-
公开(公告)号：EP2029035A4
公开(公告)日：2013-03-27
申请号：EP07736422
申请日：2007-06-05
发明人： GLOZMAN DANIEL , SHOHAM MOSHE
CPC分类号： A61B17/3478 , A61B17/3403 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2034/102 , A61B2034/107 , A61B2034/2051 , A61B2034/304 , A61B2090/376
-
公开(公告)号：EP2150167A4
公开(公告)日：2012-09-05
申请号：EP08751342
申请日：2008-05-11
发明人： HASSIDOV NOAM , GLOZMAN DANIEL , SHOHAM MOSHE
CPC分类号： A61B1/00142 , A61B1/00103 , A61B1/00105 , A61B1/00121 , A61B1/053
-
3.发明公开
公开(公告)号：EP3054862A4
公开(公告)日：2017-05-31
申请号：EP14851843
申请日：2014-10-07
发明人： GLOZMAN DANIEL , DASKAL GONEN , SHOHAM MOSHE , ARAD MICHAEL , PINSKY YOAV
CPC分类号： A61B34/30 , A61B17/3403 , A61B34/20 , A61B90/11 , A61B2017/00699 , A61B2017/3409 , A61B2034/302 , A61B2034/303 , A61B2090/3762
摘要： A system and method for ensuring safe and tolerable insertion of a needle into a subject's body according to a preplanned or continuously monitored sequence of insertion steps. The system comprises a gripping device for gripping the needle in order to perform robotic insertion steps, yet for releasing the grip between such insertion steps, until the next insertion step is initiated. Thereby, the robot has full control of the needle during insertion steps, but does not constrain the needle between insertions, such that movement of the subject can cause neither damage nor discomfort. The gripping and insertion steps may be coordinated to keep in synchronization with the subject's breathing cycles, such that the insertion steps may be performed in the same segment of each cycle of motion of the subject's chest. The gripper can either fully disconnect from the needle, or can partially disconnect but constrain motion within limits.
摘要翻译： 一种系统和方法，用于根据预先计划或连续监测的插入步骤顺序确保针头安全且可容忍地插入到对象体内。 该系统包括夹持装置，用于夹持针以便执行机器人插入步骤，但是用于在这样的插入步骤之间释放夹持物，直到开始下一个插入步骤。 由此，机器人在插入步骤期间完全控制针，但不在插入之间限制针，使得对象的移动既不会造成损伤也不会造成不适。 握持和插入步骤可以协调以保持与受试者的呼吸周期同步，使得插入步骤可以在受试者胸部的每个运动周期的相同部分中执行。 抓手可以完全断开针头，或者可以部分断开，但限制运动。
-
4.发明公开ULTRASOUND GUIDED ROBOT FOR FLEXIBLE NEEDLE STEERING 有权ULTRASCHALL-GEFÜHRTERROBOTER ZUR FLEXIBLEN NADELSTEUERUNG
公开(公告)号：EP2296745A4
公开(公告)日：2016-12-14
申请号：EP09754349
申请日：2009-05-31
发明人： NEUBACH ZIPI , SHOHAM MOSHE
CPC分类号： A61B90/11 , A61B8/485 , A61B17/3403 , A61B34/20 , A61B34/30 , A61B2017/3409 , A61B2017/3413 , A61B2034/107 , A61B2034/2063 , A61B2034/2065 , A61B2034/301 , A61B2090/378
摘要： A robotic system for flexible needle steering under ultrasound imaging. A robot is used to steer the needle along a predetermined curved trajectory by maneuvering the needle base. The needle tip position is detected by an ultrasound sensor and the tracking error of the needle tip from a predetermined needle path is input to a controller which solves the inverse kinematic based on the needle position, and the needle and tissue properties. The control algorithm uses a novel method to detect the elastic properties of the tissue by analyzing tissue motion at the region in front of the needle tip. The inverse kinematic solution may be performed on a model of the needle as a flexible beam having laterally connected virtual springs to simulate lateral forces exerted by the tissue elasticity. The system is able to direct the needle to a target within the tissue while circumventing forbidden regions.
