公开(公告)号：US20120078244A1

公开(公告)日：2012-03-29

申请号：US13235648

申请日：2011-09-19

申请人： Barry C. Worrell ,  Chad P. Boudreaux ,  Matthew C. Miller ,  Charles J. Scheib ,  Frederick E. Shelton, IV ,  Geoffrey S. Strobl ,  Foster B. Stulen ,  Gregory A. Trees ,  Aaron C. Voegele ,  Steven D. Madsen ,  William E. Clem ,  Emron J. Henry

发明人： Barry C. Worrell ,  Chad P. Boudreaux ,  Matthew C. Miller ,  Charles J. Scheib ,  Frederick E. Shelton, IV ,  Geoffrey S. Strobl ,  Foster B. Stulen ,  Gregory A. Trees ,  Aaron C. Voegele ,  Steven D. Madsen ,  William E. Clem ,  Emron J. Henry

IPC分类号： A61B18/18

CPC分类号： A61B17/07207 ,  A61B2017/0038 ,  A61B2017/2908 ,  A61B2017/2927 ,  A61B2017/2946

摘要： An electrosurgical device includes a body, an end effector, a cutting member, and a shaft. The end effector comprises a pair of jaws and at least one electrode that is operable to deliver RF energy to tissue clamped between the jaws. The cutting member is operable to cut tissue clamped between the jaws. The shaft includes an articulation section that is operable to selectively articulate the end effector relative to the shaft. The body includes a controller operable to selectively actuate the articulation section. The controller may include a trigger that also drives the cutting member, a rotator that also rotates the shaft and end effector, a wedge-shaped pivoting member, a pivotally coupled pair of housing portions, or a pivoting cam member, etc. A release member may selectively release the articulation section from the controller, allowing a resilient bias to return the end effector into alignment with the shaft.

摘要翻译： 电外科装置包括主体，端部执行器，切割构件和轴。 末端执行器包括一对钳口和至少一个电极，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作以切割夹在夹爪之间的组织。 轴包括铰接部分，其可操作以相对于轴选择性地关闭端部执行器。 身体包括可操作以选择性地致动关节运动部分的控制器。 控制器可以包括还驱动切割构件的触发器，还使轴和端部执行器旋转的旋转器，楔形枢转构件，可枢转地联接的一对壳体部分或枢转凸轮构件等。释放构件 可以从控制器选择性地释放关节运动部分，允许弹性偏压使末端执行器与轴对准。

公开(公告)号：US20120078248A1

公开(公告)日：2012-03-29

申请号：US13235683

申请日：2011-09-19

申请人： Barry C. Worrell ,  Chad P. Boudreaux ,  Sean P. Conlon ,  Gary W. Knight ,  Matthew C. Miller ,  Charles J. Scheib ,  Frederick E. Shelton, IV ,  Geoffrey S. Strobl ,  Jeffrey S. Swayze ,  Gregory A. Trees ,  Aaron C. Voegele ,  Charles S. Black ,  Kreena R. Modi

发明人： Barry C. Worrell ,  Chad P. Boudreaux ,  Sean P. Conlon ,  Gary W. Knight ,  Matthew C. Miller ,  Charles J. Scheib ,  Frederick E. Shelton, IV ,  Geoffrey S. Strobl ,  Jeffrey S. Swayze ,  Gregory A. Trees ,  Aaron C. Voegele ,  Charles S. Black ,  Kreena R. Modi

IPC分类号： A61B18/18

CPC分类号： A61B18/1447 ,  A61B18/1445 ,  A61B2017/00314 ,  A61B2018/00601 ,  A61B2018/0063 ,  A61B2018/126 ,  A61B2018/1455

摘要： An electrosurgical device comprises a body, an end effector, a cutting member, and a shaft extending between the body and the end effector. The end effector includes a pair of jaws and at least one electrode operable to deliver RF energy to tissue clamped between the jaws. The cutting member is operable to cut tissue clamped between the jaws. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. The articulation section may include beads, segments, asymmetric features, preformedly bent features, an integral hinge, a helical cutout or spring, clevis features, an angled joint, a beaded actuation linkage, and/or an offset pivot, among other things. The device may also include a crimped cutting member, a retroacting cutting member, dual pivoting jaws, and/or a wire tensioning assembly.

