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    Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
    3.
    发明授权
    Surgical tool having positively positionable tendon-actuated multi-disk wrist joint 有权
    手术工具具有积极定位的肌腱致动多盘腕关节

    公开(公告)号：US06817974B2

    公开(公告)日：2004-11-16

    申请号：US10187248

    申请日：2002-06-28

    申请人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

    发明人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

    IPC分类号： A61B100

    CPC分类号： A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

    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。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中，致动器机构包括用于接纳中间电缆的多个小半径孔或槽，以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径，使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨， 以便精确控制和操纵椎骨。

    SURGICAL TOOL HAVING POSITIVELY POSITIONABLE TENDON-ACTUATED MULTI-DISK WRIST JOINT
    4.
    发明申请
    SURGICAL TOOL HAVING POSITIVELY POSITIONABLE TENDON-ACTUATED MULTI-DISK WRIST JOINT 有权
    手术工具，具有可立式定位的多功能多功能多功能笔记本接口

    公开(公告)号：US20100228284A1

    公开(公告)日：2010-09-09

    申请号：US12782833

    申请日：2010-05-19

    申请人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

    发明人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

    IPC分类号： A61B17/28

    CPC分类号： A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

    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。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中，致动器机构包括用于接纳中间电缆的多个小半径孔或槽，以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径，使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨， 以便精确控制和操纵椎骨。

    Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
    5.
    发明授权
    Surgical tool having positively positionable tendon-actuated multi-disk wrist joint 有权
    手术工具具有积极定位的肌腱致动多盘腕关节

    公开(公告)号：US07736356B2

    公开(公告)日：2010-06-15

    申请号：US10980119

    申请日：2004-11-01

    申请人： Thomas G. Cooper ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo ,  Daniel T. Wallace

    发明人： Thomas G. Cooper ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo ,  Daniel T. Wallace

    IPC分类号： A61B17/00

    CPC分类号： A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

    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。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中，致动器机构包括用于接纳中间电缆的多个小半径孔或槽，以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径，使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨， 以便精确控制和操纵椎骨。

    Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
    6.
    发明授权
    Surgical tool having positively positionable tendon-actuated multi-disk wrist joint 有权
    手术工具具有积极定位的肌腱致动多盘腕关节

    公开(公告)号：US08142421B2

    公开(公告)日：2012-03-27

    申请号：US12782833

    申请日：2010-05-19

    申请人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott E. Manzo

    发明人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott E. Manzo

    IPC分类号： A61B17/00

    CPC分类号： A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

    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。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中，致动器机构包括用于接纳中间电缆的多个小半径孔或槽，以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径，使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨， 以便精确控制和操纵椎骨。

    Sterile surgical drape
    8.
    发明授权
    Sterile surgical drape 有权
    无菌手术悬垂

    公开(公告)号：US09320568B2

    公开(公告)日：2016-04-26

    申请号：US13476083

    申请日：2012-05-21

    申请人： Joseph Orban, III ,  Lisa Heaton ,  S. Christopher Anderson ,  Thomas G. Cooper

    发明人： Joseph Orban, III ,  Lisa Heaton ,  S. Christopher Anderson ,  Thomas G. Cooper

    IPC分类号： A61B19/08 ,  A61B19/00 ,  A61B17/00

    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。

    Flexible Wrist for Surgical Tool
    10.
    发明申请
    Flexible Wrist for Surgical Tool 有权
    软手腕手术工具

    公开(公告)号：US20110118755A1

    公开(公告)日：2011-05-19

    申请号：US12948641

    申请日：2010-11-17

    申请人： Thomas G. Cooper ,  S. Christopher Anderson

    发明人： Thomas G. Cooper ,  S. Christopher Anderson

    IPC分类号： A61B19/00

    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 comprises 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 。