摘要翻译： 一种机器人系统，用于超声波成像下的柔性针头转向。 机器人用于通过操纵针座来沿着预定的弯曲轨迹转动针头。 针尖位置由超声波传感器检测，并且针尖从预定针路径的跟踪误差输入到基于针位置解决反向运动学的控制器以及针和组织性质。 控制算法采用新颖的方法，通过分析针尖前面区域的组织运动来检测组织的弹性特性。 反向运动解决方案可以在针的模型上作为具有横向连接的虚拟弹簧的柔性梁执行，以模拟由组织弹性施加的横向力。 系统能够将针引导到组织内的靶，同时避开禁区。
-
公开(公告)号：EP2760524A4
公开(公告)日：2015-12-09
申请号：EP12837337
申请日：2012-09-27
发明人： SHECHTMAN ADI , SHOHAM MOSHE , GADOT HAREL
IPC分类号： A61M29/02 , A61B17/3207 , A61M1/36 , A61M25/01 , A61M25/10
CPC分类号： A61M1/0078 , A61B17/320725 , A61M1/3655 , A61M1/367 , A61M25/0116 , A61M25/0155 , A61M25/1011 , A61M25/104 , A61M2025/1072 , A61M2025/109 , A61M2025/1097 , A61M2209/10
摘要： A method and a kit for the prevention of venous stenosis associated with the use of hemodialysis AV shunts. The kit may use a bifurcated needle for providing access to the shunt or blood vessel. One of the arms is used for returning the blood to the subject after dialysis treatment, while the other arm is used for inserting a device for cleaning the vein, the device being either an autonomous crawling device, or a passive tethered device moved down the vein by the blood flow. The autonomous crawling device may be a series of sequentially inflatable chambers, the stenosis being cleared by pressure from the outer walls of the chambers when inflated and moved. The passive device may be an element having a flexible disc-like structure, whose flexible peripheral edge slides along the inner walls of the blood vessel, compressing or clearing the material attached thereto.
-
公开(公告)号：EP1685452A4
公开(公告)日：2010-12-15
申请号：EP04791832
申请日：2004-10-24
发明人： SHOHAM MOSHE
IPC分类号： G05B19/40 , B25J9/10 , F16H19/00 , H01B20060101
CPC分类号： G05B19/19 , B25J9/104 , B25J9/126 , F16H19/0654 , G05B2219/41251
摘要： A twisted wire actuator, whereby the shortening of the length of a wire or a bundle of wires, as it is twisted, is used to control the motion of an actuated element, achieving sub-micron motion resolution. The control can be performed robotically. The high resolution can be achieved without the use of gears, sliders, or high precision lead screws, thus enabling a simplified actuation system and eliminating sources of friction. The use of wires operating in opposing directions and having oppositely directed rotations significantly reduces the non-linearity effect inherent in twisted wire actuation, resulting in a system having a good level of motion linearity as a function of control input impulse. The use of multiple twisted wires attached to the actuated element at different angles, enables the implementation of robotic systems with multiple degrees of freedom. Several experimental actuators verify these results.
