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公开(公告)号：US20120232566A1
公开(公告)日：2012-09-13
申请号：US13476083
申请日：2012-05-21
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , Y10T29/49826 , Y10T428/13
摘要： An improved sterile drape, system, and method for draping portions of a telerobotic surgical system are provided. In one embodiment, a sterile drape includes an exterior surface adjacent to a sterile field for performing a surgical procedure, and an interior surface forming a cavity for receiving the non-sterile portion of a robotic surgical system, such as a manipulator. The drape further includes a fastener coupled to the exterior surface for securing the sterile drape to the non-sterile portion of the robotic surgical system while reducing the volume of the sterile drape. Advantageously, the drape allows for quick and simple installation and increases visualization of the patient by reducing the size of the drape with more form fitting features, while allowing for freedom of movement of the manipulator.
摘要翻译： 提供了一种改进的无菌悬垂布，系统和方法，用于覆盖远程外科手术系统的部分。 在一个实施例中，无菌悬垂包括邻近用于进行外科手术的无菌区域的外表面，以及形成用于接收诸如操纵器的机器人手术系统的非无菌部分的空腔的内表面。 该悬垂布还包括连接到外表面的紧固件，用于将无菌覆盖物固定到机器人手术系统的非无菌部分，同时减少无菌盖布的体积。 有利地，盖布允许快速和简单的安装，并且通过以更多的形状配合特征减小悬垂布的尺寸，同时允许操纵器的移动自由来增加患者的可视化。
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公开(公告)号：US20100200002A1
公开(公告)日：2010-08-12
申请号：US12760779
申请日：2010-04-15
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , Y10T29/49826 , Y10T428/13
摘要： An improved sterile drape, system, and method for draping portions of a telerobotic surgical system are provided. In one embodiment, a sterile drape includes an exterior surface adjacent to a sterile field for performing a surgical procedure, and an interior surface forming a cavity for receiving the non-sterile portion of a robotic surgical system, such as a manipulator. The drape further includes a fastener coupled to the exterior surface for securing the sterile drape to the non-sterile portion of the robotic surgical system while reducing the volume of the sterile drape. Advantageously, the drape allows for quick and simple installation and increases visualization of the patient by reducing the size of the drape with more form fitting features, while allowing for freedom of movement of the manipulator.
摘要翻译： 提供了一种改进的无菌悬垂布，系统和方法，用于覆盖远程外科手术系统的部分。 在一个实施例中，无菌悬垂包括邻近用于进行外科手术的无菌区域的外表面，以及形成用于接收诸如操纵器的机器人手术系统的非无菌部分的空腔的内表面。 该悬垂布还包括连接到外表面的紧固件，用于将无菌覆盖物固定到机器人手术系统的非无菌部分，同时减少无菌盖布的体积。 有利地，盖布允许快速和简单的安装，并且通过以更多的形状配合特征减小悬垂布的尺寸，同时允许操纵器的移动自由来增加患者的可视化。
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公开(公告)号：US09320568B2
公开(公告)日：2016-04-26
申请号：US13476083
申请日：2012-05-21
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , Y10T29/49826 , Y10T428/13
摘要： A surgical drape comprises an exterior surface adjacent to a sterile field for performing a surgical procedure and an interior surface forming a cavity for receiving a non-sterile portion of a robotic surgical system. The surgical drape also includes a first vent through the interior and exterior surfaces spaced apart from a second vent through the interior and exterior surfaces to create convection heat venting through the surgical drape. The exterior and interior surfaces include a window for positioning adjacent to a monitor screen, the window having a static charge.The drape further comprises second drape section connected to a first drape section and including an instrument sterile adapter for engaging a surgical tool and another non-sterile portion of the robotic surgical system, the sterile adapter configured to transfer signals between the surgical tool and the other non-sterile portion of the robotic surgical system.
摘要翻译： 手术罩包括邻近无菌区域的外表面，用于执行外科手术，以及形成用于接收机器人手术系统的非无菌部分的空腔的内表面。 手术罩还包括通过内部和外部表面的第一通气口，其通过内部和外部表面间隔开第二通气口，以产生穿过手术罩的对流热通气。 外表面和内表面包括用于邻近监视器屏幕定位的窗口，窗口具有静电荷。 所述盖布还包括连接到第一覆盖部分并且包括用于接合外科手术工具的机器无菌适配器和所述机器人手术系统的另一非无菌部分的第二覆盖部分，所述无菌适配器被配置为在所述外科手术工具与所述外科手术工具之间传递信号 机器人手术系统的非无菌部分。
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公开(公告)号：US07727244B2
公开(公告)日：2010-06-01
申请号：US11240113
申请日：2005-09-30
IPC分类号： A61B19/02
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , Y10T29/49826 , Y10T428/13
摘要： An improved sterile drape, system, and method for draping portions of a telerobotic surgical system are provided. In one embodiment, a sterile drape includes an exterior surface adjacent to a sterile field for performing a surgical procedure, and an interior surface forming a cavity for receiving the non-sterile portion of a robotic surgical system, such as a manipulator. The drape further includes a fastener coupled to the exterior surface for securing the sterile drape to the non-sterile portion of the robotic surgical system while reducing the volume of the sterile drape. Advantageously, the drape allows for quick and simple installation and increases visualization of the patient by reducing the size of the drape with more form fitting features, while allowing for freedom of movement of the manipulator.
