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1. 发明授权

US08469947B2 Wireless communication in a robotic surgical system 有权
标题翻译：机器人手术系统中的无线通信
公开(公告)号：US08469947B2
公开(公告)日：2013-06-25
申请号：US13094376
申请日：2011-04-26
申请人： Roman L. Devengenzo , Alan Loh
发明人： Roman L. Devengenzo , Alan Loh
IPC分类号： A61B17/00
CPC分类号： A61B34/71 , A61B1/00149 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00212 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2046/234 , B25J9/1045 , G06F19/00 , G06F19/3418 , G06F19/3481 , G16H40/63 , Y10T74/20305
摘要： In one embodiment, an insertion axis of a robotic manipulator is provided, the insertion axis including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including a remote printed circuit assembly and transceiver for wirelessly communicating with a main printed circuit assembly external to the insertion axis. A robotic surgical system including such an insertion axis and a method for wireless communication in the system are also provided.
摘要翻译：在一个实施例中，提供了机器人操纵器的插入轴线，该插入轴线包括可操作地联接到操纵臂的远端的基座连杆和沿着纵向轴线可移动地联接到基座连杆的滑架连杆，滑架连杆包括用于与插入轴外部的主印刷电路组件无线通信的远程印刷电路组件和收发器。还提供了包括这种插入轴的机器人手术系统和系统中的无线通信方法。

2. 发明申请

US20120209291A1 Surgical Accessory Clamp and System 有权
标题翻译：手术附件夹和系统
公开(公告)号：US20120209291A1
公开(公告)日：2012-08-16
申请号：US13454890
申请日：2012-04-24
申请人： S. Christopher Anderson , Thomas G. Cooper , Bruce Schena , William Burbank , Margaret M. Nixon , Alan Loh
发明人： S. Christopher Anderson , Thomas G. Cooper , Bruce Schena , William Burbank , Margaret M. Nixon , Alan Loh
IPC分类号： A61B19/00
CPC分类号： A61B90/57 , A61B17/3421 , A61B34/30 , A61B34/37 , A61B34/71 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , F16B2/10 , F16B2/185
摘要： A surgical accessory clamp, method of use, and a robotic surgical system including the clamp are disclosed. A surgical accessory may be attached and removed from a manipulator arm during a surgical procedure without requiring the use of an intermediate sterile accessory clamp, thus removing the need for a detachable accessory mount or adaptor that needs cleaning and sterilization and allowing for greater efficiency and cost-effectiveness. The present invention further allows for easy removal and attachment of instruments, tools, or accessories to the robotic surgical system without breach of sterility.
摘要翻译：公开了一种手术附件夹具，使用方法和包括夹具的机器人手术系统。在外科手术过程中，外科手术辅助部件可以从手术臂附接和移除，而不需要使用中间的无菌附件夹具，因此不再需要可拆卸的附件安装件或适配器，需要清洁和灭菌并允许更高的效率和成本有效性本发明还允许容易地将仪器，工具或附件移除并附接到机器人手术系统而不违反无菌性。

3. 发明申请

US20070119274A1 INSTRUMENT INTERFACE OF A ROBOTIC SURGICAL SYSTEM 有权
标题翻译：机器人手术系统的仪器界面
公开(公告)号：US20070119274A1
公开(公告)日：2007-05-31
申请号：US11613695
申请日：2006-12-20
申请人： Roman Devengenzo , Thomas Cooper , Joseph Orban , Bruce Schena , Alan Loh , S. Anderson
发明人： Roman Devengenzo , Thomas Cooper , Joseph Orban , Bruce Schena , Alan Loh , S. Anderson
IPC分类号： B25J18/00
CPC分类号： B25J15/04 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00477 , A61B2034/305 , Y10S483/901 , Y10T74/20305
摘要： An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.
摘要翻译：提供了机器人操纵器的仪器界面和包括仪器界面的手术系统。在一个实施例中，仪器接口包括用于向能够可操作地连接仪器的无菌适配器提供轴向负载和扭矩的弹簧加载输入。在另一个实施例中，机器人手术操纵器系统包括操纵器组件，其包括可操作地联接到操纵臂的远端的基部连杆和沿着纵向轴线可移动地联接到所述基部连杆的滑架连杆，所述滑架连杆包括集成仪器界面。该系统还包括经由仪器接口可操作地耦合到滑架连杆的仪器，以及可操作地耦合到操纵器组件的用于感测仪器存在的处理器。