摘要翻译： 电外科装置包括主体，端部执行器，切割构件以及在主体和端部执行器之间延伸的轴。 末端执行器包括一对钳口和至少一个电极，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作以切割夹在夹爪之间的组织。 轴包括铰接部分，其可操作以选择性地将末端执行器定位在相对于轴的纵向轴线的非平行位置。 关节运动部分可以包括珠，段，不对称特征，预成型弯曲特征，整体铰链，螺旋切口或弹簧，U形夹特征，成角度接头，串珠致动连杆，和/或偏移枢轴等。 该装置还可以包括卷曲切割构件，追溯切割构件，双重枢转夹爪和/或线张紧组件。

公开(公告)号：US20120078243A1

公开(公告)日：2012-03-29

申请号：US13235623

申请日：2011-09-19

申请人： Barry C. Worrell ,  Zhifan F. Huang ,  Jason R. Lesko ,  Matthew C. Miller ,  Geoffrey S. Strobl ,  Gregory A. Trees ,  Charles S. Black ,  William E. Clem ,  Emron J. Henry ,  Kevin M. Montgomery

发明人： Barry C. Worrell ,  Zhifan F. Huang ,  Jason R. Lesko ,  Matthew C. Miller ,  Geoffrey S. Strobl ,  Gregory A. Trees ,  Charles S. Black ,  William E. Clem ,  Emron J. Henry ,  Kevin M. Montgomery

IPC分类号： A61B19/00 ,  A61B18/18

CPC分类号： A61B17/07207 ,  A61B2017/0038 ,  A61B2017/2908 ,  A61B2017/2927 ,  A61B2017/2946

摘要： An electrosurgical device includes a body, an end effector, a cutting member, and a shaft. The end effector comprises a pair of jaws and at least one electrode that is operable to deliver RF energy to tissue clamped between the jaws. The cutting member is operable to cut tissue clamped between the jaws. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. The body includes a controller operable to selectively actuate the articulation section. The controller may include a rotary knob, a pivoting knob, or a pivoting fin, among other things. An electrical coupling may contact a conductive moving member along at least two axes. A resiliently biased lever may assist a trigger in returning from an actuated position to a home position.

摘要翻译： 电外科装置包括主体，端部执行器，切割构件和轴。 末端执行器包括一对钳口和至少一个电极，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作以切割夹在夹爪之间的组织。 轴包括铰接部分，其可操作以选择性地将末端执行器定位在相对于轴的纵向轴线的非平行位置。 身体包括可操作以选择性地致动关节运动部分的控制器。 控制器可以包括旋钮，旋转旋钮或枢转翅片等。 电耦合可以沿着至少两个轴接触导电移动构件。 弹性偏压杆可以帮助触发器从致动位置返回到原始位置。

公开(公告)号：US20120078247A1

公开(公告)日：2012-03-29

申请号：US13235660

申请日：2011-09-19

申请人： Barry C. Worrell ,  David K. Norvell ,  Charles J. Scheib ,  Frederick E. Shelton, IV ,  Geoffrey S. Strobl ,  Jeffrey S. Swayze ,  Gregory A. Trees ,  Jason E. Zerkle ,  Kevin M. Montgomery

发明人： Barry C. Worrell ,  David K. Norvell ,  Charles J. Scheib ,  Frederick E. Shelton, IV ,  Geoffrey S. Strobl ,  Jeffrey S. Swayze ,  Gregory A. Trees ,  Jason E. Zerkle ,  Kevin M. Montgomery

IPC分类号： A61B18/18

CPC分类号： A61B18/1447 ,  A61B18/1445 ,  A61B2017/00314 ,  A61B2018/00601 ,  A61B2018/0063 ,  A61B2018/126 ,  A61B2018/1455

摘要： An electrosurgical device comprises a body, an end effector, a cutting member, and a shaft. The end effector includes a pair of jaws that are operable to deliver RF energy to tissue that is clamped between the jaws. The cutting member is operable to sever tissue that is clamped between the jaws. The shaft extends between the body and the end effector. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. Some versions include a rotation section that is distal to the articulation section. The rotation section is operable to rotate the end effector relative to the articulation section.

