公开(公告)号：EP2637551A4

公开(公告)日：2016-04-13

申请号：EP11846539

申请日：2011-11-10

申请人： MEDROBOTICS CORP

发明人： DARISSE IAN J ,  OYOLA ARNOLD E ,  STAND JOSEPH A ,  DIDOMENICO ROBERT A ,  STRAFACE SAMUEL F ,  FLAHERTY J CHRISTOPHER

IPC分类号： A61B17/34 ,  A61B17/24 ,  A61B17/29 ,  A61B34/00 ,  A61M25/092 ,  B25J18/06

CPC分类号： A61B34/30 ,  A61B1/0011 ,  A61B1/00154 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  A61B19/2203 ,  A61B34/76 ,  A61B2017/00314 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/715 ,  A61B2034/742 ,  A61B2090/064 ,  A61B2090/3614

摘要： In an introduction assembly for an articulated probe, a feeding mechanism has actuators for controlling the articulated probe. The introduction device is fixed in a positional relationship to the feeding mechanism. The introduction device includes a support member configured to support an articulated probe. A proximal end of the support member has an entrance configured to guide the articulated probe into contact with the support member. A distal end of the support member has an exit configured to guide the articulated probe from the support member into a region of interest.

公开(公告)号：EP2793729A4

公开(公告)日：2015-08-12

申请号：EP12860859

申请日：2012-12-20

申请人： MEDROBOTICS CORP

发明人： OYOLA ARNOLD E ,  ANDERSON ROBERT ,  JOHNSTON GABRIEL ,  DARISSE IAN J ,  STAND JOSEPH A ,  BETTENCOURT LUIS ,  FRANGOLIS TODD ,  FLAHERTY J CHRISTOPHER

IPC分类号： A61B19/00 ,  B25J9/06 ,  B25J13/00 ,  B25J19/06

CPC分类号： B25J18/06 ,  A61B34/30 ,  A61B34/71 ,  B25J9/065 ,  Y10S901/21 ,  Y10T74/20323

摘要： An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

公开(公告)号：EP2755805A4

公开(公告)日：2015-07-08

申请号：EP12832524

申请日：2012-09-12

申请人： MEDROBOTICS CORP

发明人： OYOLA ARNOLD ,  ZUBIATE BRETT ,  WHIPPLE DALE ,  STAND JOSEPH A ,  DIDOMENICO ROBERT ,  KENNEFICK WILLIAM H ,  FLAHERTY J CHRISTOPHER

IPC分类号： B25J9/06 ,  B25J17/00

CPC分类号： B25J9/065 ,  A61B1/0056 ,  A61B1/008 ,  A61B34/30 ,  B25J18/06

摘要： An articulating probe, comprises a first mechanism including a first link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element; and a second link comprising a second longitudinal axis, a second articulation surface and a second motion-limiting element. An articulation joint comprises the first articulation surface and the second articulation surface and constructed and arranged to allow two degree-of-freedom articulation of the second link relative to the first link. A motion resisting assembly comprises the first motion limiting element and the second motion limiting element, wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis relative to the first longitudinal axis of the first link.

公开(公告)号：EP3166527A4

公开(公告)日：2018-07-11

申请号：EP15803572

申请日：2015-06-05

申请人： MEDROBOTICS CORP

发明人： ZUBIATE BRETT ,  NUNES NANCY A ,  DARISSE IAN J ,  MORDENTE ZACKERY ,  CASTRO MICHAEL ,  JOHNSTON GABRIEL ,  CALEF THOMAS ,  TULLY STEPHEN ,  DALEY ERIC ,  COHEN DAVID ,  STAND JOSEPH A ,  ANDERSON BOB ,  KENNEDY KEVIN ,  FLAHERTY R MAXWELL ,  FLAHERTY J CHRISTOPHER

IPC分类号： A61B34/30 ,  A61B17/34 ,  A61B17/94 ,  A61B90/50

CPC分类号： A61B34/30 ,  A61B17/3417 ,  A61B2017/003 ,  A61B2017/00314 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306 ,  A61B2090/508

摘要： In an articulating probe system, an articulating probe is constructed and arranged to articulate in at least one degree of motion and to transition between a flexible state and a rigid state, the articulating probe comprising a plurality of links between a proximal link and a distal link The distal link of the articulating probe includes a side port constructed and arranged to receive a distal end of an elongate tool. A tool support is in communication with the articulating probe for supporting the elongate tool, the tool support including a tool tube that extends from the tool support at an intermediate portion to the side port of the distal link at a distal portion, the tool tube having a first flexibility in the intermediate portion and having a second flexibility in the distal portion; the second flexibility being greater in flexibility than the first flexibility.

公开(公告)号：EP2629655A4

公开(公告)日：2016-09-14

申请号：EP11835214

申请日：2011-10-21

申请人： MEDROBOTICS CORP

发明人： STAND JOSEPH A ,  DIDOMENICO ROBERT A ,  ZUBIATE BRETT ,  DARISSE IAN J ,  FLAHERTY J CHRISTOPHER

IPC分类号： A61B1/005 ,  A61B1/012

CPC分类号： A61B19/2203 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/018 ,  A61B34/30 ,  A61B34/71 ,  A61B2034/306

摘要： A highly articulated robotic probe comprises an outer sleeve and an inner core. The outer sleeve and inner core include a plurality of links. The links of the outer sleeve and inner core are configured to pivot relative to one another. Various characteristics of the links determine the overall pivot angle of the articulated probe. Each of the plurality of links may have one or more channels. The channels form a semi-continuous passage from link to link and are configured to receive an elongated member such as an inner core, tool or cable. One or more cables may be used to control the outer links of the outer sleeve and the inner links of the inner core. Various characteristics of the cables determine the overall performance of the articulated probe.