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公开(公告)号：US20230009618A1
公开(公告)日：2023-01-12
申请号：US17780039
申请日：2020-11-26
发明人： Simon SHARON , Idan BOADER , Evgeny KOFMAN , Eran COHEN , Eyal MORAG , Harel GADOT , Moshe SHOHAM
摘要： A modular robotic surgical system comprising: a base; a plurality of tool-receivers arranged as separate units, each tool-receiver unit operable to move an elongate surgical tool received therein; a plurality of interface coupling pairs, each coupling pair comprising a first coupler as part of the base and a second coupler as part of each of the tool-receiver units; wherein each of the tool-receiver units is independently and interchangeably attachable to the base via the coupling pair.
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公开(公告)号：US20210282875A1
公开(公告)日：2021-09-16
申请号：US17331837
申请日：2021-05-27
发明人： Simon SHARON , Idan BOADER , Evgeny KOFMAN , Moshe SHOHAM , Eran COHEN , Eyal MORAG , Harel GADOT
摘要： A modular robotic surgical system comprising: one or more tool-receiver units arranged as separate units, each tool-receiver unit operable to move a first elongate surgical tool received therein; a base comprising one or more motors, the base operable to move a second elongate surgical tool attached to the base or received therein, the base serving as a mounting for the one or more tool-receiver units; wherein each of the tool-receiver units is independently and interchangeably attachable to the base via a mechanical coupling interface which transfers one or more of: driving force for driving movement of the first elongate surgical tool received within the unit; electrical power supply to one or more components of the unit which drive movement of the first elongate surgical tool received within the unit; and data for controlling movement of the first elongate surgical tool received within the unit.
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公开(公告)号：US20240041543A1
公开(公告)日：2024-02-08
申请号：US18381656
申请日：2023-10-19
发明人： Simon SHARON , Idan BOADER , Evgeny KOFMAN , Zev SOHN , Moshe SHOHAM , Eran COHEN , Eyal MORAG
IPC分类号： A61B34/30
CPC分类号： A61B34/30 , A61B2034/301
摘要： An assembly for driving movement of an elongate surgical tool, comprising:
a plurality of adjacent pairs of driving wheels, each pair of driving wheels having a space therebetween such that spaces of the plurality of pairs of driving wheels are axially aligned to form a channel for the elongate surgical tool to extend through;
wherein at least one pair of driving wheels out of the plurality of pairs is arranged to lie on a plane different than a plane on which at least one other pair of driving wheels lies.-
4.发明授权公开(公告)号：US11291515B2
公开(公告)日：2022-04-05
申请号：US17233774
申请日：2021-04-19
发明人： Simon Sharon , Idan Boader , Evgeny Kofman , Moshe Shoham , Eran Cohen , Eyal Morag
IPC分类号： A61B34/00 , A61M25/01 , A61B34/37 , B25J9/10 , A61B34/30 , A61B34/35 , B25J9/00 , A61M25/00 , A61M25/02
摘要： A compact robotic device for driving movement of two or more elongate surgical tools configured for a telescopic arrangement when said two or more elongate surgical tools are at least partially received within said device, the device comprising: a housing comprising walls which define an inner volume including at least two inner pathways for accommodating the two or more elongate surgical tools; the housing encasing: a plurality of motors, and two or more tool actuation assemblies configured at a position of each of the two or more inner pathways; the actuation assemblies driven by the plurality of motors and configured to operably contact an elongate surgical tool at least partially received in the inner pathway to at least one of advance, retract and/or roll said elongate surgical tool.
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5.发明授权公开(公告)号：US12102290B2
公开(公告)日：2024-10-01
申请号：US17526060
申请日：2021-11-15
发明人： Simon Sharon , Idan Boader , Moshe Shoham , Eran Cohen , Eyal Morag
IPC分类号： A61B1/00 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61M25/01 , A61M25/09 , B25J9/00 , B25J9/10 , A61B17/00 , A61M25/00 , A61M25/02
CPC分类号： A61B1/00147 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61M25/0113 , A61M25/09041 , B25J9/0021 , B25J9/102 , A61B2017/00477 , A61B2034/301 , A61M2025/0042 , A61M2025/0253
摘要： An assembly for driving linear movement and roll movement of an elongate surgical tool, comprising: an elongate shaft comprising a central lumen extending along the shaft long axis; the elongate shaft comprising a plurality of apertures extending across walls of the elongate shaft and into the central lumen; a set of wheels positioned opposing each other and aligned on two sides of the central lumen, the set of wheels at least partially extending through the apertures beyond the walls of the elongate shaft and into the central lumen to contact an elongate surgical tool received therein; the set of wheels being coupled to the elongate shaft and configured to rotate with the elongate shaft as a single unit when the elongate shaft is rotated about the shaft long axis.
