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1.发明申请Robotic Surgical Systems With Fluid Flow Control For Irrigation, Aspiration, and Blowing 审中-公开机器人手术系统与流体流量控制灌溉，吸气和吹公开(公告)号：US20120197182A1
公开(公告)日：2012-08-02
申请号：US13443852
申请日：2012-04-10
申请人： Paul Millman , David Bailey , Dean Hoornaert , David Stephen Mintz , David Q. Larkin , John Magnasco , Gary Guthurt , Nitish Swarup , Salvatore Brogna
发明人： Paul Millman , David Bailey , Dean Hoornaert , David Stephen Mintz , David Q. Larkin , John Magnasco , Gary Guthurt , Nitish Swarup , Salvatore Brogna
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a robotic surgical system is provided including a master control console and a surgical manipulator. The master control console generates control signals to cause one or more fluids to flow into or out of a surgical site. The surgical manipulator is coupled to the console to receive the control signals and includes at least one robotic arm and a surgical instrument coupled thereto. The surgical manipulator controls the surgical instrument in response to the control signals to control the flow of the one or more fluids into or out of the surgical site. The surgical instrument has a first robotically controlled valve that is responsive to the surgical manipulator and a hollow tube having a first end coupled to the first robotically controlled valve with an opening at a second end to direct the flow of one or more fluids.
摘要翻译： 在本发明的一个实施例中，提供了包括主控制台和手术操纵器的机器人手术系统。 主控制台产生控制信号以使一个或多个流体流入或流出外科手术部位。 手术操纵器联接到控制台以接收控制信号，并且包括至少一个机器人臂和与其耦合的外科器械。 手术操纵器响应于控制信号控制外科器械，以控制一个或多个流体流入或流出手术部位的流动。 外科器械具有响应于手术操纵器的第一机器人控制的阀，以及中空管，其具有联接到第一机械手控制阀的第一端，在第二端具有开口以引导一种或多种流体的流动。
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2.发明授权Robotic surgical systems with fluid flow control for irrigation, aspiration, and blowing 有权具有流体流量控制的机器人手术系统用于灌溉，抽吸和吹风公开(公告)号：US09216243B2
公开(公告)日：2015-12-22
申请号：US13443852
申请日：2012-04-10
申请人： Paul Millman , David Bailey , Dean Hoornaert , David Stephen Mintz , David Q Larkin , John Magnasco , Gary Guthurt , Nitish Swarup , Salvatore Brogna
发明人： Paul Millman , David Bailey , Dean Hoornaert , David Stephen Mintz , David Q Larkin , John Magnasco , Gary Guthurt , Nitish Swarup , Salvatore Brogna
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a robotic surgical system is provided including a master control console and a surgical manipulator. The master control console generates control signals to cause one or more fluids to flow into or out of a surgical site. The surgical manipulator is coupled to the console to receive the control signals and includes at least one robotic arm and a surgical instrument coupled thereto. The surgical manipulator controls the surgical instrument in response to the control signals to control the flow of the one or more fluids into or out of the surgical site. The surgical instrument has a first robotically controlled valve that is responsive to the surgical manipulator and a hollow tube having a first end coupled to the first robotically controlled valve with an opening at a second end to direct the flow of one or more fluids.
摘要翻译： 在本发明的一个实施例中，提供了包括主控制台和手术操纵器的机器人手术系统。 主控制台产生控制信号以使一个或多个流体流入或流出外科手术部位。 手术操纵器联接到控制台以接收控制信号，并且包括至少一个机器人臂和与其耦合的外科器械。 手术操纵器响应于控制信号控制外科器械，以控制一个或多个流体流入或流出手术部位的流动。 外科器械具有响应于手术操纵器的第一机器人控制的阀，以及中空管，其具有联接到第一机械手控制阀的第一端，在第二端具有开口以引导一个或多个流体的流动。
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3.发明申请Methods of fluid flow control with robotic surgical instruments for irrigation, aspiration, and blowing 审中-公开使用机器人手术器械进行灌流，抽吸和吹气的流体流量控制方法公开(公告)号：US20090099520A1
公开(公告)日：2009-04-16
申请号：US11454476
申请日：2006-06-15
申请人： Paul Millman , David Bailey , Dean Hoornaert , David Stephen Mintz , David Q. Larkin , John Magnasco , Gary Guthart , Salvatore Brogna
发明人： Paul Millman , David Bailey , Dean Hoornaert , David Stephen Mintz , David Q. Larkin , John Magnasco , Gary Guthart , Salvatore Brogna
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a first control signal is generated to control a robotic surgical instrument. The first control signal is then coupled into the robotic surgical instrument. In response to the first control signal, a first valve in the robotic surgical instrument is opened to flow a first fluid over a surgical site.
