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1.发明申请公开(公告)号：US20090216067A1
公开(公告)日：2009-08-27
申请号：US12306806
申请日：2007-06-26
申请人： Cyrille Lebosse , Pierre Renaud , Bernard Bayle , Michel De Mathelin , Olivier Piccin , Edouard Laroche
发明人： Cyrille Lebosse , Pierre Renaud , Bernard Bayle , Michel De Mathelin , Olivier Piccin , Edouard Laroche
CPC分类号： A61B6/4441 , A61B6/4488 , A61B6/548 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/10 , A61B2090/065 , A61N2/006
摘要： Robotized installation for the guided and controlled positioning and movement of a component or an instrument for diagnostic or surgical treatment at or around the head of a patient, whereby the installation includes a robotic device that forms a serial kinematic chain and carries component or instrument at its free and position-controlled end. The robotic device has three kinematic sub-assemblies that are mutually combined in series and include, a first sub-assembly in the form of a rotary-articulation mechanism corresponding to a serial-type, spherical kinematic arrangement with three degrees of freedom, a second sub-assembly in the form of a mechanism with linear translation along an axis, and a third sub-assembly in the form of a second rotary-articulation mechanism, integral with the moving part of the second sub-assembly and also corresponding to a serial-type spherical kinematic arrangement with three degrees of freedom.
摘要翻译： 用于在患者头部或周围进行诊断或手术治疗的部件或器械的引导和受控定位和移动的机器人安装，其中该装置包括形成串行运动链并在其上承载组件或器械的机器人装置 自由和位置控制结束。 机器人装置具有三个相互组合的运动子组件，其包括：与旋转关节运动机构形式的对应于具有三个自由度的串联型球形运动装置的第一子组件，第二组件 子组件形式为沿着轴线线性平移的机构，以及与第二子组件的运动部分成一体的第二旋转关节运动机构形式的第三子组件， 型球形运动学排列，具有三个自由度。
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2.发明授权公开(公告)号：US08303478B2
公开(公告)日：2012-11-06
申请号：US12306806
申请日：2007-06-26
申请人： Cyrille Lebosse , Pierre Renaud , Bernard Bayle , Michel De Mathelin , Olivier Piccin , Edouard Laroche
发明人： Cyrille Lebosse , Pierre Renaud , Bernard Bayle , Michel De Mathelin , Olivier Piccin , Edouard Laroche
IPC分类号： A61N2/02
CPC分类号： A61B6/4441 , A61B6/4488 , A61B6/548 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/10 , A61B2090/065 , A61N2/006
摘要： Robotized installation for the guided and controlled positioning and movement of a component or an instrument for diagnostic or surgical treatment at or around the head of a patient, whereby the installation includes a robotic device that forms a serial kinematic chain and carries component or instrument at its free and position-controlled end. The robotic device has three kinematic sub-assemblies that are mutually combined in series and include, a first sub-assembly in the form of a rotary-articulation mechanism corresponding to a serial-type, spherical kinematic arrangement with three degrees of freedom, a second sub-assembly in the form of a mechanism with linear translation along an axis, and a third sub-assembly in the form of a second rotary-articulation mechanism, integral with the moving part of the second sub-assembly and also corresponding to a serial-type spherical kinematic arrangement with three degrees of freedom.
摘要翻译： 用于在患者头部或周围进行诊断或手术治疗的部件或器械的引导和受控定位和移动的机器人安装，其中该装置包括形成串行运动链并在其上承载组件或器械的机器人装置 自由和位置控制结束。 机器人装置具有三个相互组合的运动子组件，其包括：与旋转关节运动机构形式的对应于具有三个自由度的串联型球形运动装置的第一子组件，第二组件 子组件形式为沿着轴线线性平移的机构，以及与第二子组件的运动部分成一体的第二旋转关节运动机构形式的第三子组件， 型球形运动学排列，具有三个自由度。
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3.发明授权Device for supporting an elongated body and for the controlled translational movement of the same 有权用于支撑细长主体并用于其受控的平移运动的装置公开(公告)号：US08840627B2
公开(公告)日：2014-09-23
申请号：US11885172
申请日：2006-02-28
CPC分类号： A61B19/20 , A61B10/02 , A61B17/3403 , A61B34/30 , A61B90/10 , A61B2017/00398 , A61B2017/3409
摘要： A device for supporting and controlling the translational movement of an elongated body, the body extending along the longitudinal axis thereof in the form of a rod, such as a needle intended for a percutaneous medical procedure. The device is designed to be mounted to a support that can be controlled in terms of position and orientation, and includes: (i) a first member for gripping the body, whose movement can be controlled in the translation direction with a pre-determined maximum stroke; and (ii) a second fixed member which can guide the elongated body when the body is moved by the first mobile gripping member and which can maintain the body in position when the body is not engaged with the first member.