摘要翻译： 电外科装置包括主体，端部执行器，切割构件和轴。 末端执行器包括一对钳口，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作地切割夹在夹爪之间的组织。 轴在主体和端部执行器之间延伸。 轴包括铰接部分，其可操作以选择性地将末端执行器定位在相对于轴的纵向轴线的非平行位置。 一些版本包括在关节部分远端的旋转部分。 旋转部分可操作以相对于关节运动部分旋转末端执行器。

公开(公告)号：US09402682B2

公开(公告)日：2016-08-02

申请号：US13235660

申请日：2011-09-19

申请人： Barry C. Worrell ,  David K. Norvell ,  Charles J. Scheib ,  Frederick E. Shelton, IV ,  Geoffrey S. Strobl ,  Jeffrey S. Swayze ,  Gregory A. Trees ,  Jason E. Zerkle ,  Kevin M. Montgomery

发明人： Barry C. Worrell ,  David K. Norvell ,  Charles J. Scheib ,  Frederick E. Shelton, IV ,  Geoffrey S. Strobl ,  Jeffrey S. Swayze ,  Gregory A. Trees ,  Jason E. Zerkle ,  Kevin M. Montgomery

IPC分类号： A61B18/14 ,  A61B18/00

CPC分类号： A61B18/1447 ,  A61B18/1445 ,  A61B2017/00314 ,  A61B2018/00601 ,  A61B2018/0063 ,  A61B2018/126 ,  A61B2018/1455

摘要： An electrosurgical device comprises a body, an end effector, a cutting member, and a shaft. The end effector includes a pair of jaws that are operable to deliver RF energy to tissue that is clamped between the jaws. The cutting member is operable to sever tissue that is clamped between the jaws. The shaft extends between the body and the end effector. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. Some versions include a rotation section that is distal to the articulation section. The rotation section is operable to rotate the end effector relative to the articulation section.

摘要翻译： 电外科装置包括主体，端部执行器，切割构件和轴。 末端执行器包括一对钳口，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作地切割夹在夹爪之间的组织。 轴在主体和端部执行器之间延伸。 轴包括铰接部分，其可操作以选择性地将末端执行器定位在相对于轴的纵向轴线的非平行位置。 一些版本包括在关节部分远端的旋转部分。 旋转部分可操作以相对于关节运动部分旋转末端执行器。

公开(公告)号：US09877720B2

公开(公告)日：2018-01-30

申请号：US13235623

申请日：2011-09-19

申请人： Barry C. Worrell ,  Zhifan F. Huang ,  Jason R. Lesko ,  Matthew C. Miller ,  Geoffrey S. Strobl ,  Gregory A. Trees ,  Charles S. Black ,  William E. Clem ,  Emron Henry ,  Kevin M. Montgomery

发明人： Barry C. Worrell ,  Zhifan F. Huang ,  Jason R. Lesko ,  Matthew C. Miller ,  Geoffrey S. Strobl ,  Gregory A. Trees ,  Charles S. Black ,  William E. Clem ,  Emron Henry ,  Kevin M. Montgomery

IPC分类号： A61B19/00 ,  A61B17/072 ,  A61B17/00 ,  A61B17/29

CPC分类号： A61B17/07207 ,  A61B2017/0038 ,  A61B2017/2908 ,  A61B2017/2927 ,  A61B2017/2946

摘要： An electrosurgical device includes a body, an end effector, a cutting member, and a shaft. The end effector comprises a pair of jaws and at least one electrode that is operable to deliver RF energy to tissue clamped between the jaws. The cutting member is operable to cut tissue clamped between the jaws. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. The body includes a controller operable to selectively actuate the articulation section. The controller may include a rotary knob, a pivoting knob, or a pivoting fin, among other things. An electrical coupling may contact a conductive moving member along at least two axes. A resiliently biased lever may assist a trigger in returning from an actuated position to a home position.

