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1. 发明授权

US09198714B2 Haptic feedback devices for surgical robot 有权
标题翻译：用于手术机器人的触觉反馈装置
公开(公告)号：US09198714B2
公开(公告)日：2015-12-01
申请号：US13539096
申请日：2012-06-29
申请人： Barry C. Worrell , Geoffrey S. Strobl , Gregory A. Trees , Jonathan T. Batross , Nicholas G. Molitor , Kristen T. Shoger , David K. Norvell , Michael J. Andreyko , Gregory W. Johnson , Shawn C. Snyder
发明人： Barry C. Worrell , Geoffrey S. Strobl , Gregory A. Trees , Jonathan T. Batross , Nicholas G. Molitor , Kristen T. Shoger , David K. Norvell , Michael J. Andreyko , Gregory W. Johnson , Shawn C. Snyder
IPC分类号： A61B19/00 , A61B18/14 , A61B17/32 , A61B18/12 , A61B18/00
CPC分类号： A61B17/320092 , A61B18/12 , A61B18/1442 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B34/77 , A61B90/90 , A61B2018/00303
摘要： Various embodiments of surgical robot control systems are disclosed. In one example embodiment, the surgical robot control system comprises a housing. A controller is located within the housing and is coupled to a socket. The socket receives a handheld surgical user interface therein to control a surgical instrument. The surgical instrument is connected to the surgical robot and comprises an end effector and a mechanical interface to manipulate the end effector. The mechanical interface is coupled to the controller. At least one sensor is coupled to the controller and the socket to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument. At least one feedback device is coupled to the controller to provide feedback to a user. The feedback is associated with a predetermined function of the surgical instrument.
摘要翻译：公开了外科手术机器人控制系统的各种实施例。在一个示例性实施例中，手术机器人控制系统包括壳体。控制器位于壳体内并且联接到插座。插座在其中接收手持式手术用户界面以控制手术器械。手术器械连接到手术机器人，并且包括端部执行器和用于操纵端部执行器的机械接口。机械接口耦合到控制器。至少一个传感器耦合到控制器和插座，以将手持式手术用户界面的移动转换为对应于手术器械的运动的电信号。至少一个反馈装置耦合到控制器以向用户提供反馈。反馈与外科器械的预定功能相关联。

2. 发明授权

US08672860B2 Tetherless biopsy device with self-reversing cutter drive mechanism 有权
标题翻译：无切换活检装置，具有自反向切刀驱动机构
公开(公告)号：US08672860B2
公开(公告)日：2014-03-18
申请号：US12467365
申请日：2009-05-18
申请人： Kyle P. Moore , Haresh D. Patil , Michael J. Andreyko , Shailendra K. Parihar , Eric B. Smith
发明人： Kyle P. Moore , Haresh D. Patil , Michael J. Andreyko , Shailendra K. Parihar , Eric B. Smith
IPC分类号： A61B5/00
CPC分类号： A61B10/0266 , A61B10/0275 , A61B10/0283 , A61B2010/0208
摘要： A biopsy device comprises a body, a needle, and a cutter. A self-reversing cutter translation mechanism translates the cutter proximally and distally in response to rotation of the cutter in a single rotational direction. The cutter translation mechanism comprises a lead screw with discretely formed threads and a rotatable pawl. The cutter is translated proximally when the pawl is in a first rotational orientation; and distally when the pawl is in a second rotational orientation. Resilient members cause the pawl to be rotated between the first and second rotational orientations when the cutter reaches a distal position and a proximal position. A vacuum draws severed tissue samples through the interior of the cutter to deposit the samples in a holder. The translation mechanism engages a valve mechanism to provide simultaneous venting to part of the needle and reversal of the pawl orientation when the cutter reaches a distal position.
摘要翻译：活检装置包括主体，针和切割器。自动反转刀具平移机构可以根据切割器在单个旋转方向上的旋转而向近端和远端地转动刀具。切割平移机构包括具有离散形成的螺纹的导螺杆和可旋转的棘爪。当棘爪处于第一旋转取向时，切割器向近侧平移; 并且当棘爪处于第二旋转取向时向远侧方向移动。当切割器到达远侧位置和近端位置时，弹性构件使棘爪在第一和第二旋转取向之间旋转。真空通过切割器的内部抽取分离的组织样品以将样品沉积在支架中。平移机构接合阀机构，以在切割器到达远端位置时同时排出针头的一部分并反转棘爪取向。

