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    MOTOR INTERFACE FOR PARALLEL DRIVE SHAFTS WITHIN AN INDEPENDENTLY ROTATING MEMBER
    1.
    发明申请
    MOTOR INTERFACE FOR PARALLEL DRIVE SHAFTS WITHIN AN INDEPENDENTLY ROTATING MEMBER 有权
    在独立旋转部件内并联驱动装置的电机接口

    公开(公告)号：US20110118754A1

    公开(公告)日：2011-05-19

    申请号：US12945461

    申请日：2010-11-12

    申请人： Gregory W. Dachs, II ,  Todd E. Murphy ,  William A. Burbank ,  William A. McDonald ,  Bruce Michael Schena

    发明人： Gregory W. Dachs, II ,  Todd E. Murphy ,  William A. Burbank ,  William A. McDonald ,  Bruce Michael Schena

    IPC分类号： A61B19/00 ,  B25F5/00

    CPC分类号： A61B34/30 ,  A61B34/71 ,  A61B2017/00477

    摘要： Mechanisms, assemblies, systems, tools, and methods incorporating the use of an offset drive shaft within an independently rotating member are provided. An example mechanism includes a base and a main shaft mounted to rotate relative to the base, a first drive shaft mounted inside the main shaft, and a first drive feature engaged with the first drive shaft. The main shaft includes a proximal end, a distal end, and a main shaft rotational axis defined therebetween. The first drive shaft is offset from the main shaft rotational axis. A first drive feature rotational axis is defined for the first drive feature and is fixed relative to the base as the main shaft rotates. The first drive feature rotates the first drive shaft.

    摘要翻译： 提供了在独立旋转构件内结合使用偏移驱动轴的机构，组件，系统，工具和方法。 示例性机构包括安装成相对于基座旋转的基座和主轴，安装在主轴内部的第一驱动轴和与第一驱动轴接合的第一驱动特征。 主轴包括近端，远端和限定在其间的主轴旋转轴线。 第一驱动轴偏离主轴旋转轴。 第一驱动特征旋转轴线被定义为第一驱动特征并且当主轴旋转时相对于基座固定。 第一驱动特征使第一驱动轴旋转。

    Motor interface for parallel drive shafts within an independently rotating member
    2.
    发明授权
    Motor interface for parallel drive shafts within an independently rotating member 有权
    独立旋转构件内平行驱动轴的电机接口

    公开(公告)号：US08640788B2

    公开(公告)日：2014-02-04

    申请号：US12945461

    申请日：2010-11-12

    申请人： Gregory W. Dachs, II ,  Todd E. Murphy ,  William A. Burbank ,  William A. McDonald, II ,  Bruce Michael Schena

    发明人： Gregory W. Dachs, II ,  Todd E. Murphy ,  William A. Burbank ,  William A. McDonald, II ,  Bruce Michael Schena

    IPC分类号： A61B19/00

    CPC分类号： A61B34/30 ,  A61B34/71 ,  A61B2017/00477

    摘要： Mechanisms, assemblies, systems, tools, and methods incorporating the use of an offset drive shaft within an independently rotating member are provided. An example mechanism includes a base and a main shaft mounted to rotate relative to the base, a first drive shaft mounted inside the main shaft, and a first drive feature engaged with the first drive shaft. The main shaft includes a proximal end, a distal end, and a main shaft rotational axis defined therebetween. The first drive shaft is offset from the main shaft rotational axis. A first drive feature rotational axis is defined for the first drive feature and is fixed relative to the base as the main shaft rotates. The first drive feature rotates the first drive shaft.

    摘要翻译： 提供了在独立旋转构件内结合使用偏移驱动轴的机构，组件，系统，工具和方法。 示例性机构包括安装成相对于基座旋转的基座和主轴，安装在主轴内部的第一驱动轴和与第一驱动轴接合的第一驱动特征。 主轴包括近端，远端和限定在其间的主轴旋转轴线。 第一驱动轴偏离主轴旋转轴。 第一驱动特征旋转轴线被定义为第一驱动特征并且当主轴旋转时相对于基座固定。 第一驱动特征使第一驱动轴旋转。

    Alternate instrument removal
    3.
    发明授权
    Alternate instrument removal 有权
    替代仪器清除

    公开(公告)号：US09241766B2

    公开(公告)日：2016-01-26

    申请号：US12976604

    申请日：2010-12-22

    申请人： Grant Duque ,  Gregory W. Dachs, II

    发明人： Grant Duque ,  Gregory W. Dachs, II

    IPC分类号： A61B19/00

    CPC分类号： A61B90/11 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2560/0443

    摘要： Minimally invasive robotic surgical instruments and related methods are disclosed. A surgical instrument includes an interface fitting that couples a proximal chassis of the instrument with a holding fixture of a robotic manipulator. A securing feature releasably prevents relative axial sliding between the interface fitting and the chassis. In response to binding of the surgical instrument within a minimally invasive surgical site so as to inhibit removal of the surgical instrument from the surgical site and inhibit disengagement of the interface fitting from the holding fixture, the securing feature can be released to allow relative axial sliding between the interface fitting and the chassis, thereby allowing the holding fixture and the interface fitting to be separated from the rest of the surgical instrument and repositioning of the robotic manipulator out of the way.