4. 发明申请

US20060161136A1 Surgical accessory clamp and system method 有权
标题翻译：手术附件夹和系统方法
公开(公告)号：US20060161136A1
公开(公告)日：2006-07-20
申请号：US11240087
申请日：2005-09-30
申请人： Christopher Anderson , Thomas Cooper , Bruce Schena , William Burbank , Margaret Nixon , Alan Loh
发明人： Christopher Anderson , Thomas Cooper , Bruce Schena , William Burbank , Margaret Nixon , Alan Loh
IPC分类号： A61B17/00
CPC分类号： A61B90/57 , A61B17/3421 , A61B34/30 , A61B34/37 , A61B34/71 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , F16B2/10 , F16B2/185
摘要： A surgical accessory clamp, method of use, and a robotic surgical system including the clamp are disclosed. A surgical accessory may be attached and removed from a manipulator arm during a surgical procedure without requiring the use of an intermediate sterile accessory clamp, thus removing the need for a detachable accessory mount or adaptor that needs cleaning and sterilization and allowing for greater efficiency and cost-effectiveness. The present invention further allows for easy removal and attachment of instruments, tools, or accessories to the robotic surgical system without breach of sterility.
摘要翻译：公开了一种手术附件夹具，使用方法和包括夹具的机器人手术系统。在外科手术过程中，外科手术辅助部件可以从手术臂附接和移除，而不需要使用中间的无菌附件夹具，因此不再需要可拆卸的附件安装件或适配器，需要清洁和灭菌并允许更高的效率和成本有效性本发明还允许容易地将仪器，工具或附件移除并附接到机器人手术系统而不违反无菌性。

5. 发明授权

US08870912B2 Surgical instrument with single drive input for two end effector mechanisms 有权
标题翻译：手术仪器，带有两个末端执行器机构的单驱动输入
公开(公告)号：US08870912B2
公开(公告)日：2014-10-28
申请号：US13484143
申请日：2012-05-30
申请人： Gabriel F. Brisson , Alan Loh , Lawrence Kerver
发明人： Gabriel F. Brisson , Alan Loh , Lawrence Kerver
IPC分类号： A61B17/00 , A61B17/295 , A61B17/29 , A61B17/32 , A61B18/14
CPC分类号： A61B17/295 , A61B17/285 , A61B17/320016 , A61B34/30 , A61B2017/00389 , A61B2017/2915 , A61B2017/2936 , A61B2018/1455
摘要： Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A surgical assembly includes an end effector, a base supporting the end effector, an input link movable relative to the base through a range of motion between a first configuration and a second configuration, and an actuation mechanism. The end effector includes a first articulated member and a second articulated member. The actuation mechanism drivingly couples the input link to the first articulated member within a first portion of the range of motion and drivingly coupling the input link with the second articulated member within a second portion of the range of motion so that a movement of the input link from the first configuration to the second configuration articulates the first articulated member and then articulates the second articulated member.
摘要翻译：公开了用于治疗组织的方法和手术组件及相关方法，其中单个输入用于顺序地关联两个构件。手术组件包括端部执行器，支撑端部执行器的基座，通过第一构造和第二构造之间的运动范围相对于基座可移动的输入连杆以及致动机构。末端执行器包括第一铰接构件和第二铰接构件。所述致动机构在所述运动范围的第一部分内将所述输入连杆驱动地连接到所述第一铰接构件，并且在所述运动范围的第二部分内将所述输入连杆与所述第二铰接构件驱动地联接，使得所述输入连杆从第一构造到第二构造将第一铰接构件铰接，然后铰接第二铰接构件。