3. 发明授权

US07831290B2 MRI biopsy device localization fixture 有权
公开(公告)号：US07831290B2
公开(公告)日：2010-11-09
申请号：US11103959
申请日：2005-04-12
申请人： Robert J. Hughes , Timothy G. Dietz , Michael J. Andreyko , Kent Swendseid , Jay Wilkins , William E. Clem
发明人： Robert J. Hughes , Timothy G. Dietz , Michael J. Andreyko , Kent Swendseid , Jay Wilkins , William E. Clem
IPC分类号： A61B5/05 , A61B17/32
CPC分类号： A61B10/02 , A61B5/055 , A61B5/0555 , A61B10/0041 , A61B10/0233 , A61B10/0275 , A61B10/0283 , A61B17/3403 , A61B17/3417 , A61B17/3421 , A61B90/11 , A61B90/17 , A61B2010/0208 , A61B2010/0225 , A61B2017/00477 , A61B2017/00796 , A61B2017/00911 , A61B2017/3411 , A61B2090/034 , A61B2090/036 , A61B2090/374 , A61B2090/3908 , A61B2090/3933 , A61B2090/3954 , A61B2090/3987
摘要： A localization mechanism, or fixture, is used in conjunction with a breast coil for breast compression and for guiding a core biopsy instrument during prone biopsy procedures in both open and closed Magnetic Resonance Imaging (MRI) machines. The localization fixture includes a three-dimensional Cartesian positionable guide for supporting and orienting an MRI-compatible biopsy instrument, and, in particular, a sleeve to a biopsy site of suspicious tissues or lesions. A z-stop enhances accurate insertion, prevents over-insertion or inadvertent retraction of the sleeve. The sleeve receives a probe of the MRI-compatible biopsy instrument and may contain various features to enhance its imagability, to enhance vacuum and pressure assist therethrough, etc.

4. 发明申请

US20090318832A1 Biopsy Devices with Universal Probe 有权
标题翻译：具有通用探针的活检装置
公开(公告)号：US20090318832A1
公开(公告)日：2009-12-24
申请号：US12141175
申请日：2008-06-18
申请人： Michael J. Andreyko , John A. Hibner , Edward A. Rhad , Kyle P. Moore
发明人： Michael J. Andreyko , John A. Hibner , Edward A. Rhad , Kyle P. Moore
IPC分类号： A61B10/02
CPC分类号： A61B10/0275 , A61B10/0283 , A61B17/32002 , A61B2010/0208 , A61B2010/0225 , A61B2017/00398 , A61B2017/0046
摘要： A biopsy device comprises a probe that is configured to couple with a holster. The probe comprises a needle, a cutter, and a body portion. The needle is rotatable and translatable relative to the body portion. The holster has a locking feature that is configured to prevent the needle from rotating relative to the body portion upon coupling of the probe with the holster. The locking feature may also be configured to prevent the needle from translating relative to the body portion upon coupling of the probe with the holster. The same probe may thus be used with a holster intended for use in a fixture-based, stereotactic setting, in which rotation and translation of the needle may be desired; and with a holster intended for use in a handheld, ultrasound-guided setting, in which rotation and translation of the needle may be less desired if not undesirable.
摘要翻译：活检装置包括被配置成与皮套联接的探针。探针包括针，切割器和主体部分。针可相对于主体部分旋转和平移。皮套具有锁定特征，其被配置为在将探针与皮套连接时防止针相对于主体部分旋转。锁定特征还可以被配置为在将探针与皮套连接时防止针相对于主体部分平移。因此，相同的探针可以与旨在用于基于固定器的立体定向设置的皮套一起使用，其中可能需要针的旋转和平移; 并且具有旨在用于手持式超声引导设置的皮套，其中如果不期望的话，可能不太希望针头的旋转和平移。