摘要翻译： 提供了一种改进的无菌悬垂布，系统和方法，用于覆盖远程外科手术系统的部分。 在一个实施例中，无菌悬垂包括邻近用于进行外科手术的无菌区域的外表面，以及形成用于接收诸如操纵器的机器人手术系统的非无菌部分的空腔的内表面。 该悬垂布还包括连接到外表面的紧固件，用于将无菌覆盖物固定到机器人手术系统的非无菌部分，同时减少无菌盖布的体积。 有利地，盖布允许快速和简单的安装，并且通过以更多的形状配合特征减小悬垂布的尺寸，同时允许操纵器的移动自由来增加患者的可视化。
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公开(公告)号：US07699855B2
公开(公告)日：2010-04-20
申请号：US11395418
申请日：2006-03-31
申请人： S. Christopher Anderson , Joseph Orban, III , Bruce Schena , Thomas G. Cooper , Roman Devengenzo
发明人： S. Christopher Anderson , Joseph Orban, III , Bruce Schena , Thomas G. Cooper , Roman Devengenzo
IPC分类号： A61B19/00
CPC分类号： A61B46/10 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B2017/00477 , A61B2034/305 , A61B2034/741
摘要： A sterile adaptor, a sterile drape with the integrated sterile adaptor, and a telerobotic surgical system including the sterile drape with a drape interface are provided. The adaptor, drape, and system allow for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals between a robotic arm and a surgical instrument in the sterile field.
摘要翻译： 提供无菌适配器，具有集成的无菌适配器的无菌悬垂布，以及包括具有悬垂接口的无菌覆盖物的远程外科手术系统。 适配器，悬垂和系统允许跨部门手术系统的悬垂部分在无菌外科手术领域和非无菌机器人系统之间保持无菌屏障，同时还提供用于在机器人手臂之间传递机械和电能以及信号的接口 和无菌领域的手术器械。
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公开(公告)号：US08790243B2
公开(公告)日：2014-07-29
申请号：US13020625
申请日：2011-02-03
IPC分类号： A61B1/00
CPC分类号： A61B34/30 , A61B1/00142 , A61B1/00149 , A61B1/0058 , A61B1/008 , A61B1/018 , A61B17/00 , A61B17/062 , A61B17/068 , A61B17/1285 , A61B17/29 , A61B18/1442 , A61B34/71 , A61B2017/003 , A61B2017/00309 , A61B2017/2901 , A61B2034/305 , A61B2034/306
摘要： The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument includes an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.
摘要翻译： 本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。 在一个实施例中，微创手术器械包括细长轴，其具有在工作端和近端之间的工作端，近端和轴线; 和末端执行器。 手腕构件具有柔性管，其包括延伸穿过由壁围成的内部的轴线。 柔性管的壁包括大致平行于柔性管的轴线定向的多个管腔。 手腕构件具有连接到细长轴的工作端的近端部分和连接到端部执行器的远端部分。 多个致动电缆具有连接到末端执行器的远端部分并且从远端部分延伸穿过腕部构件的壁的内腔朝向细长轴到近端部分，该近端部分可以在俯仰旋转和偏转旋转中使手腕构件弯曲 。
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公开(公告)号：US08529582B2
公开(公告)日：2013-09-10
申请号：US13112452
申请日：2011-05-20
申请人： Roman L. Devengenzo , Thomas G. Cooper , Joseph P. Orban, III , Bruce Schena , Alan Loh , S. Christopher Anderson
发明人： Roman L. Devengenzo , Thomas G. Cooper , Joseph P. Orban, III , Bruce Schena , Alan Loh , S. Christopher Anderson
CPC分类号： A61B34/30 , A61B90/00 , Y10S901/27 , Y10S901/41
摘要： An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.
