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公开(公告)号：US20110282356A1
公开(公告)日：2011-11-17
申请号：US12855413
申请日：2010-08-12
申请人： Todd R. Solomon , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers
发明人： Todd R. Solomon , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers
IPC分类号： A61B19/00
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
摘要翻译： 提供了一种仪器操纵器和包括仪器操纵器的机器人手术系统。 在一个实施例中，仪器操纵器包括多个独立的致动器驱动模块，所述多个致动器驱动模块中的每个致动器驱动模块包括致动器输出，其中每个致动器输出被配置为独立地致动外科器械的相应致动器输入而不受力 从另一个执行器输出输入。 仪器操纵器还包括容纳多个独立致动器驱动模块的框架，该框架包括远端，每个致动器输出端从该远端突出以接合外科器械的相应致动器输入。
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公开(公告)号：US09096033B2
公开(公告)日：2015-08-04
申请号：US12855461
申请日：2010-08-12
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： A sterile adapter, a drape including the adapter, and a method of draping a manipulator arm are provided. In one embodiment, the sterile adapter includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs, and a membrane interface disposed at a distal end of the housing, the membrane interface including a plurality of actuator interfaces. The adapter further includes a pair of supports coupled to the housing, the pair of supports configured to retain a surgical instrument having a plurality of instrument actuator inputs so that the plurality of instrument actuator inputs are positioned opposite to corresponding manipulator actuator outputs with an actuator interface between each corresponding instrument actuator input and manipulator actuator output.
摘要翻译： 提供了一种无菌适配器，包括适配器的盖布以及一个悬垂操纵臂的方法。 在一个实施例中，无菌适配器包括构造成容纳具有多个操纵器致动器输出的仪器操纵器的远侧面的壳体和设置在壳体的远端处的膜界面，膜接口包括多个致动器接口 。 适配器还包括联接到壳体的一对支撑件，所述一对支撑件被配置为保持具有多个仪器致动器输入的外科器械，使得多个仪器致动器输入与相应的操纵器致动器输出与致动器接口 在每个相应的仪器执行器输入和操纵器执行器输出之间。
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公开(公告)号：US08746252B2
公开(公告)日：2014-06-10
申请号：US12855499
申请日：2010-08-12
申请人： Anthony K. McGrogan , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Craig R. Ramstad
发明人： Anthony K. McGrogan , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Craig R. Ramstad
IPC分类号： A61B19/08
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.
摘要翻译： 提供了无菌悬垂布，具有悬垂布的手术系统和悬垂方法。 在一个实施例中，无菌悬垂包括多个覆盖袋，每个覆盖袋包括与无菌区相邻的用于执行外科手术的外表面和与非无菌器械操纵器相邻的内表面 机器人手术系统的手术臂。 盖布还包括在每个覆盖袋的远侧面处的多个柔性膜，用于在仪器操纵器的输出和相应的手术器械的输入之间进行接口，以及可旋转的密封件，其适于将每个覆盖物的近端开口 在操纵臂的远端处的可旋转元件的口袋。
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公开(公告)号：US20110282358A1
公开(公告)日：2011-11-17
申请号：US12855452
申请日：2010-08-12
申请人： Daniel H. Gomez , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers , Todd R. Solomon
发明人： Daniel H. Gomez , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers , Todd R. Solomon
IPC分类号： A61B19/00
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.
摘要翻译： 提供机器人手术系统和将手术器械耦合到操纵臂的方法。 在一个实施例中，系统包括基座; 可操作地耦合到所述基座的设置链路，所述设置链路为所述机器人手术系统定位远程运动中心; 可操作地耦合到所述设置链路的近端链路; 以及可操作地联接到近端连杆的远端连杆。 多个仪器操纵器可旋转地联接到远端连杆的远端，每个仪器操纵器包括从框架的远端向远侧突出的多个致动器输出。
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公开(公告)号：US08945148B2
公开(公告)日：2015-02-03
申请号：US12855413
申请日：2010-08-12
申请人： Todd R. Solomon , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers
发明人： Todd R. Solomon , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
摘要翻译： 提供了一种仪器操纵器和包括仪器操纵器的机器人手术系统。 在一个实施例中，仪器操纵器包括多个独立的致动器驱动模块，所述多个致动器驱动模块中的每个致动器驱动模块包括致动器输出，其中每个致动器输出被配置为独立地致动外科器械的相应致动器输入而不受力 从另一个执行器输出输入。 仪器操纵器还包括容纳多个独立致动器驱动模块的框架，该框架包括远端，每个致动器输出端从该远端突出以接合外科器械的相应致动器输入。
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公开(公告)号：US20110282351A1
公开(公告)日：2011-11-17
申请号：US12855488
申请日：2010-08-12
申请人： Thomas G. Cooper , Jeffrey D. Brown , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Paul E. Lilagan , Anthony K. McGrogan , Craig R. Ramstad
发明人： Thomas G. Cooper , Jeffrey D. Brown , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Paul E. Lilagan , Anthony K. McGrogan , Craig R. Ramstad
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.