摘要翻译： 在本发明的一个实施例中，产生第一控制信号以控制机器人手术器械。 然后将第一控制信号耦合到机器人手术器械中。 响应于第一控制信号，打开机器人手术器械中的第一阀以使第一流体在手术部位上流动。
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4.发明申请Robotic surgical systems with fluid flow control for irrigation, aspiration, and blowing 审中-公开具有流体流量控制的机器人手术系统用于灌溉，抽吸和吹风公开(公告)号：US20070156121A1
公开(公告)日：2007-07-05
申请号：US11454359
申请日：2006-06-15
申请人： Paul Millman , David Bailey , Dean Hoornaert , David Mintz , David Larkin , John Magnasco , Gary Guthart , Nitish Swarup , Salvatore Brogna
发明人： Paul Millman , David Bailey , Dean Hoornaert , David Mintz , David Larkin , John Magnasco , Gary Guthart , Nitish Swarup , Salvatore Brogna
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a robotic surgical system is provided including a master control console and a surgical manipulator. The master control console generates control signals to cause one or more fluids to flow into or out of a surgical site. The surgical manipulator is coupled to the console to receive the control signals and includes at least one robotic arm and a surgical instrument coupled thereto. The surgical manipulator controls the surgical instrument in response to the control signals to control the flow of the one or more fluids into or out of the surgical site. The surgical instrument has a first robotically controlled valve that is responsive to the surgical manipulator and a hollow tube having a first end coupled to the first robotically controlled valve with an opening at a second end to direct the flow of one or more fluids.
摘要翻译： 在本发明的一个实施例中，提供了包括主控制台和手术操纵器的机器人手术系统。 主控制台产生控制信号以使一个或多个流体流入或流出外科手术部位。 手术操纵器联接到控制台以接收控制信号，并且包括至少一个机器人臂和与其耦合的外科器械。 手术操纵器响应于控制信号控制外科器械，以控制一个或多个流体流入或流出手术部位的流动。 外科器械具有响应于手术操纵器的第一机器人控制的阀，以及中空管，其具有联接到第一机械手控制阀的第一端，在第二端具有开口以引导一种或多种流体的流动。
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公开(公告)号：US09446177B2
公开(公告)日：2016-09-20
申请号：US13549347
申请日：2012-07-13
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses.
摘要翻译： 在本发明的一个实施例中，提供了一种用于控制一个或多个流体流入和流出外科手术部位的流体的机器人手术器械。 机器人手术器械可以包括壳体，流量控制系统，中空管和一个或多个软管配件。 将仪器连接到机器手臂的外壳。 安装在壳体中的流量控制系统包括一个或多个控制阀，以控制一种或多种流体的流动。 中空管具有安装在联接到流量控制系统的壳体中的第一端。 中空管的第二端具有一个或多个开口，以允许流体流入和流出手术部位。 软管接头具有联接到流量控制系统的第一端和耦合到软管的第二端。
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公开(公告)号：US20120277663A1
公开(公告)日：2012-11-01
申请号：US13549347
申请日：2012-07-13
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses.
摘要翻译： 在本发明的一个实施例中，提供了一种用于控制一个或多个流体流入和流出外科手术部位的流体的机器人手术器械。 机器人手术器械可以包括壳体，流量控制系统，中空管和一个或多个软管配件。 将仪器连接到机器手臂的外壳。 安装在壳体中的流量控制系统包括一个或多个控制阀，以控制一种或多种流体的流动。 中空管具有安装在联接到流量控制系统的壳体中的第一端。 中空管的第二端具有一个或多个开口，以允许流体流入和流出手术部位。 软管接头具有联接到流量控制系统的第一端和耦合到软管的第二端。
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7.发明授权Robotic surgical instruments with a fluid flow control system for irrigation, aspiration, and blowing 有权机器人手术器械具有用于灌溉，抽吸和吹气的流体流量控制系统公开(公告)号：US08241271B2
公开(公告)日：2012-08-14
申请号：US11341155
申请日：2006-01-27
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses.