摘要翻译： 提供了机器人操纵器的仪器界面和包括仪器界面的手术系统。 在一个实施例中，仪器接口包括用于向能够可操作地连接仪器的无菌适配器提供轴向负载和扭矩的弹簧加载输入。 在另一个实施例中，机器人手术操纵器系统包括操纵器组件，其包括可操作地联接到操纵臂的远端的基部连杆和沿着纵向轴线可移动地联接到所述基部连杆的滑架连杆，所述滑架连杆包括集成 仪器界面。 该系统还包括经由仪器接口可操作地耦合到滑架连杆的仪器，以及可操作地耦合到操纵器组件的用于感测仪器存在的处理器。
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公开(公告)号：US08202278B2
公开(公告)日：2012-06-19
申请号：US12760779
申请日：2010-04-15
IPC分类号： A61B19/02
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , Y10T29/49826 , Y10T428/13
摘要： A sterile drape, system, and method for draping portions of a telerobotic surgical system are provided. In one embodiment, a sterile drape includes an exterior surface adjacent to a sterile field for performing a surgical procedure, and an interior surface forming a cavity for receiving the non-sterile portion of a robotic surgical system, such as a manipulator. The drape further includes an integral cuff including a permanently turned-up fold of the exterior and interior surfaces at an open end of the cavity and a marker on the permanently turned-up fold designating a sterile side and a non-sterile side of the drape.
摘要翻译： 提供了一种用于悬挂远程外科手术系统的部分的无菌悬垂布，系统和方法。 在一个实施例中，无菌悬垂包括邻近用于进行外科手术的无菌区域的外表面，以及形成用于接收诸如操纵器的机器人手术系统的非无菌部分的空腔的内表面。 该悬垂布进一步包括一体式的袖带，其包括在空腔的开口端处的外表面和内表面的永久折叠折叠，以及在永久折叠折叠上的标记，其指定悬垂布的无菌侧和非无菌侧 。
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公开(公告)号：US08182469B2
公开(公告)日：2012-05-22
申请号：US11240087
申请日：2005-09-30
申请人： S. Christopher Anderson , Thomas G Cooper , Bruce Schena , William Burbank , Margaret M Nixon , Alan Loh
发明人： S. Christopher Anderson , Thomas G Cooper , Bruce Schena , William Burbank , Margaret M Nixon , Alan Loh
CPC分类号： A61B90/57 , A61B17/3421 , A61B34/30 , A61B34/37 , A61B34/71 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , F16B2/10 , F16B2/185
摘要： A surgical accessory clamp, method of use, and a robotic surgical system including the clamp are disclosed. A surgical accessory may be attached and removed from a manipulator arm during a surgical procedure without requiring the use of an intermediate sterile accessory clamp, thus removing the need for a detachable accessory mount or adaptor that needs cleaning and sterilization and allowing for greater efficiency and cost-effectiveness. The accessory clamp further allows for easy removal and attachment of instruments, tools, or accessories to the robotic surgical system without breach of sterility. In one embodiment, an accessory clamp includes a base for coupling to a distal end of a manipulator arm; two clamp jaws adapted to receive a surgical accessory, each of the clamp jaws rotatably coupled to the base and configured to pivot relative to one another; a sterile drape portion over the two clamp jaws; and a lever portion capable of actuating the two clamp jaws into an open position or a closed position.
摘要翻译： 公开了一种手术附件夹具，使用方法和包括夹具的机器人手术系统。 在外科手术过程中，外科手术辅助部件可以从手术臂附接和移除，而不需要使用中间的无菌附件夹具，因此不再需要可拆卸的附件安装件或适配器，需要清洁和灭菌并允许更高的效率和成本 有效性 附件夹还可以方便地将仪器，工具或附件移除到机器人手术系统中，而不会破坏无菌性。 在一个实施例中，附件夹具包括用于联接到操纵臂的远端的基座; 两个夹钳适于接纳外科附件，每个夹钳可旋转地联接到基座并且构造成相对于彼此枢转; 两个夹爪上的无菌悬垂部分; 以及能够使两个夹爪进入打开位置或关闭位置的杆部。
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公开(公告)号：US20110277579A1
公开(公告)日：2011-11-17
申请号：US12780747
申请日：2010-05-14
CPC分类号： B25J9/104 , A61B34/30 , A61B34/71 , Y10T74/20323
摘要： A cable guide re-orders a plurality of cables. A first guide plate has a plurality of first guide holes that receive a plurality of cables in a first order. A second guide plate has a plurality of second guide holes that receive the plurality of cables in a different second order. An intermediate guide plate is located between the first and second guide plates. The intermediate guide plate has a plurality of intermediate guide holes. Each of the intermediate guide holes receives one of the plurality of cables and causes a change of direction in the cable to facilitate the change from the first to the second order. The intermediate guide plate may further include cable passages to allow some cables to pass through without changing direction. There may be more than one intermediate guide plate. The cables may change from a generally linear to a generally circular arrangement.
摘要翻译： 电缆导轨重新订购多根电缆。 第一引导板具有多个第一引导孔，其以第一顺序接收多个电缆。 第二引导板具有多个第二引导孔，其以不同的二次接收多个电缆。 中间导板位于第一和第二导向板之间。 中间导板具有多个中间导向孔。 每个中间引导孔容纳多个电缆中的一个，并且导致电缆中的方向改变以便于从第一到第二次的改变。 中间引导板还可以包括电缆通道，以允许一些电缆通过而不改变方向。 可能有多个中间导板。 电缆可能从一般线性变化到大致圆形的布置。
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