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1. 发明授权

US08672922B2 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：US08672922B2
公开(公告)日：2014-03-18
申请号：US11967499
申请日：2007-12-31
申请人： Alan Loh , Roman L. Devengenzo
发明人： Alan Loh , Roman L. Devengenzo
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B1/00149 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00212 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2046/234 , B25J9/1045 , G06F19/3418 , G06F19/3481 , G16H40/63
摘要： In one embodiment, a method of wireless communication in a robotic surgical system comprises providing a carriage link of a robotic manipulator including a printed circuit assembly and a link communication device, positioning a sterile drape over the robotic manipulator, mounting a removable surgical instrument on the carriage link, and passing data wirelessly in either or both directions through the sterile drape between the link communication device and the surgical instrument along with power for electrical circuitry on the instrument. A robotic manipulator and robotic surgical system are also provided.
摘要翻译：在一个实施例中，一种在机器人手术系统中的无线通信方法包括提供包括印刷电路组件和链接通信装置的机器人操纵器的滑架连接，将无菌盖布定位在机器人操纵器上，将可移除的手术器械安装在托架链接，以及通过链接通信装置和外科手术器械之间的无菌悬垂线在两个或两个方向上无线地传递数据以及仪器上的电路的功率。还提供了机器人操纵器和机器人手术系统。

2. 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。

3. 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。

4. 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。

5. 发明申请

US20110288561A1 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：US20110288561A1
公开(公告)日：2011-11-24
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： A61B19/00
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。

6. 发明申请

US20110218551A1 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：US20110218551A1
公开(公告)日：2011-09-08
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
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

US07963913B2 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：US07963913B2
公开(公告)日：2011-06-21
申请号：US11613695
申请日：2006-12-20
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： 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。

8. 发明申请

US20080147089A1 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：US20080147089A1
公开(公告)日：2008-06-19
申请号：US11967499
申请日：2007-12-31
申请人： Alan Loh , Roman L. Devengenzo
发明人： Alan Loh , Roman L. Devengenzo
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B1/00149 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00212 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2046/234 , B25J9/1045 , G06F19/3418 , G06F19/3481 , G16H40/63
摘要： In one embodiment, a method of wireless communication in a robotic surgical system comprises providing a carriage link of a robotic manipulator including a printed circuit assembly and a link communication device, positioning a sterile drape over the robotic manipulator, mounting a removable surgical instrument on the carriage link, and passing data wirelessly in either or both directions through the sterile drape between the link communication device and the surgical instrument along with power for electrical circuitry on the instrument. A robotic manipulator and robotic surgical system are also provided.
摘要翻译：在一个实施例中，一种在机器人手术系统中的无线通信方法包括提供包括印刷电路组件和链接通信装置的机器人操纵器的滑架连接，将无菌盖布定位在机器人操纵器上，将可移除的手术器械安装在托架链接，以及通过链接通信装置和外科手术器械之间的无菌悬垂线在两个或两个方向上无线地传递数据以及仪器上的电路的功率。还提供了机器人操纵器和机器人手术系统。

9. 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。

10. 发明申请

US20120310255A1 SURGICAL INSTRUMENT WITH SINGLE DRIVE INPUT FOR TWO END EFFECTOR MECHANISMS 有权
标题翻译：具有单向驱动输入的双端效应机构的外科仪器
公开(公告)号：US20120310255A1
公开(公告)日：2012-12-06
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： A61B19/00 , A61B17/3201
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。

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