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公开(公告)号:US20110071473A1
公开(公告)日:2011-03-24
申请号:US12618621
申请日:2009-11-13
CPC分类号: A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要: A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. In one aspect, surgical instrument channels extend at different angles between top and bottom surfaces of a port feature. In another aspect, a funnel portion and a tongue portion are separated by a waist portion, and surgical instrument channels extend from the funnel portion through the waist portion. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译: 机器人手术系统配置有刚性的弯曲插管,其穿过相同的开口延伸到患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 在一个方面,手术器械通道在端口特征的顶表面和底表面之间以不同的角度延伸。 在另一方面,漏斗部分和舌部分由腰部分开,手术器械通道从漏斗部分穿过腰部延伸。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统,其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。
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公开(公告)号:US20090299343A1
公开(公告)日:2009-12-03
申请号:US12127143
申请日:2008-05-27
申请人: THEODORE W. ROGERS
发明人: THEODORE W. ROGERS
CPC分类号: A61M25/0053 , A61B1/00078 , A61B1/00193 , A61B1/005 , A61B1/0051 , A61B1/018 , A61B17/02 , A61B17/062 , A61B17/3421 , A61B34/70 , A61B2017/003 , A61B2017/00566 , A61B2017/22069 , Y10T29/49826
摘要: A stiffenable structure is made of longitudinal beams that are positioned around a longitudinal axis. In one state, the longitudinal beams are bendable so that the structure is bendable. As the structure bends, the longitudinal beams slide longitudinally with reference to one another. In a second state, the beams are clamped in a fixed position relative to one another so that the structure is stiffened. In some aspects the longitudinal beams are made of two or more longitudinal laminar elements. As each beam bends, the laminar elements slide longitudinally with reference to one another. Each beam, and accordingly the structure, is stiffened by preventing the laminar elements from sliding longitudinally relative to one another.
摘要翻译: 可硬化结构由围绕纵向轴线定位的纵向梁制成。 在一种状态下,纵向梁是可弯曲的,使得该结构是可弯曲的。 当结构弯曲时,纵向梁相对于彼此纵向滑动。 在第二状态下,梁被相对于彼此夹紧在固定位置,使结构变硬。 在一些方面,纵向梁由两个或更多个纵向层流元件制成。 当每个梁弯曲时,层状元件相对于彼此纵向滑动。 通过防止层状元件相对于彼此纵向滑动,每个梁以及相应的结构被加强。
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公开(公告)号:US20120266442A1
公开(公告)日:2012-10-25
申请号:US13454282
申请日:2012-04-24
IPC分类号: B23P11/00
CPC分类号: G02B6/38 , A61B34/30 , A61B2034/2061 , B33Y80/00 , G01B11/165 , G01D5/35303 , G01D5/35316 , G01D5/35377 , G01D11/245 , G01M11/083 , G02B6/022 , G02B6/3616 , G02B6/3644 , G02B6/3887 , Y10T29/49826 , Y10T29/49838 , Y10T29/49947
摘要: A first link and a second link are articulated relative to each other via a joint coupled between the first and second links. A shape-sensing optical fiber is used to sense a position of the first link and the second link relative to each other. The fiber passes through a channel having an opening defining a lip and extending from the first link toward the joint. The lip has a curved surface that begins substantially tangent to a wall of the channel, and during bending of the optical fiber, the optical fiber is positioned tangent to the curved surface of the lip.
摘要翻译: 第一连杆和第二连杆通过联接在第一和第二连杆之间的连接件相对于彼此铰接。 形状感测光纤用于感测第一连杆和第二连杆相对于彼此的位置。 纤维通过具有限定唇缘的开口的通道,并且从第一连接件向接头延伸。 唇缘具有基本上与通道的壁相切的弯曲表面,并且在光纤弯曲期间,光纤被定位成与唇缘的弯曲表面相切。
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公开(公告)号:US20120123200A1
公开(公告)日:2012-05-17
申请号:US12946040
申请日:2010-11-15
申请人: THEODORE W. ROGERS
发明人: THEODORE W. ROGERS
CPC分类号: A61B19/2203 , A61B17/00234 , A61B34/30 , A61B34/71 , A61B2017/00323 , A61B2017/00477 , A61B2017/00845 , A61B2017/00858 , A61B2034/302 , A61B2034/715 , Y10T29/49
摘要: A surgical device includes a first cable portion that engages a first component such that a first friction exists between the first cable portion and the first component. The surgical device includes a second cable portion having a first end operatively coupled to a first end of the first cable portion. The second cable portion engages a second component such that a second friction exists between the second cable portion and the second component, such that the second friction is greater than the first friction.
摘要翻译: 手术装置包括第一电缆部分,其接合第一部件,使得在第一电缆部分和第一部件之间存在第一摩擦。 手术装置包括第二电缆部分,其具有可操作地耦合到第一电缆部分的第一端的第一端。 第二电缆部分接合第二部件,使得在第二电缆部分和第二部件之间存在第二摩擦,使得第二摩擦力大于第一摩擦。
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