    摘要翻译： 公开了微创机器人手术器械及相关方法。 手术器械包括将仪器的近侧底盘与机器人操纵器的固定夹具连接的接口配件。 固定功能可释放地防止接口配件和底盘之间的相对轴向滑动。 响应于手术器械在微创外科手术部位内的结合，以便阻止外科手术器械从外科手术部位移除并阻止界面接合件从保持夹具脱离，可以释放固定特征以允许相对轴向滑动 在接口配件和底盘之间，从而允许保持夹具和接口配件与外科器械的其余部分分离，并使机器人操纵器重新定位。

    Seals and sealing methods for a surgical instrument having an articulated end effector actuated by a drive shaft
    5.
    发明授权
    Seals and sealing methods for a surgical instrument having an articulated end effector actuated by a drive shaft 有权
    具有由驱动轴致动的铰接端部执行器的手术器械的密封和密封方法

    公开(公告)号：US09216062B2

    公开(公告)日：2015-12-22

    申请号：US13397578

    申请日：2012-02-15

    申请人： Grant Duque ,  Todd Murphy ,  William Burbank ,  Gregory W. Dachs, II

    发明人： Grant Duque ,  Todd Murphy ,  William Burbank ,  Gregory W. Dachs, II

    IPC分类号： A61B19/00 ,  F16J15/32 ,  A61B17/29

    CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B34/37 ,  A61B2017/2948 ,  A61B2034/302 ,  F16J15/32

    摘要： Sealing assemblies and methods are disclosed for sealing a surgical instrument having an internal drive shaft subject to lateral displacement. A sealing assembly includes a rigid portion shaped to interface with an instrument shaft of the surgical instrument. A laterally oriented slot is open at a radially perimeter location and configured to receive an o-ring seal via the perimeter location. Apertures are disposed on opposing sides of the slot and open to the slot. The apertures are configured to receive the drive shaft there through and are larger than the drive shaft to accommodate lateral displacement of the drive shaft. The slot includes opposing internal sides spaced to interface with opposed axial surfaces of the o-ring seal. The seal inhibits axial transmission of an insufflated gas and/or bodily fluids while accommodating lateral displacement of the drive shaft.

    摘要翻译： 公开了用于密封具有受到侧向位移的内部驱动轴的外科器械的密封组件和方法。 密封组件包括形状与外科器械的器械轴相接合的刚性部分。 横向定位的狭槽在径向周边位置是开放的并且被配置成经由周边位置接收O形环密封。 孔设置在槽的相对侧上并且开口到槽。 孔被构造成通过驱动轴接收驱动轴并且大于驱动轴以适应驱动轴的横向位移。 狭槽包括相对的内侧面，间隔开以与O形环密封件的相对的轴向表面相接触。 密封件在容纳驱动轴的横向位移的同时抑制吹入的气体和/或体液的轴向传播。

    SEALS AND SEALING METHODS FOR A SURGICAL INSTRUMENT HAVING AN ARTICULATED END EFFECTOR ACTUATED BY A DRIVE SHAFT
    6.
    发明申请
    SEALS AND SEALING METHODS FOR A SURGICAL INSTRUMENT HAVING AN ARTICULATED END EFFECTOR ACTUATED BY A DRIVE SHAFT 有权
    具有由驱动轴执行的结构化效果的外科仪器的密封和密封方法

    公开(公告)号：US20120209289A1

    公开(公告)日：2012-08-16

    申请号：US13397578

    申请日：2012-02-15

    申请人： Grant Duque ,  Todd Murphy ,  William Burbank ,  Gregory W. Dachs, II

    发明人： Grant Duque ,  Todd Murphy ,  William Burbank ,  Gregory W. Dachs, II

    IPC分类号： A61B19/00

    CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B34/37 ,  A61B2017/2948 ,  A61B2034/302 ,  F16J15/32

    摘要： Sealing assemblies and methods are disclosed for sealing a surgical instrument having an internal drive shaft subject to lateral displacement. A sealing assembly includes a rigid portion shaped to interface with an instrument shaft of the surgical instrument. A laterally oriented slot is open at a radially perimeter location and configured to receive an o-ring seal via the perimeter location. Apertures are disposed on opposing sides of the slot and open to the slot. The apertures are configured to receive the drive shaft there through and are larger than the drive shaft to accommodate lateral displacement of the drive shaft. The slot includes opposing internal sides spaced to interface with opposed axial surfaces of the o-ring seal. The seal inhibits axial transmission of an insufflated gas and/or bodily fluids while accommodating lateral displacement of the drive shaft.

