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    DEVICE FOR ASSISTING WITH THE HANDLING OF AN INSTRUMENT OR TOOL
    4.
    发明申请
    DEVICE FOR ASSISTING WITH THE HANDLING OF AN INSTRUMENT OR TOOL 审中-公开
    用于对仪器或工具的处理进行辅助的设备

    公开(公告)号：US20130231561A1

    公开(公告)日：2013-09-05

    申请号：US13410727

    申请日：2012-03-02

    申请人： Anja Marx ,  Guillaume Morel ,  Marie-Aude Vitrani ,  Serge Louis Wilfrid Muller ,  Rãzvan Gabriel Iordache

    发明人： Anja Marx ,  Guillaume Morel ,  Marie-Aude Vitrani ,  Serge Louis Wilfrid Muller ,  Rãzvan Gabriel Iordache

    IPC分类号： A61B8/00 ,  G05B13/02

    CPC分类号： A61B8/4209 ,  A61B8/4218 ,  B25J9/1679 ,  G05B13/02 ,  G05B2219/36432

    摘要： A device for assisting with the handling of an instrument or tool, the device comprising a jointed mechanical structure on a support, wherein an instrument or tool may be attached, motor drives configured to actuate the jointed mechanical structure, according to a number of degrees of freedom of less than that which the structure provides to the instrument or tool, and an automatic control, wherein the automatic control drives the motor drives in order to facilitate the meeting of a constraint on position and/or velocity parameters of the instrument or tool, which constraint the motor drives by themselves, independently of handling by an operator, cannot entirely meet.

    摘要翻译： 一种用于协助处理仪器或工具的装置，所述装置包括在支撑件上的接合的机械结构，其中可以附接仪器或工具，电动机驱动器被配置为致动接合的机械结构，根据多个度数 自由度小于结构提供给仪器或工具的自由度，以及自动控制，其中自动控制驱动电机驱动器，以便于满足对仪器或工具的位置和/或速度参数的约束， 独立于操作人员处理的电动机自身的限制不能完全满足。

    Surgical instrument
    5.
    发明授权
    Surgical instrument 有权
    手术器械

    公开(公告)号：US08845622B2

    公开(公告)日：2014-09-30

    申请号：US13260910

    申请日：2010-04-02

    申请人： Jamie Paik ,  Guillaume Morel ,  Clément Vidal ,  Patrick Henri

    发明人： Jamie Paik ,  Guillaume Morel ,  Clément Vidal ,  Patrick Henri

    IPC分类号： A61B17/00 ,  A61B19/00 ,  A61B1/00 ,  A61B17/29

    CPC分类号： A61B17/29 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/00323 ,  A61B2017/0069 ,  A61B2017/2905 ,  A61B2017/2908 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2947

    摘要： The invention relates to a surgical instrument (100; 200) comprising: an elongated arm (111; 207) according to a longitudinal axis and having a distal end (105; 204) mounted with a pivot joint on the elongated arm according to an axis substantially orthogonal to the longitudinal axis; a drive shaft (103; 3), substantially coaxial with the elongated arm, comprising means forming a universal joint (104; 206) facing the pivot joint; and, distal tool (9) securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degrees of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool, characterized in that the means forming a universal joint comprise a flexible drive sleeve (104; 206).

    摘要翻译： 本发明涉及一种外科器械（100; 200），包括：根据纵向轴线的细长臂（111; 207），并具有远端（105; 204），所述远端根据轴线在所述细长臂上安装有枢转接头 基本上垂直于纵轴; 与所述细长臂基本同轴的驱动轴（103; 3）包括形成面向所述枢转接头的万向接头（104; 206）的装置; 并且远端工具（9）牢固地紧固在驱动轴上并可旋转地安装在细长臂的远端的延伸部分中并且在其延伸部分中，使得远端工具具有彼此独立且彼此独立的两个旋转自由度，一个 围绕基本上垂直于所述细长臂的纵向轴线的轴线，另一个围绕与所述远端工具的自身轴线基本共线的轴线，其特征在于，形成万向接头的装置包括柔性驱动套筒（104; 206） ）。