摘要翻译： 提供入口引导管和插管组件，包括组件的手术系统和外科器械插入的方法。 在一个实施例中，组件包括套管，其具有可操作地连接到操纵臂的辅助夹具的近侧部分和联接到近端部分的远端管状构件，管状构件具有用于至少一个仪器轴 。 组件还包括可旋转地联接到套管的近端部分的入口引导管，入口引导管包括用于多个器械轴通过的多个通道，其中进入引导管相对于 所述插管通过围绕入口引导管的纵向轴线的至少一个仪器轴旋转。
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公开(公告)号：US20110277776A1
公开(公告)日：2011-11-17
申请号：US12855499
申请日：2010-08-12
申请人： ANTHONY K. McGrogan , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Craig R. Ramstad
发明人： ANTHONY K. McGrogan , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Craig R. Ramstad
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.
摘要翻译： 提供了无菌悬垂布，具有悬垂布的手术系统和悬垂方法。 在一个实施例中，无菌悬垂包括多个覆盖袋，每个覆盖袋包括与无菌区相邻的用于执行外科手术的外表面和与非无菌器械操纵器相邻的内表面 机器人手术系统的手术臂。 盖布还包括在每个覆盖袋的远侧面处的多个柔性膜，用于在仪器操纵器的输出和相应的手术器械的输入之间进行接口，以及可旋转的密封件，其适于将每个覆盖物的近端开口 在操纵臂的远端处的可旋转元件的口袋。
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公开(公告)号：US20110277775A1
公开(公告)日：2011-11-17
申请号：US12855461
申请日：2010-08-12
IPC分类号： A61B19/08
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： A sterile adapter, a drape including the adapter, and a method of draping a manipulator arm are provided. In one embodiment, the sterile adapter includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs, and a membrane interface disposed at a distal end of the housing, the membrane interface including a plurality of actuator interfaces. The adapter further includes a pair of supports coupled to the housing, the pair of supports configured to retain a surgical instrument having a plurality of instrument actuator inputs so that the plurality of instrument actuator inputs are positioned opposite to corresponding manipulator actuator outputs with an actuator interface between each corresponding instrument actuator input and manipulator actuator output.
摘要翻译： 提供了一种无菌适配器，包括适配器的盖布以及一个悬垂操纵臂的方法。 在一个实施例中，无菌适配器包括构造成容纳具有多个操纵器致动器输出的仪器操纵器的远侧面的壳体和设置在壳体的远端处的膜界面，膜接口包括多个致动器接口 。 适配器还包括联接到壳体的一对支撑件，所述一对支撑件被配置为保持具有多个仪器致动器输入的外科器械，使得多个仪器致动器输入与相应的操纵器致动器输出与致动器接口 在每个相应的仪器执行器输入和操纵器执行器输出之间。
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公开(公告)号：US20130079794A9
公开(公告)日：2013-03-28
申请号：US12855488
申请日：2010-08-12
申请人： Thomas G. Cooper , Jeffrey D. Brown , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Paul E. Lilagan , Anthony K. McGrogan , Craig R. Ramstad
发明人： Thomas G. Cooper , Jeffrey D. Brown , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Paul E. Lilagan , Anthony K. McGrogan , Craig R. Ramstad
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.
摘要翻译： 提供入口引导管和插管组件，包括组件的手术系统和外科器械插入的方法。 在一个实施例中，组件包括套管，其具有可操作地连接到操纵臂的辅助夹具的近侧部分和联接到近端部分的远端管状构件，管状构件具有用于至少一个仪器轴 。 组件还包括可旋转地联接到套管的近端部分的入口引导管，入口引导管包括用于多个器械轴通过的多个通道，其中进入引导管相对于 所述插管通过围绕入口引导管的纵向轴线的至少一个仪器轴旋转。
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公开(公告)号：US20110282357A1
公开(公告)日：2011-11-17
申请号：US12855434
申请日：2010-08-12
申请人： Theodore W. Rogers , Jeffrey D. Brown , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad
发明人： Theodore W. Rogers , Jeffrey D. Brown , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad
IPC分类号： A61B19/00
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： Robotic surgical systems are provided. In one embodiment, the system includes a setup link for locating a remote center of motion for the robotic surgical system; a manipulator arm assembly including an active proximal link and an active distal link, the proximal link operably coupled to the setup link; and a plurality of instrument manipulators operably coupled to a distal end of the distal link, the plurality of instrument manipulators rotatable about an instrument manipulator assembly roll axis. A cannula mount is movably coupled to a proximal end of the distal link, and a cannula is coupled to the cannula mount, the cannula having a longitudinal axis substantially coincident with the instrument manipulator assembly roll axis. The system further includes an entry guide tube at least partially within the cannula, the entry guide tube rotatable about the longitudinal axis of the cannula.
摘要翻译： 提供机器人手术系统。 在一个实施例中，系统包括用于为机器人手术系统定位远程运动中心的设置链接; 操纵臂组件，其包括主动近端连杆和主动远端连杆，所述近侧连杆可操作地联接到所述安装连杆; 以及可操作地联接到所述远端连杆的远端的多个仪器操纵器，所述多个仪器操纵器围绕仪器操纵器组件辊轴可旋转。 套管安装件可移动地联接到远端连杆的近端，并且套管联接到套管安装座，套管具有与仪器操纵器组件辊轴线基本重合的纵向轴线。 该系统还包括至少部分地在套管内的入口引导管，入口引导管可绕套管的纵向轴线旋转。
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