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    SURGICAL MANIPULATOR FOR A TELEROBOTIC SYSTEM
    1.
    发明申请
    SURGICAL MANIPULATOR FOR A TELEROBOTIC SYSTEM 审中-公开
    用于电磁系统的外科手术器械

    公开(公告)号：US20110060346A1

    公开(公告)日：2011-03-10

    申请号：US12894913

    申请日：2010-09-30

    申请人： Joel F. Jensen ,  Philip S. Green ,  John W. Hill

    发明人： Joel F. Jensen ,  Philip S. Green ,  John W. Hill

    IPC分类号： A61B19/00

    CPC分类号： B25J18/04 ,  A61B17/29 ,  A61B34/35 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2017/00464 ,  A61B2017/00477 ,  A61B2017/2932 ,  A61B2034/305 ,  A61B2090/506 ,  B25J9/1065 ,  B25J15/04 ,  Y10T403/581 ,  Y10T403/587

    摘要： The invention is directed to a system and method for releasably holding a surgical instrument (14), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft (100) with a pair of mounting pins (116) laterally extending from the shaft between its proximal and distal ends. An instrument holder comprises a support having a central bore (202) and an axially extending slot (204) for receiving the instrument shaft and the mounting pins. A pair of locking slots (206) are cut into the support transversely to and in communication with the axial slot so that the mounting pins can be rotated within the locking slots. The instrument support further includes a latch assembly for automatically locking the mounting pins within the locking slots to releasably couple the instrument to the instrument holder. With this twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.

    摘要翻译： 本发明涉及一种用于可释放地保持外科器械（14）的系统和方法，所述外科器械（14）例如被配置为通过患者中的小的经皮渗透递送的内窥镜器械。 仪器包括细长轴（100），其具有一对安装销（116），所述一对安装销（116）在其近端和远端之间从轴向侧向延伸。 仪器保持器包括具有中心孔（202）和用于接收仪器轴和安装销的轴向延伸槽（204）的支撑件。 一对锁定槽（206）被横向地切割到支撑件中并与轴向槽连通，使得安装销可以在锁定槽内旋转。 仪器支架还包括用于将安装销自动锁定在锁定槽内的闩锁组件，以将仪器可释放地耦合到仪器架上。 通过这种扭转锁定运动，外科医生可以在外科手术（例如开放手术，腹腔镜检查或胸腔镜检查）期间快速地将各种器械从保持器接合和脱离。

    Surgical manipulator for a telerobotic system
    2.
    发明授权
    Surgical manipulator for a telerobotic system 有权
    用于远程操作系统的手术操纵器

    公开(公告)号：US06620174B2

    公开(公告)日：2003-09-16

    申请号：US10124573

    申请日：2002-04-16

    申请人： Joel F. Jensen ,  John W. Hill

    发明人： Joel F. Jensen ,  John W. Hill

    IPC分类号： A61B1900

    CPC分类号： A61B19/2203 ,  A61B17/29 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B34/71 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/0813 ,  A61B2090/506 ,  B25J3/04 ,  B25J15/04 ,  B25J18/04 ,  Y10T403/581 ,  Y10T403/587

    摘要： The present invention provides a method of performing an endoscopic surgical procedure on a target site within a body cavity of a patient. In one embodiment, the method comprises operatively coupling moveable actuator pins of a surgical instrument with a driver of a robotic arm to releasably couple the surgical instrument to the robotic arm. A distal portion of said surgical instrument is introduced through a percutaneous penetration into the body cavity within the patient. The surgical instrument can be pivoted about the percutaneous penetration by moving a proximal portion of said instrument outside the body cavity with a plurality of degrees of freedom of movement using the robotic arm.

    摘要翻译： 本发明提供了一种在患者体腔内的目标部位进行内窥镜手术的方法。 在一个实施例中，该方法包括将外科器械的可移动致动器销与机器臂的驱动器可操作地联接，以将外科器械可释放地联接到机器臂。 所述手术器械的远侧部分通过经皮穿透进入患者体内的体腔。 通过使用机器手臂以多个运动自由度将所述器械的近端部分移动到体腔外部，可以围绕经皮穿透枢转手术器械。

    Surgical manipulator for a telerobotic system
    3.
    发明授权
    Surgical manipulator for a telerobotic system 失效
    用于远程操作系统的手术操纵器

    公开(公告)号：US5807378A

    公开(公告)日：1998-09-15

    申请号：US944362

    申请日：1997-10-06

    申请人： Joel F. Jensen ,  John W. Hill

    发明人： Joel F. Jensen ,  John W. Hill

    IPC分类号： A61B17/00 ,  A61B17/28 ,  A61B17/34 ,  A61B19/00 ,  B25J3/04 ,  B25J15/04 ,  B25J18/04

    CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B34/71 ,  A61B90/50 ,  B25J15/04 ,  B25J18/04 ,  B25J3/04 ,  A61B17/29 ,  A61B2017/00477 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/0813 ,  A61B2090/506 ,  Y10T403/581 ,  Y10T403/587

    摘要： The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The assembly comprises a base (6) fixable by passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder (4) movably mounted on the base. The instrument holder comprises a chassis (6) and an instrument support (70) movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly (7) is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The assembly is attached to a remote center positioner (300) for constraining the instrument to rotate about a point coincident with the entry incision and an inclinometer (350) for preventing gravitational forces acting on the system's mechanisms from being felt by the surgeon.

