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公开(公告)号：US20110071541A1
公开(公告)日：2011-03-24
申请号：US12618549
申请日：2009-11-13
申请人： Giuseppe Maria Prisco , Samuel Au , Craig R. Gerbi , Theodore W. Rogers , John Ryan Steger , Charles E. Swinehart
发明人： Giuseppe Maria Prisco , Samuel Au , Craig R. Gerbi , Theodore W. Rogers , John Ryan Steger , Charles E. Swinehart
IPC分类号： A61B19/00
CPC分类号： A61B34/70 , A61B1/00149 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3474 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B50/13 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00477 , A61B2017/00526 , A61B2017/00845 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/3419 , A61B2017/3429 , A61B2017/3441 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/301 , A61B2034/305 , Y10S901/41
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译： 机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。
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公开(公告)号：US20110071542A1
公开(公告)日：2011-03-24
申请号：US12618583
申请日：2009-11-13
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译： 机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。
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公开(公告)号：US08545515B2
公开(公告)日：2013-10-01
申请号：US12618583
申请日：2009-11-13
IPC分类号： A61B19/00
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译： 机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。
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公开(公告)号：US08551115B2
公开(公告)日：2013-10-08
申请号：US12618608
申请日：2009-11-13
IPC分类号： A61B19/00
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. Force isolation elements within the flexible shafts prevent shaft bending from affecting end effector actuation elements that extends through the shafts. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译： 机器人手术系统配置有刚性的弯曲插管，其延伸穿过相同的开口进入患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 柔性轴内的力隔离元件防止轴弯曲影响延伸穿过轴的端部执行器致动元件。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。
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公开(公告)号：US20110071544A1
公开(公告)日：2011-03-24
申请号：US12618608
申请日：2009-11-13
IPC分类号： A61B19/00
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. Force isolation elements within the flexible shafts prevent shaft bending from affecting end effector actuation elements that extends through the shafts. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译： 机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 柔性轴内的力隔离元件防止轴弯曲影响延伸穿过轴的端部执行器致动元件。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。
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公开(公告)号：US08623028B2
公开(公告)日：2014-01-07
申请号：US12618621
申请日：2009-11-13
IPC分类号： A61M29/00
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. In one aspect, surgical instrument channels extend at different angles between top and bottom surfaces of a port feature. In another aspect, a funnel portion and a tongue portion are separated by a waist portion, and surgical instrument channels extend from the funnel portion through the waist portion. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译： 机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 在一个方面，手术器械通道在端口特征的顶表面和底表面之间以不同的角度延伸。 在另一方面，漏斗部分和舌部分由腰部分开，手术器械通道从漏斗部分穿过腰部延伸。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。
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公开(公告)号：US20110071473A1
公开(公告)日：2011-03-24
申请号：US12618621
申请日：2009-11-13
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. In one aspect, surgical instrument channels extend at different angles between top and bottom surfaces of a port feature. In another aspect, a funnel portion and a tongue portion are separated by a waist portion, and surgical instrument channels extend from the funnel portion through the waist portion. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译： 机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 在一个方面，手术器械通道在端口特征的顶表面和底表面之间以不同的角度延伸。 在另一方面，漏斗部分和舌部分由腰部分开，手术器械通道从漏斗部分穿过腰部延伸。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。
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