthony McGrogan , Matthew Reagan Williams , Eugene F. Duval , S. Christoper Anderson
CPC分类号： A61B34/30 , A61B34/71 , A61B2017/00477 , B25J13/00 , G05G9/00 , Y10T74/18832 , Y10T74/18856 , Y10T74/20018 , Y10T74/20323 , Y10T74/20329
摘要： A force transmission transmits a force received by an input gimbal plate having two degrees of freedom to an output gimbal plate. The input gimbal plate is coupled to a first end of least three lever arms supported by a pivot. The output gimbal plate is coupled to a second end of the lever arms. The output gimbal plate may be coupled to the lever arms by flexible cables. The cables may be substantially contained within a tube. The output gimbal plate may be substantially smaller than the input gimbal plate. The force transmission may include a secondary output gimbal plate coupled to secondary levers that are coupled to the lever arms. The secondary levers may be third class levers. The secondary output gimbal plate may move proportionately to movement of the output gimbal plate. The force transmission may control a surgical end effector in a robotic surgical instrument.
摘要翻译： 力传递将由具有两个自由度的输入平衡板接收的力传递到输出万向板。 输入万向板联接到由枢轴支撑的至少三个杠杆臂的第一端。 输出万向板与杠杆臂的第二端连接。 输出万向板可以通过柔性电缆耦合到杠杆臂。 电缆可以基本上包含在管内。 输出万向板可以比输入的万向板大得多。 力传递可以包括耦合到耦合到杠杆臂的次级杠杆的次级输出万向板。 次级杠杆可能是三级杠杆。 二次输出万向板可以与输出万向板的移动成比例地移动。 力传递可以控制机器人手术器械中的外科末端执行器。
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公开(公告)号：US07935130B2
公开(公告)日：2011-05-03
申请号：US11865061
申请日：2007-09-30
IPC分类号： A61B17/00
CPC分类号： A61B34/71 , A61B17/3201 , A61B18/1442 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2017/00526 , A61B2017/00836 , A61B2017/2929 , A61B2018/146 , A61B2034/305 , A61B2034/715 , A61B2090/035 , Y10T29/49826
摘要： In one embodiment of the invention, a robotic surgical tool having opposing jaws, the working element of the robotic surgical tool is made of a different material from the drive element of the robotic surgical tool. The two elements may be manufactured independently and assembled together at a later stage. The material comprising each element may thus have properties more appropriate to the function each element plays in the robotic surgical tool. For example, the metal selected to comprise the blade of a surgical scissor may be corrosion resistant and capable of being sharpened to a high degree.
摘要翻译： 在本发明的一个实施例中，具有相对的钳口的机器人手术工具，机器人手术工具的工作元件由与机器人手术工具的驱动元件不同的材料制成。 这两个元件可以独立地制造并且在稍后阶段组装在一起。 因此，包括每个元件的材料可以具有更适合于每个元件在机器人手术工具中起作用的特性的特性。 例如，选择为包括外科剪刀的刀片的金属可以是耐腐蚀的并且能够被高度锐化。
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公开(公告)号：US20090248041A1
公开(公告)日：2009-10-01
申请号：US12060112
申请日：2008-03-31
IPC分类号： A61B19/00
CPC分类号： A61B18/22 , A61B8/12 , A61B8/445 , A61B8/4488 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/30 , A61B90/361 , A61B2017/00477 , A61B2018/2025 , A61B2034/305 , A61B2090/3614 , A61B2090/371 , A61B2090/378
摘要： In one embodiment of the invention, a robotic surgical system includes a combined laser imaging robotic surgical tool, a control console, and a laser generator/controller. The tool is mounted to a first robotic arm of a patient side cart. The tool has a wristed joint and an end effector coupled together. The end effector has a laser-emitting device to direct a laser beam onto tissue in a surgical site and an image-capturing device to capture images of the tissue in the surgical site. The control console, in communication with the tool, receives the captured images of tissue in the surgical site and displays the captured images on a display device to a user. The laser generator/controller is coupled to the tool and the control console to control the emission of the laser beam onto tissue of the surgical site.
摘要翻译： 在本发明的一个实施例中，机器人手术系统包括组合的激光成像机器人手术工具，控制台和激光发生器/控制器。 该工具安装到患者侧推车的第一机器臂上。 该工具具有连接在一起的腕关节和末端执行器。 末端执行器具有用于将激光束引导到外科手术部位的组织上的激光发射装置和用于捕获手术部位中的组织的图像的图像捕获装置。 与该工具通信的控制台接收外科手术部位中所拍摄的组织的图像，并将所捕获的图像显示在用户的显示装置上。 激光发生器/控制器耦合到工具和控制台以控制激光束在外科手术部位的组织上的发射。
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公开(公告)号：US10368838B2
公开(公告)日：2019-08-06
申请号：US12060112
申请日：2008-03-31
IPC分类号： A61B34/00 , A61B8/00 , A61B8/12 , A61B90/30 , A61B34/30 , A61B34/37 , A61B18/22 , A61B18/20 , A61B17/00 , A61B90/00
摘要： In one embodiment of the invention, a robotic surgical system includes a combined laser imaging robotic surgical tool, a control console, and a laser generator/controller. The tool is mounted to a first robotic arm of a patient side cart. The tool has a wristed joint and an end effector coupled together. The end effector has a laser-emitting device to direct a laser beam onto tissue in a surgical site and an image-capturing device to capture images of the tissue in the surgical site. The control console, in communication with the tool, receives the captured images of tissue in the surgical site and displays the captured images on a display device to a user. The laser generator/controller is coupled to the tool and the control console to control the emission of the laser beam onto tissue of the surgical site.
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公开(公告)号：US20110277580A1
公开(公告)日：2011-11-17
申请号：US12780758
申请日：2010-05-14
申请人： Thomas G. Cooper , Anthony McGrogan , Matthew Reagan Williams , Eugene F. Duval , S. Christoper Anderson
发明人： Thomas G. Cooper , Anthony McGrogan , Matthew Reagan Williams , Eugene F. Duval , S. Christoper Anderson
CPC分类号： A61B34/30 , A61B34/71 , A61B2017/00477 , B25J13/00 , G05G9/00 , Y10T74/18832 , Y10T74/18856 , Y10T74/20018 , Y10T74/20323 , Y10T74/20329
摘要： A force transmission transmits a force received by an input gimbal plate having two degrees of freedom to an output gimbal plate. The input gimbal plate is coupled to a first end of least three lever arms supported by a pivot. The output gimbal plate is coupled to a second end of the lever arms. The output gimbal plate may be coupled to the lever arms by flexible cables. The cables may be substantially contained within a tube. The output gimbal plate may be substantially smaller than the input gimbal plate. The force transmission may include a secondary output gimbal plate coupled to secondary levers that are coupled to the lever arms. The secondary levers may be third class levers. The secondary output gimbal plate may move proportionately to movement of the output gimbal plate. The force transmission may control a surgical end effector in a robotic surgical instrument.
摘要翻译： 力传递将由具有两个自由度的输入平衡板接收的力传递到输出万向板。 输入万向板联接到由枢轴支撑的至少三个杠杆臂的第一端。 输出万向板与杠杆臂的第二端连接。 输出万向板可以通过柔性电缆耦合到杠杆臂。 电缆可以基本上包含在管内。 输出万向板可以比输入的万向板大得多。 力传递可以包括耦合到耦合到杠杆臂的次级杠杆的次级输出万向板。 次级杠杆可能是三级杠杆。 二次输出万向板可以与输出万向板的移动成比例地移动。 力传递可以控制机器人手术器械中的外科末端执行器。
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