    摘要翻译： 本发明涉及用于在远程操作系统中保持和操纵外科器械（14）的操纵器组件（2）。 该组件包括可由被动或动力驱动的定位装置固定到诸如手术台的表面的基座（6）和可移动地安装在基座上的器械支架（4）。 仪器夹持器包括底盘（6）和可移动地安装在主体上并具有可与外科器械接合的界面的仪器支架（70），以将仪器可释放地安装到仪器架上。 驱动组件（7）可操作地联接到仪器保持器，用于为仪器提供至少两个自由度。 仪器架可与基座和驱动组件分离，以便保持器可以消毒。 组件还包括安装在保持器的远侧的力感测元件（52）和用于检测施加在外科器械上的力并向外科医生提供反馈的驱动组件。 组件附接到远程中心定位器（300），用于约束器械围绕与入口切口重合的点旋转，并且用于防止作用在系统机构上的重力被外科医生感觉到的倾斜计（350）。

    Surgical manipulator for a telerobotic system
    4.
    发明授权
    Surgical manipulator for a telerobotic system 失效
    用于远程操作系统的手术操纵器

    公开(公告)号：US06413264B1

    公开(公告)日：2002-07-02

    申请号：US09104935

    申请日：1998-06-25

    申请人： Joel F. Jensen ,  John W. Hill

    发明人： Joel F. Jensen ,  John W. Hill

    IPC分类号： A61B1900

    CPC分类号： A61B19/2203 ,  A61B17/29 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B34/71 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/0813 ,  A61B2090/506 ,  B25J3/04 ,  B25J15/04 ,  B25J18/04 ,  Y10T403/581 ,  Y10T403/587

    摘要： The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The assembly comprises a base (6) by fixable by means of passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder (4) movably mounted on the base. The instrument holder comprises a chassis (6) and an instrument support (70) movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly (7) is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The assembly is attached to a remote center positioner (300) for constraining the instrument to rotate about a point coincident with the entry incision and an inclinometer (350) for preventing gravitational forces acting on the system's mechanisms from being felt by the surgeon.

    摘要翻译： 本发明涉及用于在远程操作系统中保持和操纵外科器械（14）的操纵器组件（2）。 组件包括通过被动或动力驱动的定位装置可固定到诸如操作台的表面的基座（6）和可移动地安装在基座上的器械支架（4）。 仪器夹持器包括底盘（6）和可移动地安装在主体上并具有可与外科器械接合的界面的仪器支架（70），以将仪器可释放地安装到仪器架上。 驱动组件（7）可操作地联接到仪器保持器，用于为仪器提供至少两个自由度。 仪器架可与基座和驱动组件分离，以便保持器可以消毒。 组件还包括安装在保持器的远侧的力感测元件（52）和用于检测施加在外科器械上的力并向外科医生提供反馈的驱动组件。 组件附接到远程中心定位器（300），用于约束器械围绕与入口切口重合的点旋转，并且用于防止作用在系统机构上的重力被外科医生感觉到的倾斜计（350）。

    System and method for releasably holding a surgical instrument
    6.
    发明授权
    System and method for releasably holding a surgical instrument 有权
    用于可释放地保持外科器械的系统和方法

    公开(公告)号：US06461372B1

    公开(公告)日：2002-10-08

    申请号：US09521253

    申请日：2000-03-08

    申请人： Joel F. Jensen ,  John W. Hill

    发明人： Joel F. Jensen ,  John W. Hill

    IPC分类号： A61B1728

    CPC分类号： B25J18/04 ,  A61B17/29 ,  A61B34/35 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2017/00464 ,  A61B2017/00477 ,  A61B2017/2932 ,  A61B2034/305 ,  A61B2090/506 ,  B25J9/1065 ,  B25J15/04 ,  Y10T403/581 ,  Y10T403/587

    摘要： The invention is directed to a system and method for releasably holding a surgical instrument (14), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft (100) with a pair of mounting pins (116) laterally extending from the shaft between its proximal and distal ends. An instrument holder comprises a support having a central bore (202) and an axially extending slot (204) for receiving the instrument shaft and the mounting pins. A pair of locking slots (206) are cut into the support transversely to and in communication with the axial slot so that the mounting pins can be rotated within the locking slots. The instrument support further includes a latch assembly for automatically locking the mounting pins within the locking slots to releasably couple the instrument to the instrument holder. With this twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.

