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    Robotic surgical system with patient support
    4.
    发明授权
    Robotic surgical system with patient support 有权
    机器人手术系统与患者支持

    公开(公告)号：US09078686B2

    公开(公告)日：2015-07-14

    申请号：US13784650

    申请日：2013-03-04

    申请人： Bruce Schena

    发明人： Bruce Schena

    IPC分类号： A61B19/12 ,  A61B19/00 ,  A61G13/04 ,  A61B17/00

    CPC分类号： A61B34/30 ,  A61B17/00234 ,  A61B50/10 ,  A61B50/15 ,  A61B90/50 ,  A61B2017/00991 ,  A61G13/04

    摘要： A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the first end to a second end. The robot support arm may further extend horizontally over the patient table to support a robotic surgical manipulator that will extend generally downward from the robot support arm toward a patient supported by the patient table to place an end effector of the robotic surgical manipulator adjacent a desired surgical site on the patient.

    摘要翻译： 一种用于支撑患者和机器人手术操纵器的机器人手术系统。 所述机器人手术系统包括基座，在第一端处联接到所述基座并且垂直向上延伸到相对的第二端的支柱以及联接到所述支柱的第二端的附接结构。 患者台联接到附接结构。 机器人支撑臂具有联接到附接结构的第一端。 机器人支撑臂从第一端垂直向上延伸到第二端。 机器人支撑臂可以进一步水平延伸到患者台上以支撑机器人手术操纵器，其将从机器人支撑臂向患者台支撑的患者大致向下延伸，以将机器人手术操纵器的末端执行器邻近期望的手术 病人站点。

    Instrument interface of a robotic surgical system
    5.
    发明授权
    Instrument interface of a robotic surgical system 有权
    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。

    Surgical accessory clamp and method
    6.
    发明授权
    Surgical accessory clamp and method 有权
    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。

    BRACING OF BUNDLED MEDICAL DEVICES FOR SINGLE PORT ENTRY, ROBOTICALLY ASSISTED MEDICAL PROCEDURES
    9.
    发明申请
    BRACING OF BUNDLED MEDICAL DEVICES FOR SINGLE PORT ENTRY, ROBOTICALLY ASSISTED MEDICAL PROCEDURES 有权
    为单一入境手术配套医疗器械，机动辅助医疗程序

    公开(公告)号：US20070283970A1

    公开(公告)日：2007-12-13

    申请号：US11762222

    申请日：2007-06-13

    申请人： Catherine J. Mohr ,  David Q. Larkin ,  Bruce Schena

    发明人： Catherine J. Mohr ,  David Q. Larkin ,  Bruce Schena

    IPC分类号： A61B19/00

    CPC分类号： A61B34/72 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B90/14 ,  A61B90/361 ,  A61B90/50 ,  A61B2034/305 ,  A61B2090/371

    摘要： Medical devices robotically manipulated by a medical robotic system for performing a medical procedure on a patient are bundled together as a bundled unit and inserted into the patient through a single entry port. Bracing of the bundled unit at the surgical site so as to be constrained in one or more degrees of freedom of movement may be performed using an anchor secured to an anatomic structure at the surgical site and physically coupled to the bundled unit, or using a tool extending out of a distal end of the bundled unit that extends out to an anatomic structure at the surgical site.

    摘要翻译： 由用于对患者执行医疗程序的医疗机器人系统机器人操作的医疗设备作为捆绑单元捆绑在一起，并通过单个入口插入患者体内。 可以在外科手术部位的捆绑单元的支撑被限制在一个或多个运动自由度中，可以使用固定到外科手术部位的解剖结构的锚固件并且物理地联接到捆扎单元或使用工具 从在外科手术部位延伸到解剖结构的捆绑单元的远端延伸出来。

    Directional inertial tactile feedback using rotating masses
    10.
    发明申请
    Directional inertial tactile feedback using rotating masses 有权
    使用旋转质量的定向惯性反馈

    公开(公告)号：US20060281550A1

    公开(公告)日：2006-12-14

    申请号：US11411739

    申请日：2006-04-25

    申请人： Bruce Schena

    发明人： Bruce Schena

    IPC分类号： A63F13/00

    CPC分类号： A63F13/285 ,  A63F13/06 ,  A63F13/211 ,  A63F13/24 ,  A63F2300/1037 ,  A63F2300/1043 ,  G06F3/016

    摘要： Directional haptic feedback for a haptic feedback interface device. A haptic feedback interface device, in communication with a host computer, includes a housing physically contacted by a user operating the interface device, and a plurality of actuators producing inertial forces when the actuators are driven by control signals. Each of the actuators includes a rotatable eccentric mass positioned offset on a rotating shaft of the actuator, where the actuators are rotated simultaneously such that centrifugal forces from the rotation of masses combine to output the inertial forces substantially only along a single axis having a desired direction approximately in a plane of rotation of the masses.

    摘要翻译： 用于触觉反馈接口装置的定向触觉反馈。 与主计算机通信的触觉反馈接口装置包括由操作接口装置的用户实际接触的壳体，以及当致动器由控制信号驱动时产生惯性力的多个致动器。 每个致动器包括位于致动器的旋转轴上偏移的可旋转偏心质量块，其中致动器同时旋转，使得来自质量旋转的离心力组合以基本上仅沿着具有期望方向的单个轴输出惯性力 大致在群众的旋转平面内。