5. 发明申请

US20090131819A1 User Interface On Biopsy Device 审中-公开
标题翻译：活检装置上的用户界面
公开(公告)号：US20090131819A1
公开(公告)日：2009-05-21
申请号：US11942816
申请日：2007-11-20
申请人： Paul G. Ritchie , Trevor W.V. Speeg , Michael J. Andreyko , Michael E. Johnson , Wells D. Haberstich , Robert F. Weikel, JR.
发明人： Paul G. Ritchie , Trevor W.V. Speeg , Michael J. Andreyko , Michael E. Johnson , Wells D. Haberstich , Robert F. Weikel, JR.
IPC分类号： A61B10/02
CPC分类号： A61B10/0275 , A61B10/0283 , A61B2010/0208 , A61B2010/0225 , A61B2017/00199 , A61B2017/00398 , A61B2017/0046
摘要： A biopsy device includes a probe and holster that may be coupled together. The probe includes a cannula with a transverse opening and a cutter within the cannula. The holster includes a mechanism that is operable to rotate and translate the cutter within the cannula. In one example, the holster also includes a user interface having buttons and indicators. The indicators may indicate, e.g., the longitudinal position of the cutter within the cannula and an error condition. The buttons may be operable to, e.g., selectively and incrementally adjust the longitudinal position of the cutter within the cannula, initiate a sampling cycle, initiate a clear probe cycle, and initiate a lateral vacuum cycle. The user interface may also include a trigger operable to cock and fire the cannula into tissue. The user interface may be provided as one or more membranes on one or more sidewalls of the holster.
摘要翻译：活检装置包括可以联接在一起的探针和皮套。探针包括具有横向开口的插管和插管内的切割器。皮套包括可操作以在插管内旋转和平移切割器的机构。在一个示例中，皮套还包括具有按钮和指示器的用户界面。指示器可以指示例如切割器在套管内的纵向位置和错误状况。按钮可以是可操作的，例如，选择性地和递增地调整切割器在套管内的纵向位置，启动采样周期，启动清晰的探针周期，以及启动横向真空循环。用户界面还可以包括触发器，其可操作以使插管旋转并将其引导到组织中。用户界面可以作为一个或多个膜提供在皮套的一个或多个侧壁上。

6. 发明申请

US20110087220A1 SURGICAL INSTRUMENT COMPRISING AN ENERGY TRIGGER LOCKOUT 审中-公开
标题翻译：包含能量触发器锁定的手术仪器
公开(公告)号：US20110087220A1
公开(公告)日：2011-04-14
申请号：US12576756
申请日：2009-10-09
申请人： Kevin D. Felder , Chad P. Boudreaux , Michael J. Andreyko
发明人： Kevin D. Felder , Chad P. Boudreaux , Michael J. Andreyko
IPC分类号： A61B18/14
CPC分类号： A61B18/1445 , A61B18/1233 , A61B2018/00083 , A61B2018/00196 , A61B2018/00708 , A61B2018/1412 , A61B2018/1455
摘要： A surgical instrument can comprise a lock movable between a locked position and an unlocked position, wherein the lock can be engaged with a drive shaft in order to prevent the drive shaft from being advanced when the lock is in its locked position. The surgical instrument can further comprise an electrical input and, in addition, a switch movable between an unactuated position and an actuated position, wherein the electrical input is electrically disconnected from an electrode when the switch is in its unactuated position, wherein the switch is configured to electrically couple the electrical input and the electrode when the switch is in its actuated position, and wherein the switch and the lock are operably coupled such that the movement of the switch from its unactuated position to its actuated position moves the lock from its locked position to its unlocked position.
摘要翻译：手术器械可以包括可在锁定位置和解锁位置之间移动的锁，其中锁可以与驱动轴接合，以便当锁处于其锁定位置时防止驱动轴前进。手术器械还可以包括电输入端，另外还包括可在未致动位置和致动位置之间移动的开关，其中当开关处于其未致动位置时，电输入端与电极电气断开，其中开关被配置以在所述开关处于其致动位置时电耦合所述电输入端和所述电极，并且其中所述开关和所述锁可操作地联接，使得所述开关从其未致动位置到其致动位置的运动使所述锁从其锁定位置到其解锁位置。