摘要翻译： 一种用于支撑和控制细长主体的平移运动的装置，所述主体沿着其纵向轴线以杆的形式延伸，例如用于经皮医疗程序的针的形式。 该装置被设计成安装到可以根据位置和取向来控制的支撑件，并且包括：（i）用于夹持主体的第一构件，其移动可以在平移方向上以预定的最大值 行程; 以及（ii）第二固定构件，当身体被第一可移动抓握构件移动时，该第二固定构件能够引导细长主体，并且当身体未与第一构件接合时，该第二固定构件能够将身体保持在适当的位置。
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4.发明申请公开(公告)号：US20080167663A1
公开(公告)日：2008-07-10
申请号：US11885172
申请日：2006-02-28
IPC分类号： A61B19/00
CPC分类号： A61B19/20 , A61B10/02 , A61B17/3403 , A61B34/30 , A61B90/10 , A61B2017/00398 , A61B2017/3409
摘要： A device for supporting and controlling the translational movement of an elongated body, the body extending along the longitudinal axis thereof in the form of a rod, such as a needle intended for a percutaneous medical procedure. The device is designed to be mounted to a support that can be controlled in terms of position and orientation, and includes: (i) a first member for gripping the body, whose movement can be controlled in the translation direction with a pre-determined maximum stroke; and (ii) a second fixed member which can guide the elongated body when the body is moved by the first mobile gripping member and which can maintain the body in position when the body is not engaged with the first member.
摘要翻译： 一种用于支撑和控制细长主体的平移运动的装置，所述主体沿着其纵向轴线以杆的形式延伸，例如用于经皮医疗程序的针的形式。 该装置被设计成安装到可以根据位置和取向来控制的支撑件，并且包括：（i）用于夹持主体的第一构件，其移动可以在平移方向上以预定的最大值 行程; 以及（ii）第二固定构件，当身体被第一可移动抓握构件移动时，该第二固定构件能够引导细长主体，并且当身体未与第一构件接合时，该第二固定构件能够将身体保持在适当的位置。
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5.发明授权Robotic positioning and orientation device and needle holder comprising one such device 有权机器人定位和定向装置和针架，包括一个这样的装置公开(公告)号：US07881823B2
公开(公告)日：2011-02-01
申请号：US11663689
申请日：2005-09-22
IPC分类号： G06F19/00
CPC分类号： B25J17/0266 , A61B34/20 , A61B34/30 , A61B34/70 , A61B34/76 , A61B90/11 , A61B90/18 , A61B2017/00566 , A61B2034/304 , A61B2090/3762 , Y10T74/20305 , Y10T74/20317 , Y10T74/20329 , Y10T74/20335
摘要： The invention relates to a robotic device for the positioning and orientation of a platform that is connected thereto by means of articulated support structures forming parallel mechanical links, each in the form of a serial kinematic chain of articulations that are interconnected by support segments. The inventive device (1) is characterized in that it comprises three articulated parallel mechanical links comprising: (i) two opposing, symmetrical and co-planar support structures (4 and 5), and (ii) a third support structure (6) which is located in a plane that is perpendicular to the plane containing the support structures (4 and 5). According to the invention, the articulated links formed by the three supports structures (4, 5 and 6) enable the controlled movement of points belonging to the platform (2) on a surface corresponding to a spherical or ellipsoidal cap and, preferably, essentially to a half-sphere, thereby providing at least five degrees of freedom.
摘要翻译： 本发明涉及一种用于定位和定位平台的机器人装置，该平台通过形成并联的机械连接件的铰接的支撑结构连接到该平台上，每个以连接运动链的关节的形式通过支撑段相互连接。 本发明的装置（1）的特征在于它包括三个铰接的平行机械连杆，其包括：（i）两个相对的，对称的和共平面的支撑结构（4和5），和（ii）第三支撑结构 位于垂直于包含支撑结构（4和5）的平面的平面中。 根据本发明，由三个支撑结构（4,5和6）形成的铰接连杆使得能够将属于平台（2）的点控制在对应于球形或椭圆形盖的表面上，并且优选地基本上与 半球形，从而提供至少五个自由度。
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6.发明申请Robotic Positioning and Orientation Device and Needle Holder Comprising One Such Device 有权机器人定位和定向装置以及包括一个这样的装置的针架公开(公告)号：US20090143907A1
公开(公告)日：2009-06-04
申请号：US11663689
申请日：2005-09-22
CPC分类号： B25J17/0266 , A61B34/20 , A61B34/30 , A61B34/70 , A61B34/76 , A61B90/11 , A61B90/18 , A61B2017/00566 , A61B2034/304 , A61B2090/3762 , Y10T74/20305 , Y10T74/20317 , Y10T74/20329 , Y10T74/20335
摘要： The invention relates to a robotic device for the positioning and orientation of a platform that is connected thereto by means of articulated support structures forming parallel mechanical links, each in the form of a serial kinematic chain of articulations that are interconnected by support segments. The inventive device (1) is characterized in that it comprises three articulated parallel mechanical links comprising: (i) two opposing, symmetrical and co-planar support structures (4 and 5), and (ii) a third support structure (6) which is located in a plane that is perpendicular to the plane containing the support structures (4 and 5). According to the invention, the articulated links formed by the three supports structures (4, 5 and 6) enable the controlled movement of points belonging to the platform (2) on a surface corresponding to a spherical or ellipsoidal cap and, preferably, essentially to a half-sphere, thereby providing at least five degrees of freedom.
