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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
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。
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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。
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公开(公告)号：US20160015462A1
公开(公告)日：2016-01-21
申请号：US14802758
申请日：2015-07-17
IPC分类号： A61B19/00 , F16D3/26 , A61B17/28 , A61B17/285 , A61B17/00 , A61B17/064
CPC分类号： A61B34/10 , A61B17/00234 , A61B17/064 , A61B17/28 , A61B17/285 , A61B34/30 , A61B34/37 , A61B34/71 , A61B2017/00526 , A61B2034/305 , F16D3/185 , F16D3/26 , Y10S901/29 , Y10T29/49826
摘要： Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.
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公开(公告)号：US09204923B2
公开(公告)日：2015-12-08
申请号：US12173938
申请日：2008-07-16
CPC分类号： A61B18/1445 , A61B17/32 , A61B34/30 , A61B34/71 , A61B2017/003 , A61B2017/2927 , A61B2017/2945 , A61B2018/00345 , A61B2018/00404 , A61B2018/00595 , A61B2018/00601 , A61B2018/00619 , A61B2018/1432 , A61B2018/146 , A61B2034/305
摘要： An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from entering the main tube. Component count and cost may be further reduced using a pair of pulleys that are shared by four drive cables.
摘要翻译： 电动医疗器械使用一个或多个驱动电缆来致动手腕机构或效应器的机械部件并且使效应器电通电。 电绝缘可以使用绝缘主管，驱动电缆从后端机构延伸到效应器，绝缘端盖，其仅留下被暴露的效应器的期望部分，以及一个或多个密封件，以防止导电液体进入 主管。 使用由四个驱动电缆共享的一对滑轮可以进一步减少部件数量和成本。
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公开(公告)号：US09186221B2
公开(公告)日：2015-11-17
申请号：US12173928
申请日：2008-07-16
申请人： William A. Burbank
发明人： William A. Burbank
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/71 , A61B2034/305 , Y10T74/20335
摘要： A transmission or backend mechanism for a medical instrument connects four cables to three motorized degrees of freedom. The transmission employs a first drive mechanism attached to first and second cables and a second drive mechanism attached to third and fourth cables, where each mechanism can include a capstan or a lever system that pulls in one cable while simultaneously feeding out another cables. A third drive mechanism has a first pivot about which a portion of the first drive mechanism rotates, a second pivot about which a portion of the second drive mechanism rotates, and a third pivot about which the third drive mechanism rotates. Rotation of the third drive mechanism about the third pivot pulls in at least one of the first and second cables and feeds out at least one of the third and fourth cables.
摘要翻译： 用于医疗器械的传输或后端机构将四根电缆连接到三个机动自由度。 变速器采用连接到第一和第二缆线的第一驱动机构和连接到第三和第四缆线的第二驱动机构，其中每个机构可以包括主导轮或杠杆系统，其拉动一根电缆同时输出另一根电缆。 第三驱动机构具有第一枢轴，第一驱动机构的一部分绕其旋转;第二枢轴，第二驱动机构的一部分绕其旋转;第三枢轴，第三驱动机构围绕第三枢轴旋转。 第三驱动机构围绕第三枢轴的旋转在第一和第二电缆中的至少一个中拉动并且馈送出第三和第四电缆中的至少一个。
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公开(公告)号：US08998799B2
公开(公告)日：2015-04-07
申请号：US13524438
申请日：2012-06-15
申请人： Joseph P. Orban, III , S. Christopher Anderson , Roman Devengenzo , Bruce M. Schena , Michael Prindiville , Thomas G. Cooper , William A. Burbank
发明人： Joseph P. Orban, III , S. Christopher Anderson , Roman Devengenzo , Bruce M. Schena , Michael Prindiville , Thomas G. Cooper , William A. Burbank
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B46/10 , A61B50/10 , A61B90/50 , A61B2017/00477 , A61B2034/305 , A61B2034/741 , B25J19/0075
摘要： A robotic surgical system comprises a manipulator arm including a spring loaded input and a spring loaded plunger. The system also comprises a sterile adaptor. The sterile adaptor includes a housing, an electrical contact coupled to the housing, and a retractor plate assembly including a top retractor plate and a bottom retractor plate. The retractor plate assembly is movably disposed relative to the housing and adapted to engage the spring loaded plunger. The sterile adaptor also includes a disc captured between and rotatable relative to the top retractor plate and the bottom retractor plate. The disc has a first surface adapted to engage the spring loaded input and a second rotatable surface adapted to engage a surgical instrument in a sterile field.
摘要翻译： 机器人手术系统包括操纵臂，所述操纵臂包括弹簧加载的输入和弹簧加载柱塞。 该系统还包括无菌适配器。 无菌适配器包括壳体，联接到壳体的电触点以及包括顶部牵开器板和底部牵开器板的牵开器板组件。 收缩器板组件相对于壳体可移动地设置并且适于接合弹簧加载柱塞。 无菌适配器还包括捕获在顶部牵开器板和底部牵缩器板之间并可旋转的盘。 盘具有适于接合弹簧加载输入的第一表面和适于在无菌区中接合手术器械的第二可旋转表面。
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7.发明授权Apparatus for surgical systems with electro-mechanical interfaces to mount robotic surgical arms 有权具有机电接口的手术系统的装置，用于安装机器人手术臂公开(公告)号：US08585420B2
公开(公告)日：2013-11-19
申请号：US13281321
申请日：2011-10-25
IPC分类号： H01R13/64
CPC分类号： C10J3/721 , C01B3/36 , C01B2203/025 , C10J3/00 , C10J3/20 , C10J2300/0956 , C10J2300/0959 , C10J2300/0969 , C10J2300/1665 , C10J2300/1681 , C10K3/005 , C10K3/008 , C12P7/065 , C12P7/08 , Y02E50/17 , Y02E50/32
摘要： In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.