6. 发明授权

US08529582B2 Instrument interface of a robotic surgical system 有权
标题翻译：机器人手术系统的仪器界面
公开(公告)号：US08529582B2
公开(公告)日：2013-09-10
申请号：US13112452
申请日：2011-05-20
申请人： Roman L. Devengenzo , Thomas G. Cooper , Joseph P. Orban, III , Bruce Schena , Alan Loh , S. Christopher Anderson
发明人： Roman L. Devengenzo , Thomas G. Cooper , Joseph P. Orban, III , Bruce Schena , Alan Loh , S. Christopher Anderson
IPC分类号： A61B19/00 , B23Q3/157
CPC分类号： A61B34/30 , A61B90/00 , Y10S901/27 , Y10S901/41
摘要： An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.
摘要翻译：提供了机器人操纵器的仪器界面和包括仪器界面的手术系统。在一个实施例中，仪器接口包括用于向能够可操作地连接仪器的无菌适配器提供轴向负载和扭矩的弹簧加载输入。在另一个实施例中，机器人手术操纵器系统包括操纵器组件，其包括可操作地联接到操纵臂的远端的基部连杆和沿着纵向轴线可移动地联接到所述基部连杆的滑架连杆，所述滑架连杆包括集成仪器界面。该系统还包括经由仪器接口可操作地耦合到滑架连杆的仪器，以及可操作地耦合到操纵器组件的用于感测仪器存在的处理器。

7. 发明授权

US08182469B2 Surgical accessory clamp and method 有权
标题翻译：手术附件夹和方法
公开(公告)号：US08182469B2
公开(公告)日：2012-05-22
申请号：US11240087
申请日：2005-09-30
申请人： S. Christopher Anderson , Thomas G Cooper , Bruce Schena , William Burbank , Margaret M Nixon , Alan Loh
发明人： S. Christopher Anderson , Thomas G Cooper , Bruce Schena , William Burbank , Margaret M Nixon , Alan Loh
IPC分类号： A61B17/00 , B25B5/04
CPC分类号： A61B90/57 , A61B17/3421 , A61B34/30 , A61B34/37 , A61B34/71 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , F16B2/10 , F16B2/185
摘要： A surgical accessory clamp, method of use, and a robotic surgical system including the clamp are disclosed. A surgical accessory may be attached and removed from a manipulator arm during a surgical procedure without requiring the use of an intermediate sterile accessory clamp, thus removing the need for a detachable accessory mount or adaptor that needs cleaning and sterilization and allowing for greater efficiency and cost-effectiveness. The accessory clamp further allows for easy removal and attachment of instruments, tools, or accessories to the robotic surgical system without breach of sterility. In one embodiment, an accessory clamp includes a base for coupling to a distal end of a manipulator arm; two clamp jaws adapted to receive a surgical accessory, each of the clamp jaws rotatably coupled to the base and configured to pivot relative to one another; a sterile drape portion over the two clamp jaws; and a lever portion capable of actuating the two clamp jaws into an open position or a closed position.
摘要翻译：公开了一种手术附件夹具，使用方法和包括夹具的机器人手术系统。在外科手术过程中，外科手术辅助部件可以从手术臂附接和移除，而不需要使用中间的无菌附件夹具，因此不再需要可拆卸的附件安装件或适配器，需要清洁和灭菌并允许更高的效率和成本有效性附件夹还可以方便地将仪器，工具或附件移除到机器人手术系统中，而不会破坏无菌性。在一个实施例中，附件夹具包括用于联接到操纵臂的远端的基座; 两个夹钳适于接纳外科附件，每个夹钳可旋转地联接到基座并且构造成相对于彼此枢转; 两个夹爪上的无菌悬垂部分; 以及能够使两个夹爪进入打开位置或关闭位置的杆部。