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公开(公告)号：USD976399S1
公开(公告)日：2023-01-24
申请号：US35514400
申请日：2021-11-29
设计人： Eyal Carmi , Michael Blumenfeld , Eran Zur , Stav Havazelet , Yoav Tikochinsky , Simon Sharon , Idan Boader , Oren Cohen , Eran Cohen , Eyal Morag
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7.发明申请公开(公告)号：US20220071723A1
公开(公告)日：2022-03-10
申请号：US17526060
申请日：2021-11-15
发明人： Simon SHARON , Idan BOADER , Moshe SHOHAM , Eran COHEN , Eyal MORAG
摘要： An assembly for driving linear movement and roll movement of an elongate surgical tool, comprising: an elongate shaft comprising a central lumen extending along the shaft long axis; the elongate shaft comprising a plurality of apertures extending across walls of the elongate shaft and into the central lumen; a set of wheels positioned opposing each other and aligned on two sides of the central lumen, the set of wheels at least partially extending through the apertures beyond the walls of the elongate shaft and into the central lumen to contact an elongate surgical tool received therein; the set of wheels being coupled to the elongate shaft and configured to rotate with the elongate shaft as a single unit when the elongate shaft is rotated about the shaft long axis.
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公开(公告)号：US20210046277A1
公开(公告)日：2021-02-18
申请号：US16965590
申请日：2019-01-31
发明人： Or SAMOOCHA , Simon SHARON , Yosef PORAT , Moshe SHOHAM , Harel GADOT , Idan BOADER , Danna PERLMAN , Eyal BEN-MOSHE
摘要： Disclosed is a self-cleaning catheter system for fluid passage including a catheter, configured to be implanted in a body cavity of a subject and including at least one aperture fluidly coupling the catheter to the outside thereof, a cleaning unit configured for motion in the catheter such as to at least one of mechanically prevent, remove and mitigate occlusion in the at least one aperture, and an implantable controller. The cleaning unit is functionally associated with the controller, which is configured to (i) receive at least one signal indicative of a state of occlusion in the catheter, and (ii) provide an indication of the state of occlusion at least if the at least one signal indicates a blockage in the catheter and/or (iii) activate the cleaning unit if the at least one signal indicates a blockage of the catheter.
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公开(公告)号：US20240358448A1
公开(公告)日：2024-10-31
申请号：US18292956
申请日：2022-07-13
发明人： Idan BOADER , Simon SHARON , Eran COHEN , Eyal MORAG
CPC分类号： A61B34/30 , A61M25/0021 , A61M25/09 , A61B2034/301 , A61M2025/0042
摘要： A robotic device for manipulation of an arrangement of a plurality of elongate surgical tools, comprising: a first unit and a second unit, each unit configured to receive at least one elongate surgical tool of the arrangement, where an elongate surgical tool received by the first unit is different from an elongate surgical tool received by the second unit; each unit comprising a driving assembly and motors configured for actuation of the driving assembly to move the at least one elongate surgical tool; and a coupler attached to the first unit and to the second unit, the coupler configured so that movement of the two or more portions relative to each other allows movement of at least one of the first and second units relative to the other unit, while in each of the first and second units the elongate surgical tool remains in operable engagement with the driving assembly.
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公开(公告)号：US20240197415A1
公开(公告)日：2024-06-20
申请号：US18287470
申请日：2022-03-17
发明人： Simon SHARON , Idan BOADER , Evgeny KOFMAN , Zev SOHN , Moshe SHOHAM , Eran COHEN , Eyal MORAG
CPC分类号： A61B34/30 , A61B2034/301 , A61M25/0082
摘要： An assembly for driving movement of an elongate surgical tool, comprising:
a plurality of adjacent pairs of driving wheels, each pair of driving wheels having a space therebetween such that spaces of the plurality of pairs of driving wheels are axially aligned to form a channel for the elongate surgical tool to extend through;
wherein at least one pair of driving wheels out of the plurality of pairs is arranged to lie on a plane different than a plane on which at least one other pair of driving wheels lies.
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