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    Method and apparatus for performing minimally invasive surgical procedures
    9.
    发明授权
    Method and apparatus for performing minimally invasive surgical procedures 有权
    用于进行微创外科手术的方法和装置

    公开(公告)号：US6063095A

    公开(公告)日：2000-05-16

    申请号：US156994

    申请日：1998-09-18

    申请人： Yulun Wang ,  Darrin R. Uecker ,  Keith P. Laby ,  Jeff D. Wilson ,  Charles S. Jordan ,  Modjtaba Ghodoussi ,  James W. Wright

    发明人： Yulun Wang ,  Darrin R. Uecker ,  Keith P. Laby ,  Jeff D. Wilson ,  Charles S. Jordan ,  Modjtaba Ghodoussi ,  James W. Wright

    IPC分类号： A61B17/00 ,  A61B17/11 ,  A61B17/28 ,  A61B19/00 ,  A61B19/02 ,  A61B17/04

    CPC分类号： A61B34/75 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/76 ,  A61B34/77 ,  A61B2017/00243 ,  A61B2017/1135 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B46/10 ,  A61B50/00

    摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissues. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.

    摘要翻译： 用于执行微创心脏手术的系统。 该系统包括耦合到一对机器人臂的一对外科器械。 仪器具有能够操纵以保持和缝合组织的末端效应器。 机器人手臂通过控制器耦合到一对主手柄。 手柄可由外科医生移动以产生末端执行器的相应运动。 手柄的移动被缩放，使得末端执行器具有与由外科医生的手执行的运动不同的，通常较小的相应运动。 比例因子是可调节的，因此外科医生可以控制末端执行器运动的分辨率。 端部执行器的运动可以由输入按钮控制，使得当外科医生按下按钮时，末端执行器仅移动。 输入按钮允许外科医生调整手柄的位置而不移动末端执行器，使得手柄可以移动到更舒适的位置。 该系统还可以具有机器人控制的内窥镜，其允许外科医生远程观察手术部位。 可以通过在患者皮肤中进行小切口并将仪器和内窥镜插入患者来进行心脏手术。 外科医生操纵手柄并移动末端执行器以执行心脏手术，例如冠状动脉旁路移植物。