최소 단어 이상 선택하여야 합니다.
최대 10 단어까지만 선택 가능합니다.
다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
NTIS 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
DataON 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Edison 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Kafe 바로가기국가/구분 | United States(US) Patent 등록 |
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국제특허분류(IPC7판) |
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출원번호 | US-0709965 (1996-09-09) |
발명자 / 주소 |
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출원인 / 주소 |
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대리인 / 주소 |
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인용정보 | 피인용 횟수 : 486 인용 특허 : 0 |
A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). The teleoperator system comprises a endoscope surgical instrument suited
A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). The teleoperator system comprises a endoscope surgical instrument suited for endoscopic surgery. The surgical instrument comprises a control servomechanism which operates an insertion section. The insertion section comprises a forearm, a wrist and an end effector. The end effector is a modified surgical instrument such as retractors, electrosurgical cutters, electrosurgical coagulators, forceps, needle holders, scissors, blades and irrigators. The control section contains motors and linkages which operate the insertion section with five or more degrees of freedom. The control section inserts, retracts, pivots and rotates the forearm with four degrees of freedom about axes that all intersect adjacent a small incision through which the insertion section is introduced to the patient. The control section also pivots the wrist with at least one degree of freedom relative to the forearm and operates the end effector. The surgical manipulator provides superior flexibility in performing endoscopic procedures compared to standard rigid endoscopic instruments and is adapted for teleoperator control.
[ I claim:] [1.] An endoscopic surgical instrument comprising a control section and an insertion section wherein:the insertion section is insertable into a patient through a small incision to a location adjacent a worksite in the patient;the insertion section comprises a rigid forearm link, a wrist
[ I claim:] [1.] An endoscopic surgical instrument comprising a control section and an insertion section wherein:the insertion section is insertable into a patient through a small incision to a location adjacent a worksite in the patient;the insertion section comprises a rigid forearm link, a wrist link and an end effector wherein:the forearm link has a proximal end, a distal end and a forearm axis extending longitudinally from the proximal end of the forearm link to the distal end of the forearm link;the wrist link has a proximal end and a distal end and a wrist axis extending from the proximal end of the wrist link to the distal end of the wrist link;the proximal end of the forearm link is connected to the control section, the distal end of the forearm link is connected to a pivotal wrist joint; andthe proximal end of the wrist link is connected to the pivotal wrist joint and the distal end of the wrist link is connected to the end effector;and the control section comprises a plurality of control motors and linkages to operate the insertion section with at least five degrees of freedom including:insertion and retraction of the forearm link along the forearm axis and through the small incision;rotation of the forearm link about the forearm axis;pivotal motion of the forearm link about a first pivotal axis and a second pivotal axis which are perpendicular to each other and intersect the forearm axis at a pivot point between the proximal end of the forearm link and the distal end of the forearm link adjacent the small incision, wherein such pivotal motion of the forearm link avoids lateral movement of the forearm link at the pivot point; andpivotal motion of the wrist link relative to the forearm link.
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