    摘要翻译： 公开了用于密封具有受到侧向位移的内部驱动轴的外科器械的密封组件和方法。 密封组件包括形状与外科器械的器械轴相接合的刚性部分。 横向定位的狭槽在径向周边位置是开放的并且被配置成经由周边位置接收O形环密封。 孔设置在槽的相对侧上并且开口到槽。 孔被构造成通过驱动轴接收驱动轴并且大于驱动轴以适应驱动轴的横向位移。 狭槽包括相对的内侧面，间隔开以与O形环密封件的相对的轴向表面相接触。 密封件在容纳驱动轴的横向位移的同时抑制吹入的气体和/或体液的轴向传播。

    Optic fiber connection for a force sensing instrument
    8.
    发明授权
    Optic fiber connection for a force sensing instrument 有权
    用于力传感仪器的光纤连接

    公开(公告)号：US08463439B2

    公开(公告)日：2013-06-11

    申请号：US12415795

    申请日：2009-03-31

    申请人： Stephen J. Blumenkranz ,  Gregory W. Dachs, II ,  Ian McDowall ,  Christopher J. Hasser

    发明人： Stephen J. Blumenkranz ,  Gregory W. Dachs, II ,  Ian McDowall ,  Christopher J. Hasser

    IPC分类号： G05B15/00 ,  G05B19/00

    CPC分类号： A61B34/20 ,  A61B18/00 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2034/2061 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2562/0266 ,  G01B11/16 ,  G01L1/242 ,  G02B6/12019 ,  G02B6/264 ,  G02B6/32 ,  Y10T74/20335

    摘要： In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.

    摘要翻译： 在一个实施例中，手术器械包括可与机器人手术系统的操纵臂连接的壳体，可操作地联接到壳体的轴，在轴的远端上的力传感器，以及多个光纤应变计 力传感器。 在一个示例中，多个应变计可操作地耦合到光纤分离器或阵列波导光栅（AWG）多路复用器。 光纤连接器可操作地耦合到光纤分离器或AWG多路复用器。 腕关节可操作地联接到力传感器的远端，并且端部执行器可操作地联接到腕关节。 在另一个实施例中，机器人外科手术操纵器包括可操作地联接到操纵器定位系统的远端的基部连杆和可移动地联接到基部连杆的远端连杆，其中远端连杆包括仪器接口和可光学连接的光纤连接 到手术器械。 还提供了通过光学连接器在仪器和操纵器之间传递数据的方法。

    ALTERNATE INSTRUMENT REMOVAL
    9.
    发明申请
    ALTERNATE INSTRUMENT REMOVAL 有权
    替代仪器拆卸

    公开(公告)号：US20120165828A1

    公开(公告)日：2012-06-28

    申请号：US12976604

    申请日：2010-12-22

    申请人： Grant Duque ,  Gregory W. Dachs, II

    发明人： Grant Duque ,  Gregory W. Dachs, II

    IPC分类号： A61B19/00

    CPC分类号： A61B90/11 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2560/0443

    摘要： Minimally invasive robotic surgical instruments and related methods are disclosed. A surgical instrument includes an interface fitting that couples a proximal chassis of the instrument with a holding fixture of a robotic manipulator. A securing feature releasably prevents relative axial sliding between the interface fitting and the chassis. In response to binding of the surgical instrument within a minimally invasive surgical site so as to inhibit removal of the surgical instrument from the surgical site and inhibit disengagement of the interface fitting from the holding fixture, the securing feature can be released to allow relative axial sliding between the interface fitting and the chassis, thereby allowing the holding fixture and the interface fitting to be separated from the rest of the surgical instrument and repositioning of the robotic manipulator out of the way.

    摘要翻译： 公开了微创机器人手术器械及相关方法。 手术器械包括将仪器的近侧底盘与机器人操纵器的固定夹具连接的接口配件。 固定功能可释放地防止接口配件和底盘之间的相对轴向滑动。 响应于手术器械在微创外科手术部位内的结合，以便阻止外科手术器械从外科手术部位移除并阻止界面接合件从保持夹具脱离，可以释放固定特征以允许相对轴向滑动 在接口配件和底盘之间，从而使保持夹具和接口配件与外科器械的其余部分分离，并使机器人操纵器重新定位。