8. 发明授权

US07955322B2 Wireless communication in a robotic surgical system 有权
标题翻译：机器人手术系统中的无线通信
公开(公告)号：US07955322B2
公开(公告)日：2011-06-07
申请号：US11613915
申请日：2006-12-20
申请人： Roman L. Devengenzo , Alan Loh
发明人： Roman L. Devengenzo , Alan Loh
IPC分类号： A61B17/00
CPC分类号： A61B34/71 , A61B1/00149 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00212 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2046/234 , B25J9/1045 , G06F19/00 , G06F19/3418 , G06F19/3481 , G16H40/63 , Y10T74/20305
摘要： In one embodiment, an insertion axis of a robotic manipulator is provided, the insertion axis including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including a remote printed circuit assembly and transceiver for wirelessly communicating with a main printed circuit assembly external to the insertion axis. A robotic surgical system including such an insertion axis and a method for wireless communication in the system are also provided.
摘要翻译：在一个实施例中，提供了机器人操纵器的插入轴线，该插入轴线包括可操作地联接到操纵臂的远端的基座连杆和沿着纵向轴线可移动地联接到基座连杆的滑架连杆，滑架连杆包括用于与插入轴外部的主印刷电路组件无线通信的远程印刷电路组件和收发器。还提供了包括这种插入轴的机器人手术系统和系统中的无线通信方法。

9. 发明申请

US20070137372A1 WIRELESS COMMUNICATION IN A ROBOTIC SURGICAL SYSTEM 有权
标题翻译：机器人手术系统中的无线通信
公开(公告)号：US20070137372A1
公开(公告)日：2007-06-21
申请号：US11613915
申请日：2006-12-20
申请人： Roman Devengenzo , Alan Loh
发明人： Roman Devengenzo , Alan Loh
IPC分类号： B25J18/00
CPC分类号： A61B34/71 , A61B1/00149 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00212 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2046/234 , B25J9/1045 , G06F19/00 , G06F19/3418 , G06F19/3481 , G16H40/63 , Y10T74/20305
摘要： In one embodiment, an insertion axis of a robotic manipulator is provided, the insertion axis including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including a remote printed circuit assembly and transceiver for wirelessly communicating with a main printed circuit assembly external to the insertion axis. A robotic surgical system including such an insertion axis and a method for wireless communication in the system are also provided.
摘要翻译：在一个实施例中，提供了机器人操纵器的插入轴线，该插入轴线包括可操作地联接到操纵臂的远端的基座连杆和沿着纵向轴线可移动地联接到基座连杆的滑架连杆，滑架连杆包括用于与插入轴外部的主印刷电路组件无线通信的远程印刷电路组件和收发器。还提供了包括这种插入轴的机器人手术系统和系统中的无线通信方法。

10. 发明授权

US09532849B2 Surgical accessory clamp and system 有权
标题翻译：手术附件夹和系统
公开(公告)号：US09532849B2
公开(公告)日：2017-01-03
申请号：US13454890
申请日：2012-04-24
申请人： S. Christopher Anderson , Thomas G. Cooper , Bruce Schena , William Burbank , Margaret M. Nixon , Alan Loh
发明人： S. Christopher Anderson , Thomas G. Cooper , Bruce Schena , William Burbank , Margaret M. Nixon , Alan Loh
IPC分类号： A61B19/00 , F16B2/18 , F16B2/10 , A61B17/00
CPC分类号： A61B90/57 , A61B17/3421 , A61B34/30 , A61B34/37 , A61B34/71 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , F16B2/10 , F16B2/185
摘要： A robotic surgical system for performing a procedure within a sterile field comprises a manipulator arm and a surgical accessory clamp for coupling a surgical accessory to a distal end portion of the manipulator arm. The accessory clamp includes a base for coupling with the distal end portion of the manipulator arm, two clamp jaws with each of the clamp jaws directly and rotatably coupled to the base by respective pivot pins, and a lever operable to move the two clamp jaws between an open position and closed position. The system also includes a sterile drape covering the accessory clamp and the manipulator arm to shield the accessory clamp and the manipulator arm from the sterile field.
摘要翻译：用于在无菌区域内执行手术的机器人手术系统包括操纵臂和外科附件夹，用于将手术辅助件联接到操纵臂的远端部分。附件夹具包括用于与操纵臂的远端部分联接的基座，两个夹爪，其中每个夹钳爪通过相应的枢轴销直接并可旋转地联接到基座，以及杆，其可操作以将两个夹钳夹在打开位置和关闭位置。该系统还包括覆盖附件夹具和操纵臂的无菌悬垂，以将附件夹具和操纵臂从无菌区域屏蔽。

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