    MINIATURIZED SCANNING SYSTEM
    6.
    发明申请
    MINIATURIZED SCANNING SYSTEM 有权
    微型扫描系统

    公开(公告)号：US20150057499A1

    公开(公告)日：2015-02-26

    申请号：US14394241

    申请日：2013-04-08

    申请人： Mustafa Suphi Erden ,  Benoit Rosa ,  Jérôme Szewczyk ,  Guillaume Morel ,  Clément Vidal ,  Patrick Henri ,  Nicolas Boularot

    发明人： Mustafa Suphi Erden ,  Benoit Rosa ,  Jérôme Szewczyk ,  Guillaume Morel ,  Clément Vidal ,  Patrick Henri ,  Nicolas Boularot

    IPC分类号： A61B1/005 ,  A61B1/00

    CPC分类号： A61B1/0057 ,  A61B1/00133 ,  A61B1/00165 ,  A61B1/00172 ,  A61B5/0062 ,  A61B5/0068 ,  A61B5/0084 ,  G02B6/0008 ,  G02B6/04 ,  G02B2006/0098

    摘要： A miniaturized scanning system to generate movement of a flexible device positioned at a distal part of a medical tool. The miniaturized scanning system includes an inner shaft with a longitudinal axis, adapted to guide said flexible device along the longitudinal axis, an abutment comprising an external surface and adapted to maintain said device, and a pusher mechanism adapted to engage with said abutment. The miniaturized scanning system includes at least one end portion adapted to contact said external surface of the abutment at a contact point, wherein said end portion is configured to translate along said longitudinal axis of the inner shaft and wherein the translation of said end portion results in a bending of the device in a bending plane defined by the longitudinal axis of the inner shaft and said contact point.

    摘要翻译： 一种微型扫描系统，用于产生位于医疗工具的远端部分的柔性装置的运动。 小型化扫描系统包括具有纵向轴线的内轴，其适于沿着纵向轴线引导所述柔性装置，包括外表面并适于维持所述装置的支座以及适于与所述支座接合的推动器机构。 小型化扫描系统包括适于在接触点处接触邻接件的所述外表面的至少一个端部部分，其中所述端部部分构造成沿着所述内轴的所述纵向轴线平移，并且其中所述端部部分的平移导致 该装置在由内轴和所述接触点的纵向轴线限定的弯曲平面中的弯曲。

    SURGICAL INSTRUMENT
    7.
    发明申请
    SURGICAL INSTRUMENT 有权
    手术器械

    公开(公告)号：US20120083770A1

    公开(公告)日：2012-04-05

    申请号：US13260910

    申请日：2010-04-02

    申请人： Jamie Paik ,  Guillaume Morel ,  Clément Vidal ,  Patrick Henri

    发明人： Jamie Paik ,  Guillaume Morel ,  Clément Vidal ,  Patrick Henri

    IPC分类号： A61B17/00

    CPC分类号： A61B17/29 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/00323 ,  A61B2017/0069 ,  A61B2017/2905 ,  A61B2017/2908 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2947

    摘要： The invention relates to a surgical instrument (100; 200) comprising: an elongated arm (111; 207) according to a longitudinal axis and having a distal end (105; 204) mounted with a pivot joint on the elongated arm according to an axis substantially orthogonal to the longitudinal axis; a drive shaft (103; 3), substantially coaxial with the elongated arm, comprising means forming a universal joint (104; 206) facing the pivot joint; and, distal tool (9) securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degrees of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool, characterised in that the means forming a universal joint comprise a flexible drive sleeve (104; 206).

