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    FLEXIBLE WRIST FOR SURGICAL TOOL
    3.
    发明申请
    FLEXIBLE WRIST FOR SURGICAL TOOL 有权
    用于手术工具的柔性手腕

    公开(公告)号：US20070239203A1

    公开(公告)日：2007-10-11

    申请号：US11733879

    申请日：2007-04-11

    申请人： Thomas Cooper ,  S. Anderson

    发明人： Thomas Cooper ,  S. Anderson

    IPC分类号： A61B17/00

    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 。

    Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
    4.
    发明申请
    Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure 审中-公开

    公开(公告)号：US20070038080A1

    公开(公告)日：2007-02-15

    申请号：US11496958

    申请日：2006-08-01

    申请人： J. Salisbury ,  Gunter Niemeyer ,  Robert Younge ,  Gary Guthart ,  David Mintz ,  Thomas Cooper

    发明人： J. Salisbury ,  Gunter Niemeyer ,  Robert Younge ,  Gary Guthart ,  David Mintz ,  Thomas Cooper

    IPC分类号： A61B5/05

    CPC分类号： A61B8/5238 ,  A61B1/00 ,  A61B1/0005 ,  A61B1/00149 ,  A61B1/313 ,  A61B8/12 ,  A61B8/483 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/36 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/506

    摘要： A method of performing a surgical procedure on a patient is provided. The method typically comprises positioning a surgical work station of a robotically controlled surgical system and a patient on which a surgical procedure is to be performed in close proximity relative to each other, directing a field of view of an image capture device of the surgical work station at a surgical site on the patient, at which site the surgical procedure is to be performed, and introducing at least one robotically controlled surgical instrument on the surgical work station to the surgical site so that an end effector of the surgical instrument is within the field of view of the image capture device. The method typically further comprises displaying an image of the surgical site and the end effector on a display area of an image display at an operator control station of the surgical system. The image display is typically operatively connected to the image capture device so as to display, on the display area, the image of the surgical site and the end effector captured by the image capture device. The method can further include permitting an operator of the surgical system to manipulate a master control at the operator control station whilst viewing the image of the surgical site on the image display, the master control being operatively associated with the surgical instrument thereby to cause the end effector to move in response to manipulation of the master control so as to perform at least part of the surgical procedure on the patient at the surgical site. The method yet further typically comprises operatively linking the image display to a source of selectively accessible auxiliary information related to the surgical procedure to be performed, enabling the operator selectively to access the source of auxiliary information from the operator control station so as to forward the auxiliary information to the image display, causing the auxiliary information to be displayed across the display area of the image display in response to the operator selectively accessing the source of auxiliary information at the operator control station and enabling the operator selectively to move the auxiliary information when displayed on the image display relative to the image of the surgical site displayed on the image display. The master control is typically operatively linked with the source of auxiliary information, enabling the operator selectively to access the source of auxiliary information then including permitting the operator selectively to disassociate the master control from the surgical instrument and to use the master control to access the source of auxiliary information so as to enable the auxiliary information to be displayed on the display area of the image display.

    Refrigeration warming system for refrigeration systems
    8.
    发明授权
    Refrigeration warming system for refrigeration systems 有权

    公开(公告)号：US10126022B1

    公开(公告)日：2018-11-13

    申请号：US15587750

    申请日：2017-05-05

    申请人： Thomas Cooper

    发明人： Thomas Cooper

    IPC分类号： F25B1/00 ,  F25B5/04 ,  F25B39/00 ,  F25B41/00 ,  F25B39/02

    摘要： A refrigeration system including a condenser, a compressor, a first transportation system passing refrigerant between the compressor and the condenser, a first evaporator, a second evaporator, a second transportation system passing the refrigerant between the condenser and a holding vessel, with the holding vessel including refrigerant in gas and liquid form, a third transportation system passing the refrigerant between the holding vessel and a pump, a fourth transportation system passing the refrigerant between the pump and the first evaporator, a fifth transportation system passing the refrigerant between the pump and the second evaporator, and a heat exchanger wherein the refrigerant in the second transportation system exchanges heat with the refrigerant in the fifth transportation system to heat the refrigerant in the fifth transportation system before the refrigerant passes to the second evaporator. The refrigerant is expanded between the condenser and the first and second evaporators to lower the pressure thereof.

    COMPACT COUNTER BALANCE FOR ROBOTIC SURGICAL SYSTEMS
    9.
    发明申请
    COMPACT COUNTER BALANCE FOR ROBOTIC SURGICAL SYSTEMS 有权
    机器人手术系统的紧凑计数器平衡

    公开(公告)号：US20070156122A1

    公开(公告)日：2007-07-05

    申请号：US11627934

    申请日：2007-01-26

    申请人： Thomas Cooper

    发明人： Thomas Cooper

    IPC分类号： A61B17/00

    CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/50 ,  A61B2090/5025 ,  A61B2090/506 ,  A61B2090/508 ,  B25J19/0016 ,  G02B7/001 ,  Y10T29/49826 ,  Y10T74/20311 ,  Y10T74/2154

    摘要： In one embodiment of the invention, an apparatus is provided including a linkage and a balancing mechanism coupled to the linkage around a pivotal joint. The linkage couples to a support structure at a first end and support a weight applied to a second end. The balancing mechanism counter balances the weight applied to the second end of the linkage. As the linkage is deformed to vertically adjust the height of the weight with a different moment arm length, the balancing mechanism varies a cable path length to modify the compression of a spring and a tension in a cable to adjust the amount of counter balance force applied to the linkage.

    摘要翻译： 在本发明的一个实施例中，提供了一种装置，其包括连杆机构和平衡机构，该机构联接到围绕枢转接头的连杆机构。 连接件在第一端处联接到支撑结构并且支撑施加到第二端的重量。 平衡机构计数器平衡施加到连杆的第二端的重量。 当联动装置变形以用不同的力矩臂长度垂直调整重物的高度时，平衡机构改变电缆路径长度，以改变弹簧的压缩和电缆中的张力，以调整施加的平衡力的量 到联系。