公开(公告)号：US20140005682A1

公开(公告)日：2014-01-02

申请号：US13539096

申请日：2012-06-29

申请人： Barry C. Worrell ,  Geoffrey S. Strobl ,  Gregory A. Trees ,  Jonathan T. Batross ,  Nicholas G. Molitor ,  Kristen T. Shoger ,  David K. Norvell ,  Michael J. Andreyko ,  Gregory W. Johnson ,  Shawn C. Snyder ,  Chad P. Boudreaux

发明人： Barry C. Worrell ,  Geoffrey S. Strobl ,  Gregory A. Trees ,  Jonathan T. Batross ,  Nicholas G. Molitor ,  Kristen T. Shoger ,  David K. Norvell ,  Michael J. Andreyko ,  Gregory W. Johnson ,  Shawn C. Snyder ,  Chad P. Boudreaux

IPC分类号： A61B19/00

CPC分类号： A61B17/320092 ,  A61B18/12 ,  A61B18/1442 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B90/90 ,  A61B2018/00303

摘要： Various embodiments of surgical robot control systems are disclosed. In one example embodiment, the surgical robot control system comprises a housing. A controller is located within the housing and is coupled to a socket. The socket receives a handheld surgical user interface therein to control a surgical instrument. The surgical instrument is connected to the surgical robot and comprises an end effector and a mechanical interface to manipulate the end effector. The mechanical interface is coupled to the controller. At least one sensor is coupled to the controller and the socket to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument. At least one feedback device is coupled to the controller to provide feedback to a user. The feedback is associated with a predetermined function of the surgical instrument.

摘要翻译： 公开了外科手术机器人控制系统的各种实施例。 在一个示例性实施例中，手术机器人控制系统包括壳体。 控制器位于壳体内并且联接到插座。 插座在其中接收手持式手术用户界面以控制手术器械。 手术器械连接到手术机器人，并且包括端部执行器和用于操纵端部执行器的机械接口。 机械接口耦合到控制器。 至少一个传感器耦合到控制器和插座，以将手持式手术用户界面的移动转换为对应于手术器械的运动的电信号。 至少一个反馈装置耦合到控制器以向用户提供反馈。 反馈与外科器械的预定功能相关联。

公开(公告)号：US09326788B2

公开(公告)日：2016-05-03

申请号：US13539110

申请日：2012-06-29

申请人： Jonathan T. Batross ,  Gregory A. Trees ,  Foster B. Stulen ,  Randolph Stewart ,  Chad P. Boudreaux

发明人： Jonathan T. Batross ,  Gregory A. Trees ,  Foster B. Stulen ,  Randolph Stewart ,  Chad P. Boudreaux

IPC分类号： A61B17/32 ,  A61B18/14 ,  A61B19/00 ,  A61B17/29

CPC分类号： A61B18/1445 ,  A61B17/320092 ,  A61B18/14 ,  A61B34/30 ,  A61B90/03 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2018/00642 ,  A61B2018/00994 ,  A61B2018/1455

摘要： A robotically controlled surgical tool including a lockout mechanism is provided. The surgical tool may comprise an instrument mounting portion. The instrument mounting portion includes a housing, a plate, a shaft assembly comprising an end effector, and a coupler to couple the shaft assembly to the instrument mounting portion. The end effector comprises a first jaw member and a second jaw member, the first and second jaw members defining a channel therebetween, and a blade slideably receivable within the channel to cut tissue located between the first and second jaw members. The surgical tool may include an actuation mechanism to actuate the end effector to provide reciprocating movement of the blade within the channel. A lockout mechanism is coupled to the actuation mechanism. The lockout mechanism may selectively enable reciprocating movement of the blade. An interface mechanically and electrically couples the instrument mounting portion to a robotic manipulator.

摘要翻译： 提供了一种包括锁定机构的机器人控制的手术工具。 手术工具可以包括器械安装部分。 仪器安装部分包括壳体，板，包括末端执行器的轴组件和将轴组件连接到仪器安装部分的联接器。 末端执行器包括第一钳口构件和第二钳口构件，第一和第二钳口构件在其间限定通道，以及可滑动地容纳在通道内的刀片，以切割位于第一和第二钳口构件之间的组织。 手术工具可以包括致动机构以致动末端执行器以提供刀片在通道内的往复运动。 锁定机构联接到致动机构。 锁定机构可以选择性地实现叶片的往复运动。 接口将仪器安装部分机械和电耦合到机器人操纵器。

公开(公告)号：US20140005654A1

公开(公告)日：2014-01-02

申请号：US13539110

申请日：2012-06-29

申请人： Jonathan T. Batross ,  Gregory A. Trees ,  Foster B. Stulen ,  Randolph Stewart ,  Chad P. Boudreaux