摘要翻译： 一种双绞线致动器，由于扭曲的线或线束的长度的缩短被用于控制致动元件的运动，从而实现亚微米运动分辨率。 控制可以通过机器人进行。 无需使用齿轮，滑块或高精度导螺杆即可实现高分辨率，从而实现简化的驱动系统并消除摩擦源。 使用沿相反方向操作并具有相反方向旋转的导线显着减小了绞合线致动中固有的非线性效应，导致系统具有作为控制输入脉冲的函数的良好运动线性度。 使用以不同角度连接到致动元件的多条绞合线，使得能够实现具有多个自由度的机器人系统。 几个实验执行器验证这些结果。
-
公开(公告)号：EP2691052A4
公开(公告)日：2014-09-17
申请号：EP12763630
申请日：2012-03-28
发明人： SHOHAM MOSHE , RECHES AMIT , LESHANSKY LUCY , GROSKOP MICHAEL , MILLIS SHACHAR , PENTANOVICH YISHAY
CPC分类号： A61F2/852 , A61B2017/00411 , A61F2/06 , A61F2/07 , A61F2/91 , A61F2002/30079 , A61F2210/0076 , A61F2210/009 , A61F2230/0054
-
公开(公告)号：EP2142407A4
公开(公告)日：2013-07-24
申请号：EP08738207
申请日：2008-04-13
发明人： SALOMON ODED , SHVALB NIR , SHOHAM MOSHE
CPC分类号： B25J7/00 , A61B1/00156 , A61B5/0215 , A61B5/026 , A61B5/6861 , A61B5/6876 , A61B2560/063 , A61B2560/066 , A61M25/0116 , B08B9/049 , B25J5/00 , F16L55/32 , Y10T74/18016
摘要： An autonomous vibration-driven device, for motion through a lumen or along a surface, utilizing an array of flexible fibers attached to the body of the device. The outer surface of the fibers have an anisotropic coefficient of friction with the surface along which the device is to move, and the fibers extend from the device body such that at least some of the fibers are in contact with the walls along a part of their length. A transducer is used to vibrate the device, such that it moves down the lumen. The transducer can be either device borne or external. A rotary device is also described, utilizing an array of fibers disposed on the rotor's body, the fibers having an anisotropic coefficient of friction with a central stator or with an outer circular wall. A planar motion device is also described for crawling over a planar surface.
-
公开(公告)号：EP2114260A4
公开(公告)日：2010-12-22
申请号：EP08710173
申请日：2008-02-10
发明人： GLOZMAN DANIEL , HASSIDOV NOAM , SHOHAM MOSHE
CPC分类号： A61M25/0155 , A61B1/00082 , A61B1/00156 , A61B1/31 , A61B17/12045 , A61B17/12136 , A61M25/0105 , A61M25/0116 , A61M25/10 , A61M2025/1059 , F16L55/30 , F16L55/34 , F16L55/36 , F16L55/44
-
公开(公告)号：EP3054868A4
公开(公告)日：2017-05-17
申请号：EP14852135
申请日：2014-10-07
发明人： GLOZMAN DANIEL , DASKAL GONEN , SHOHAM MOSHE , ARAD MICHAEL , PINSKY YOAV
CPC分类号： A61B34/30 , A61B90/11 , A61B90/37 , A61B2017/3409 , A61B2034/304 , A61B2090/374 , A61B2090/3762
摘要： A method and apparatus for steering of a flexible needle into tissue using a steering robotic platform for manipulation of the needle shaft, and by use of a semi-active arm for locating and orienting of the steering robot on the patient's body. As opposed to other steering methods, the robot does not hold the base of the needle, which is its proximal region, but rather grips the shaft of the needle by means of a manipulatable needle gripping device, near its distal end. The needle gripper attached to the robotic platform may be equipped with a traction assembly to provide motion to the needle in its longitudinal direction, such that it co-ordinates the entry of the needle with the desired entry angle. The gripping of the needle at its distal end, close to its insertion point, provides the needle manipulator with a low profile, with concomitant advantages.
摘要翻译： 一种使用用于操纵针杆的转向机器人平台和通过使用半主动臂将转向机器人定位和定向在患者身体上来将柔性针转向到组织中的方法和设备。 与其他转向方法相反，机器人不保持针的基部，该基部是其近侧区域，而是通过靠近其远端的可操作的针夹持装置夹持针的轴。 附接到机器人平台的针夹持器可以配备有牵引组件，以在针的纵向方向上向针提供运动，使得其协调针的进入与期望的进入角度。 针在其远端的接近其插入点的夹持为针操纵器提供了低轮廓，伴随着优点。
-
-
-
-
-
-
-
-
-
搜索结果
11 条记录 (耗时 0.01 秒)