摘要翻译： 在本发明的一个实施例中，提供将外科手术机器人手臂安装到机器人手术系统的安装臂的方法，其包括将外科手术机器人手臂的一对引导槽滑动到所述组中的一对引导片上 手臂 将安装臂中的电连接器对准手术机器人手臂的电连接器; 并且将公电连接器巧妙地配合到母电连接器，同时最终将装配臂中的引导突片与手术机器人手臂的壳体的凸缘配合。
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公开(公告)号：US5951574A
公开(公告)日：1999-09-14
申请号：US178389
申请日：1998-10-23
IPC分类号： A61B17/128 , A61B17/04
CPC分类号： A61B17/1285 , Y10S227/901
摘要： A multiple clip applier includes a handle portion and a pair of handles pivotably connected to opposite sides of the housing. A shaft extends from the housing and has a plurality of clips located within. A pair of opposed moveable jaws are attached to and extend from the distal end of the shaft. The jaws receive one of the clips serially when they are open and form the clip received serially when they close. A moveable forming mechanism is operatively connected to the handles by a pair of forming links. As the handles close, the forming mechanism closes the jaws to form the clip received therein, and as the handles are opened, the forming mechanism opens the jaws to receive another clip therein . A feeding mechanism is provided that has a moveable feed plate attached to the handles by a pair of feed links. The feed plate is releasably coupled to a clip pusher. As the handles are closed, the clip pusher remains stationary and uncoupled with the moving feed plate. As the handles are opened, the clip pusher is operatively coupled to the feed plate and moves to place one of the clips into the jaws.
摘要翻译： 多个夹具包括手柄部分和可枢转地连接到壳体的相对侧的一对手柄。 轴从壳体延伸并且具有位于其内的多个夹子。 一对相对的可移动夹爪连接到轴的远端并从轴的远端延伸。 当它们打开时，钳口顺序地接收一个剪辑，并且当它们关闭时形成连续的片段。 可移动成形机构通过一对成形连接件可操作地连接到把手。 当手柄关闭时，成形机构闭合夹爪以形成容纳在其中的夹子，并且当手柄打开时，成形机构打开夹爪以在其中容纳另一个夹子。 提供了一种具有通过一对进料链条附接到把手的可移动进给板的进给机构。 馈送板可释放地联接到夹子推动器。 当手柄关闭时，夹子推动器保持静止并且与移动的进给板脱离联接。 当手柄打开时，夹子推动器可操作地联接到进给板并移动以将夹子中的一个放入夹爪中。
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公开(公告)号：US09615888B2
公开(公告)日：2017-04-11
申请号：US13483410
申请日：2012-05-30
申请人： Scott E. Manzo , William A. Burbank
发明人： Scott E. Manzo , William A. Burbank
CPC分类号： A61B34/35 , A61B17/295 , A61B34/30 , A61B34/32 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/77 , A61B2017/00017 , A61B2017/00119 , A61B2017/2926 , A61B2034/306
摘要： A surgical instrument including a shaft having proximal and distal ends, an end effector, a transmission mechanism and a limit switch, and a method of operating the end effector is provided. The end effector is disposed at the distal end of the shaft and has an end effector component configured to move between a first position and a second position. The transmission mechanism includes a motor and a drive system coupled with the end effector component to move the end effector component between the first position and the second position. The limit switch is operably coupled to the motor and has a first state corresponding to the end effector component being between the first position and the second position, and a second state corresponding to the end effector component being at one of the first position or the second position.
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公开(公告)号：US08876857B2
公开(公告)日：2014-11-04
申请号：US12945541
申请日：2010-11-12
申请人： William A. Burbank
发明人： William A. Burbank
CPC分类号： A61B17/072 , A61B17/07207 , A61B17/285 , A61B17/29 , A61B17/320016 , A61B34/30 , A61B34/37 , A61B34/71 , A61B50/10 , A61B50/13 , A61B50/15 , A61B2017/00398 , A61B2017/00477 , A61B2017/07214 , A61B2017/2932 , A61B2017/2933 , A61B2017/2938 , A61B2017/2946 , A61B2017/2947 , A61B2017/320052
摘要： End effectors with redundant closing mechanisms, and related tools and methods are disclosed. The disclosed end effectors may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises an elongate shaft having a proximal end and a distal end, a tool body disposed at the distal end of the shaft, a jaw movable relative to the tool body between a clamped configuration and an open configuration, a first actuation mechanism coupled with the jaw and operable to vary the position of the jaw relative to the tool body between the clamped configuration and the open configuration, and a second actuation mechanism coupled with the jaw. The second actuation mechanism has a first configuration where the jaw is held in the clamped configuration and a second configuration where the position of the jaw relative to the tool body is unconstrained by the second actuation mechanism.
摘要翻译： 具有冗余闭合机构的结束执行器以及相关的工具和方法被公开。 所公开的末端效应器在用于微创手术时可能是特别有益的。 示例性手术工具包括具有近端和远端的细长轴，设置在所述轴的远端的工具主体，在夹紧构型和打开构型之间可相对于工具主体移动的钳口，第一致动机构 与钳口耦合并且可操作以在钳位构造和打开构型之间改变钳口相对于工具主体的位置，以及与钳口连接的第二致动机构。 第二致动机构具有第一构造，其中夹爪保持在夹紧构型中，并且第二构造使得夹爪相对于工具主体的位置不被第二致动机构约束。
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