7. 发明申请

US20110087218A1 SURGICAL INSTRUMENT COMPRISING FIRST AND SECOND DRIVE SYSTEMS ACTUATABLE BY A COMMON TRIGGER MECHANISM 有权
标题翻译：包含通用触发机构可执行的第一和第二驱动系统的外科仪器
公开(公告)号：US20110087218A1
公开(公告)日：2011-04-14
申请号：US12576776
申请日：2009-10-09
申请人： Chad P. Boudreaux , Michael J. Andreyko , Gregory A. Trees
发明人： Chad P. Boudreaux , Michael J. Andreyko , Gregory A. Trees
IPC分类号： A61B18/14 , A61B17/285
CPC分类号： A61B18/1445 , A61B17/295 , A61B2017/2922 , A61B2017/2923 , A61B2018/00345 , A61B2018/00404 , A61B2018/00601 , A61B2018/00619 , A61B2018/0063 , A61B2018/1412 , A61B2018/1455 , A61B2218/008
摘要： A surgical instrument can comprise a first drive system for advancing a knife bar between a first position and a second position in order to close a jaw, or clamping, member of an end effector. The first drive system can comprise a toggle clamp which can generate and transmit an asymptotical clamping load to the jaw member. The surgical instrument can further comprise a second drive system for advancing the knife bar between the second position and a third position. The second drive system can comprise a rack and pinion system and the surgical instrument can comprise a single trigger for actuating both the first drive system and the second drive system on the same stroke.
摘要翻译：外科器械可以包括用于在第一位置和第二位置之间推进刀杆的第一驱动系统，以便闭合端部执行器的钳口或夹紧构件。第一驱动系统可以包括肘节夹，其可以产生并向颚构件传递渐近的夹紧负载。外科器械还可以包括用于在第二位置和第三位置之间推进刀杆的第二驱动系统。第二驱动系统可以包括齿条和小齿轮系统，并且外科器械可以包括用于在同一行程上致动第一驱动系统和第二驱动系统的单个触发器。

8. 发明申请

US20080275474A1 SUTURE ANCHOR LOADER 有权
标题翻译： SUTURE锚固装载机
公开(公告)号：US20080275474A1
公开(公告)日：2008-11-06
申请号：US11744279
申请日：2007-05-04
申请人： David T. Martin , Richard F. Schwemberger , Michael J. Andreyko , Michael S. Cropper , Scott A. Woodruff , John V. Hunt
发明人： David T. Martin , Richard F. Schwemberger , Michael J. Andreyko , Michael S. Cropper , Scott A. Woodruff , John V. Hunt
IPC分类号： A61B17/04
CPC分类号： A61B17/0401 , A61B2017/0409 , A61B2017/0416 , A61B2017/0417
摘要： A suture anchor loader comprises a housing with a port. A channel extends into the housing from the port, the channel being dimensioned to receive a surgical needle. A suture anchor is preloaded in the channel with a length of suture connected to the suture anchor and stored in the housing. A push rod is slideably positioned in the channel such that the suture anchor is intermediate the push rod and the port. An actuator is operatively connected to push rod to selectively deploy the anchor into the needle.
摘要翻译：缝合锚装载机包括具有端口的壳体。通道从端口延伸到壳体中，通道的尺寸被设计成接收外科用针。缝合锚固件预先加载在通道中，其长度的缝合线连接到缝合锚固件并存储在壳体中。推杆可滑动地定位在通道中，使得缝合锚固件在推杆和端口之间。致动器可操作地连接到推杆以选择性地将锚固件部署到针中。

9. 外观设计

USD467217S1 Airplane 失效
标题翻译：飞机
公开(公告)号：USD467217S1
公开(公告)日：2002-12-17
申请号：US29156220
申请日：2002-02-27
申请人： Michael J. Andreyko
设计人： Michael J. Andreyko

10. 发明授权

US10172669B2 Surgical instrument comprising an energy trigger lockout 有权
公开(公告)号：US10172669B2
公开(公告)日：2019-01-08
申请号：US12576756
申请日：2009-10-09
申请人： Kevin D. Felder , Chad P. Boudreaux , Michael J. Andreyko
发明人： Kevin D. Felder , Chad P. Boudreaux , Michael J. Andreyko
IPC分类号： A61B18/14 , A61B18/12 , A61B18/00
摘要： A surgical instrument can comprise a lock movable between a locked position and an unlocked position, wherein the lock can be engaged with a drive shaft in order to prevent the drive shaft from being advanced when the lock is in its locked position. The surgical instrument can further comprise an electrical input and, in addition, a switch movable between an unactuated position and an actuated position, wherein the electrical input is electrically disconnected from an electrode when the switch is in its unactuated position, wherein the switch is configured to electrically couple the electrical input and the electrode when the switch is in its actuated position, and wherein the switch and the lock are operably coupled such that the movement of the switch from its unactuated position to its actuated position moves the lock from its locked position to its unlocked position.

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