    摘要翻译： 本发明涉及一种用于可释放地保持外科器械（14）的系统和方法，所述外科器械（14）例如被配置为通过患者中的小的经皮渗透递送的内窥镜器械。 仪器包括细长轴（100），其具有一对安装销（116），所述一对安装销（116）在其近端和远端之间从轴向侧向延伸。 仪器保持器包括具有中心孔（202）和用于接收仪器轴和安装销的轴向延伸槽（204）的支撑件。 一对锁定槽（206）被横向地切割到支撑件中并与轴向槽连通，使得安装销可以在锁定槽内旋转。 仪器支架还包括用于将安装销自动锁定在锁定槽内的闩锁组件，以将仪器可释放地耦合到仪器架上。 通过这种扭转锁定运动，外科医生可以在外科手术（例如开放手术，腹腔镜检查或胸腔镜检查）期间快速地将各种器械从保持器接合和脱离。

    System and method for releasably holding a surgical instrument
    9.
    发明授权
    System and method for releasably holding a surgical instrument 失效
    用于可释放地保持外科器械的系统和方法

    公开(公告)号：US5649956A

    公开(公告)日：1997-07-22

    申请号：US485587

    申请日：1995-06-07

    申请人： Joel F. Jensen ,  John W. Hill

    发明人： Joel F. Jensen ,  John W. Hill

    IPC分类号： A61B17/00 ,  A61B17/28 ,  A61B19/00 ,  B25J9/10 ,  B25J15/04 ,  B25J18/04

    CPC分类号： B25J18/04 ,  A61B34/35 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  B25J15/04 ,  B25J9/1065 ,  A61B17/29 ,  A61B2017/00464 ,  A61B2017/00477 ,  A61B2017/2932 ,  A61B2034/305 ,  A61B2090/506 ,  Y10T403/581 ,  Y10T403/587

    摘要： The invention is directed to a system and method for releasably holding a surgical instrument (14), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft (100) with a pair of mounting pins (116) laterally extending from the shaft between its proximal and distal ends. An instrument holder comprises a support having a central bore (202) and an axially extending slot (204) for receiving the instrument shaft and the mounting pins. A pair of locking slots (206) are cut into the support transversely to and in communication with the axial slot so that the mounting pins can be rotated within the locking slots. The instrument support further includes a latch assembly for automatically locking the mounting pins within the locking slots to releasably couple the instrument to the instrument holder. With this twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.

    摘要翻译： 本发明涉及一种用于可释放地保持外科器械（14）的系统和方法，所述外科器械（14）例如被配置为通过患者中的小的经皮渗透递送的内窥镜器械。 仪器包括细长轴（100），其具有一对安装销（116），所述一对安装销（116）在其近端和远端之间从轴向侧向延伸。 仪器保持器包括具有中心孔（202）和用于接收仪器轴和安装销的轴向延伸槽（204）的支撑件。 一对锁定槽（206）被横向地切割到支撑件中并与轴向槽连通，使得安装销可以在锁定槽内旋转。 仪器支架还包括用于将安装销自动锁定在锁定槽内的闩锁组件，以将仪器可释放地耦合到仪器架上。 通过这种扭转锁定运动，外科医生可以在外科手术（例如开放手术，腹腔镜检查或胸腔镜检查）期间快速地将各种器械从保持器接合和脱离。

    Minesweeping
    10.
    发明授权
    Minesweeping 失效
    扫雷

    公开(公告)号：US4535716A

    公开(公告)日：1985-08-20

    申请号：US451907

    申请日：1982-12-21

    申请人： John W. Hill

    发明人： John W. Hill

    IPC分类号： B63G7/02 ,  B63G7/06 ,  B63G9/00

    CPC分类号： B63G7/06

    摘要： A magnetic mine sweep has at least one block of permanent magnet material connected on each side in flux conducting relationship to respective distributor elements, typically of mild steel, which are secured to respective steel pipes which are closed to form cavities for providing buoyancy and for distributing the flux for mine sweeping purposes. Rigid plastic foam can be provided in the cavities for reserve buoyancy and stiffening purposes. A non-magnetic shroud extends around the block of permanent magnet material.

    摘要翻译： 磁扫掠具有至少一块永久磁铁材料，其每侧连接有与通常为软钢的相应分配器元件的通量传导关系中的永久磁铁材料，所述分配器元件被固定到相应的钢管上，所述钢管被封闭以形成用于提供浮力并用于分配 用于扫雷的通量。 可以在空腔中提供刚性塑料泡沫，以保留浮力和加固目的。 非磁性护罩围绕永磁材料块延伸。