发明人： Jonathan T. Batross ,  Gregory A. Trees ,  Foster B. Stulen ,  Randolph Stewart ,  Chad P. Boudreaux

IPC分类号： A61B17/295 ,  A61B18/18 ,  A61B18/14

CPC分类号： A61B18/1445 ,  A61B17/320092 ,  A61B18/14 ,  A61B34/30 ,  A61B90/03 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2018/00642 ,  A61B2018/00994 ,  A61B2018/1455

摘要： A robotically controlled surgical tool comprising including a lockout mechanism is provided. The surgical tool may comprise an instrument mounting portion. The instrument mounting portion includes a housing, a plate, a shaft assembly comprising an end effector, and a coupler to couple the shaft assembly to the instrument mounting portion. The end effector comprises a first jaw member and a second jaw member, the first and second jaw members defining a channel therebetween, and a blade slideably receivable within the channel to cut tissue located between the first and second jaw members. The surgical tool may include an actuation mechanism to actuate the end effector to provide reciprocating movement of the blade within the channel. A lockout mechanism is coupled to the actuation mechanism. The lockout mechanism may selectively enable reciprocating movement of the blade. An interface mechanically and electrically couples the instrument mounting portion to a robotic manipulator.

摘要翻译： 提供了包括锁定机构的机器人控制的外科手术工具。 手术工具可以包括器械安装部分。 仪器安装部分包括壳体，板，包括末端执行器的轴组件和将轴组件连接到仪器安装部分的联接器。 末端执行器包括第一钳口构件和第二钳口构件，第一和第二钳口构件在其间限定通道，以及可滑动地容纳在通道内的刀片，以切割位于第一和第二钳口构件之间的组织。 手术工具可以包括致动机构以致动末端执行器以提供刀片在通道内的往复运动。 锁定机构联接到致动机构。 锁定机构可以选择性地实现叶片的往复运动。 接口将仪器安装部分机械和电耦合到机器人操纵器。

公开(公告)号：US09198714B2

公开(公告)日：2015-12-01

申请号：US13539096

申请日：2012-06-29

申请人： Barry C. Worrell ,  Geoffrey S. Strobl ,  Gregory A. Trees ,  Jonathan T. Batross ,  Nicholas G. Molitor ,  Kristen T. Shoger ,  David K. Norvell ,  Michael J. Andreyko ,  Gregory W. Johnson ,  Shawn C. Snyder

发明人： Barry C. Worrell ,  Geoffrey S. Strobl ,  Gregory A. Trees ,  Jonathan T. Batross ,  Nicholas G. Molitor ,  Kristen T. Shoger ,  David K. Norvell ,  Michael J. Andreyko ,  Gregory W. Johnson ,  Shawn C. Snyder

IPC分类号： A61B19/00 ,  A61B18/14 ,  A61B17/32 ,  A61B18/12 ,  A61B18/00

CPC分类号： A61B17/320092 ,  A61B18/12 ,  A61B18/1442 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B90/90 ,  A61B2018/00303

摘要： Various embodiments of surgical robot control systems are disclosed. In one example embodiment, the surgical robot control system comprises a housing. A controller is located within the housing and is coupled to a socket. The socket receives a handheld surgical user interface therein to control a surgical instrument. The surgical instrument is connected to the surgical robot and comprises an end effector and a mechanical interface to manipulate the end effector. The mechanical interface is coupled to the controller. At least one sensor is coupled to the controller and the socket to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument. At least one feedback device is coupled to the controller to provide feedback to a user. The feedback is associated with a predetermined function of the surgical instrument.

摘要翻译： 公开了外科手术机器人控制系统的各种实施例。 在一个示例性实施例中，手术机器人控制系统包括壳体。 控制器位于壳体内并且联接到插座。 插座在其中接收手持式手术用户界面以控制手术器械。 手术器械连接到手术机器人，并且包括端部执行器和用于操纵端部执行器的机械接口。 机械接口耦合到控制器。 至少一个传感器耦合到控制器和插座，以将手持式手术用户界面的移动转换为对应于手术器械的运动的电信号。 至少一个反馈装置耦合到控制器以向用户提供反馈。 反馈与外科器械的预定功能相关联。