    摘要翻译： 本发明涉及一种外科器械（100; 200），包括：根据纵向轴线的细长臂（111; 207），并具有远端（105; 204），所述远端根据轴线在所述细长臂上安装有枢转接头 基本上垂直于纵向轴线; 与所述细长臂基本同轴的驱动轴（103; 3）包括形成面向所述枢转接头的万向接头（104; 206）的装置; 并且远端工具（9）牢固地紧固在驱动轴上并可旋转地安装在细长臂的远端的延伸部分中并且在其延伸部分中，使得远端工具具有彼此独立且彼此独立的两个旋转自由度，一个 围绕基本上垂直于所述细长臂的纵向轴线的轴线，另一个围绕与所述远端工具的自身轴线基本共线的轴线，其特征在于，形成万向接头的装置包括柔性驱动套筒（104; 206） ）。

    Surgical instrument
    8.
    发明授权
    Surgical instrument 有权
    手术器械

    公开(公告)号：US08961499B2

    公开(公告)日：2015-02-24

    申请号：US13260909

    申请日：2010-04-02

    申请人： Jamie Paik ,  Guillaume Morel ,  Clément Vidal ,  Patrick Henri ,  Hervé Collet

    发明人： Jamie Paik ,  Guillaume Morel ,  Clément Vidal ,  Patrick Henri ,  Hervé Collet

    IPC分类号： A61B17/00 ,  A61B19/00 ,  A61B1/00 ,  A61B17/29

    CPC分类号： A61B17/29 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/0069 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2017/2929

    摘要： A surgical instrument having an elongated arm and a distal end mounted with a pivot joint on the elongated arm. A drive shaft substantially coaxial with the elongated arm forms a universal joint facing the pivot joint. A distal tool is securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degree of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool. The elongated arm includes a plurality of linking elements mounted in series to form the pivot joint. The universal joint is a Cardan joint.

    摘要翻译： 一种具有细长臂和远端的外科器械，其在细长臂上安装有枢转接头。 与细长臂基本同轴的驱动轴形成面向枢转接头的万向接头。 远端工具被牢固地紧固在驱动轴上并可旋转地安装在细长臂的远端的延伸部分中并且在伸长臂的远端的延伸部中，使得远端工具具有彼此独立且独立的两个旋转自由度， 基本上垂直于细长臂的纵向轴线，另一个围绕与远端工具的自身轴线基本共线的轴线。 细长臂包括多个串联安装以形成枢转接头的连接元件。 万向节是万丹联合。

    SURGICAL INSTRUMENT
    9.
    发明申请
    SURGICAL INSTRUMENT 有权
    手术器械

    公开(公告)号：US20120022554A1

    公开(公告)日：2012-01-26

    申请号：US13260909

    申请日：2010-04-02

    申请人： Jamie Paik ,  Guillaume Morel ,  Clément Vidal ,  Patrick Henri ,  Hervé Collet

    发明人： Jamie Paik ,  Guillaume Morel ,  Clément Vidal ,  Patrick Henri ,  Hervé Collet

    IPC分类号： A61B19/00

    CPC分类号： A61B17/29 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/0069 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2017/2929

    摘要： The invention relates to a surgical instrument (1) comprising: an elongated arm (11; 307) according to a longitudinal axis and having a distal end (2; 305) mounted with a pivot joint on the elongated arm according to an axis substantially orthogonal to the longitudinal axis; a drive shaft (3) substantially coaxial with the elongated arm comprising means forming a universal joint facing the pivot joint; and, a distal tool (9) securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degree of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool; characterised in that the elongated arm comprises a plurality of linking elements mounted in series to form the pivot joint and in that the means forming a universal joint comprise a Cardan joint.

    摘要翻译： 本发明涉及一种手术器械（1），包括：根据纵向轴线的细长臂（11; 307），并具有远端（2; 305），所述远端（2; 305）根据轴线基本正交地安装在所述细长臂上的枢转接头 到纵轴; 与所述细长臂基本同轴的驱动轴（3）包括形成面向所述枢转接头的万向接头的装置; 以及远程工具（9），其牢固地紧固在所述驱动轴上并且可旋转地安装在所述细长臂的远端的延伸部中并且在所述伸长臂的远端的延伸部中，使得所述远端工具具有彼此独立且独立的两个旋转自由度， 一个围绕基本上垂直于细长臂的纵向轴线的轴线，另一个围绕与远端工具的自身轴线基本共线的轴线; 其特征在于，细长臂包括多个串联安装以形成枢转接头的连接元件，并且形成万向接头的装置包括卡丹接头。