摘要翻译： 在本发明的一个实施例中，提供了一种用于控制一个或多个流体流入和流出外科手术部位的流体的机器人手术器械。 机器人手术器械可以包括壳体，流量控制系统，中空管和一个或多个软管配件。 将仪器连接到机器手臂的外壳。 安装在壳体中的流量控制系统包括一个或多个控制阀，以控制一种或多种流体的流动。 中空管具有安装在联接到流量控制系统的壳体中的第一端。 中空管的第二端具有一个或多个开口，以允许流体流入和流出手术部位。 软管接头具有联接到流量控制系统的第一端和耦合到软管的第二端。
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8.发明申请公开(公告)号：US20070005002A1
公开(公告)日：2007-01-04
申请号：US11341004
申请日：2006-01-27
申请人： Paul Millman , David Bailey , Dean Hoornaert , David Mintz , David Larkin
发明人： Paul Millman , David Bailey , Dean Hoornaert , David Mintz , David Larkin
IPC分类号： A61M1/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses.
摘要翻译： 在本发明的一个实施例中，提供了一种用于控制一个或多个流体流入和流出外科手术部位的流体的机器人手术器械。 机器人手术器械可以包括壳体，流量控制系统，中空管和一个或多个软管配件。 将仪器连接到机器手臂的外壳。 安装在壳体中的流量控制系统包括一个或多个控制阀，以控制一种或多种流体的流动。 中空管具有安装在联接到流量控制系统的壳体中的第一端。 中空管的第二端具有一个或多个开口，以允许流体流入和流出手术部位。 软管接头具有联接到流量控制系统的第一端和耦合到软管的第二端。
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9.发明申请Robotic surgical instruments with a fluid flow control system for irrigation, aspiration, and blowing 有权机器人手术器械具有用于灌溉，抽吸和吹气的流体流量控制系统公开(公告)号：US20070016174A1
公开(公告)日：2007-01-18
申请号：US11341155
申请日：2006-01-27
申请人： Paul Millman , David Bailey , Dean Hoornaert , David Mintz , David Larkin
发明人： Paul Millman , David Bailey , Dean Hoornaert , David Mintz , David Larkin
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses.
摘要翻译： 在本发明的一个实施例中，提供了一种用于控制一个或多个流体流入和流出外科手术部位的流体的机器人手术器械。 机器人手术器械可以包括壳体，流量控制系统，中空管和一个或多个软管配件。 将仪器连接到机器手臂的外壳。 安装在壳体中的流量控制系统包括一个或多个控制阀，以控制一种或多种流体的流动。 中空管具有安装在联接到流量控制系统的壳体中的第一端。 中空管的第二端具有一个或多个开口，以允许流体流入和流出手术部位。 软管接头具有联接到流量控制系统的第一端和耦合到软管的第二端。
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10.发明申请MEDICAL ROBOTIC SYSTEM WITH DYNAMICALLY ADJUSTABLE SLAVE MANIPULATOR CHARACTERISTICS 审中-公开具有动态可调节从动操纵器特性的医用机器人系统公开(公告)号：US20090062813A1
公开(公告)日：2009-03-05
申请号：US11847168
申请日：2007-08-29
申请人： Giuseppe Prisco , Hubert Stein , Paul Millman , David Bailey , William Nowlin , Michael Ikeda , Gregory K. Toth , Thomas Nixon
发明人： Giuseppe Prisco , Hubert Stein , Paul Millman , David Bailey , William Nowlin , Michael Ikeda , Gregory K. Toth , Thomas Nixon
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B90/361
摘要： A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.
摘要翻译： 从动操纵器通过联合控制系统响应于操作者对输入装置的操纵而操纵医疗装置。 从动操纵器的刚度和强度可根据诸如从动操纵器的操作模式，当前由从动操纵器保持的医疗装置的功能类型以及使用 从机械手通过改变控制系统的相应参数。 为了安全起见，在确定可以顺利进行而不引起医疗装置的跳动之前，不进行这种改变。 此外，当在从属操纵器上指示超过指定时间段的过大的力时，可以向手术人员提供过大的力警告。
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