摘要翻译： 本发明涉及一种用于定位和定位平台的机器人装置，该平台通过形成并联的机械连接件的铰接的支撑结构连接到该平台上，每个以连接运动链的关节的形式通过支撑段相互连接。 本发明的装置（1）的特征在于它包括三个铰接的平行机械连杆，其包括：（i）两个相对的，对称的和共平面的支撑结构（4和5），和（ii）第三支撑结构 位于垂直于包含支撑结构（4和5）的平面的平面中。 根据本发明，由三个支撑结构（4,5和6）形成的铰接连杆使得能够将属于平台（2）的点控制在对应于球形或椭圆形盖的表面上，并且优选地基本上与 半球形，从而提供至少五个自由度。
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公开(公告)号：US07513509B2
公开(公告)日：2009-04-07
申请号：US11271958
申请日：2005-11-14
IPC分类号： A63C9/00
摘要： A device (1) for mounting the components of a safety binding on a ski (2), comprising: a rigid platform (3) that extends over the entire length of the area in which the binding is mounted and comprises lateral slides (12); an elastomer element (4) that extends under the rigid platform (3) and is intended to come into contact with the upper surface of the ski (2); two limit stops (6) and (5), front and back respectively, that cooperate with the rigid platform (3) in order to restrict its longitudinal displacement; a rear plate (7) capable of accommodating the heel piece of the binding, said rear plate (7) being mechanically linked to the rigid platform (3) and secured on the board through retention elements (42, 44) that are directly fixed on the ski either side of the rigid platform (3).
摘要翻译： 1.一种用于将安全装置的部件安装在滑雪板（2）上的装置（1），包括：刚性平台（3），其在所述装订装置的所述区域的整个长度上延伸并且包括横向滑动件（12） ; 弹性体元件（4），其在刚性平台（3）下方延伸并且旨在与滑雪板（2）的上表面接触; 分别与刚性平台（3）配合的两个限位挡块（6）和（5），以限制其纵向位移; 能够容纳所述装订的所述后跟片的后板（7），所述后板（7）机械连接到所述刚性平台（3），并通过直接固定在所述刚性平台（3）上的保持元件（42,44）固定在所述板上， 滑板两侧的刚性平台（3）。
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公开(公告)号：US20060103113A1
公开(公告)日：2006-05-18
申请号：US11271958
申请日：2005-11-14
IPC分类号： A63C5/00
摘要： A device (1) for mounting the components of a safety binding on a ski (2), comprising: a rigid platform (3) that extends over the entire length of the area in which the binding is mounted and comprises lateral slides (12); an elastomer element (4) that extends under the rigid platform (3) and is intended to come into contact with the upper surface of the ski (2); two limit stops (6) and (5), front and back respectively, that cooperate with the rigid platform (3) in order to restrict its longitudinal displacement; a rear plate (7) capable of accommodating the heel piece of the binding, said rear plate (7) being mechanically linked to the rigid platform (3) and secured on the board through retention elements (42, 44) that are directly fixed on the ski either side of the rigid platform (3).
摘要翻译： 1.一种用于将安全装置的部件安装在滑雪板（2）上的装置（1），包括：刚性平台（3），其在所述装订装置的所述区域的整个长度上延伸并且包括横向滑动件（12） ; 弹性体元件（4），其在刚性平台（3）下方延伸并且旨在与滑雪板（2）的上表面接触; 分别与刚性平台（3）配合的两个限位挡块（6）和（5），以限制其纵向位移; 能够容纳所述装订的所述后跟片的后板（7），所述后板（7）机械连接到所述刚性平台（3），并通过直接固定在所述刚性平台（3）上的保持元件（42,44）固定在所述板上， 滑板两侧的刚性平台（3）。
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