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    Articulating tool with improved tension member system
    1.
    发明申请
    Articulating tool with improved tension member system 有权
    具有改进张力构件系统的铰接工具

    公开(公告)号：US20080255421A1

    公开(公告)日：2008-10-16

    申请号：US11787608

    申请日：2007-04-16

    申请人： David Elias Hegeman ,  David J. Danitz ,  Karrie S. Bertsch ,  Lincoln J. Alvord ,  Cameron D. Hinman

    发明人： David Elias Hegeman ,  David J. Danitz ,  Karrie S. Bertsch ,  Lincoln J. Alvord ,  Cameron D. Hinman

    IPC分类号： A61B1/008

    CPC分类号： A61B1/0052 ,  A61B1/0055 ,  A61B17/29 ,  A61B2017/003 ,  A61B2017/291 ,  A61B2017/2927

    摘要： The invention provides surgical or diagnostic tools and associated methods that offer improved user control for operating remotely within regions of the body, and improved methods of assembling the tools. In some embodiments these tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. The articulation mechanisms comprise pairs of links, one link distal and the other proximal, configured such that movement of a proximal link is transferred to the distal link by way of tension bearing members. Embodiments of the invention include a guide for such tension bearing members that facilitates assembly of the tool. Embodiments also include improved methods for attaching tension bearing members to the links. The inventions disclosed herein may also be used with articulating devices outside of the surgical and diagnostic fields.

    摘要翻译： 本发明提供了外科或诊断工具和相关联的方法，其提供改进的用户控制以在身体的区域内远程操作，以及改进的组装工具的方法。 在一些实施例中，这些工具包括近端定位的致动器，用于远端执行器的操作，以及靠近位置的致动器，用于末端执行器的关节和旋转运动。 控制机构和方法可以完善操纵器对末端执行器启动和这些铰接和旋转运动的控制。 关节运动机构包括一对连杆，一个连杆远端和另一个近侧，构造成使得近端连杆的运动通过张力承载部件传递到远端连杆。 本发明的实施例包括一种便于组装工具的这种张紧轴承部件的引导件。 实施例还包括用于将张力承载构件附接到连杆的改进方法。 本文公开的发明也可以用于手术和诊断领域外的关节装置。

    Articulating tool with improved tension member system
    2.
    发明授权
    Articulating tool with improved tension member system 有权
    具有改进张力构件系统的铰接工具

    公开(公告)号：US07862554B2

    公开(公告)日：2011-01-04

    申请号：US11787608

    申请日：2007-04-16

    申请人： David Elias Hegeman ,  David J. Danitz ,  Karrie S. Bertsch ,  Lincoln J. Alvord ,  Cameron D. Hinman

    发明人： David Elias Hegeman ,  David J. Danitz ,  Karrie S. Bertsch ,  Lincoln J. Alvord ,  Cameron D. Hinman

    IPC分类号： A61B1/008

    CPC分类号： A61B1/0052 ,  A61B1/0055 ,  A61B17/29 ,  A61B2017/003 ,  A61B2017/291 ,  A61B2017/2927

    摘要： The invention provides surgical or diagnostic tools and associated methods that offer improved user control for operating remotely within regions of the body, and improved methods of assembling the tools. In some embodiments these tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. The articulation mechanisms comprise pairs of links, one link distal and the other proximal, configured such that movement of a proximal link is transferred to the distal link by way of tension bearing members. Embodiments of the invention include a guide for such tension bearing members that facilitates assembly of the tool. Embodiments also include improved methods for attaching tension bearing members to the links. The inventions disclosed herein may also be used with articulating devices outside of the surgical and diagnostic fields.

    摘要翻译： 本发明提供了外科或诊断工具和相关联的方法，其提供改进的用户控制以在身体的区域内远程操作，以及改进的组装工具的方法。 在一些实施例中，这些工具包括近端定位的致动器，用于远端执行器的操作，以及靠近位置的致动器，用于末端执行器的关节和旋转运动。 控制机构和方法可以完善操纵器对末端执行器启动和这些铰接和旋转运动的控制。 关节运动机构包括一对连杆，一个连杆远端和另一个近侧，构造成使得近端连杆的运动通过张力承载部件传递到远端连杆。 本发明的实施例包括一种便于组装工具的这种张紧轴承部件的引导件。 实施例还包括用于将张力承载构件附接到连杆的改进方法。 本文公开的发明也可以用于手术和诊断领域外的关节装置。

    Tool with articulation lock
    3.
    发明授权
    Tool with articulation lock 有权
    带铰链锁的工具

    公开(公告)号：US09072427B2

    公开(公告)日：2015-07-07

    申请号：US13334628

    申请日：2011-12-22

    申请人： David Elias Hegeman ,  David J. Danitz ,  Cameron D. Hinman ,  Lincoln J. Alvord

    发明人： David Elias Hegeman ,  David J. Danitz ,  Cameron D. Hinman ,  Lincoln J. Alvord

    IPC分类号： A61B1/00 ,  A61B1/005 ,  A61B1/008 ,  A61B17/29 ,  A61B19/00 ,  A61B17/00

    CPC分类号： A61B1/0055 ,  A61B1/008 ,  A61B17/29 ,  A61B17/2909 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2017/291 ,  A61B2017/2927 ,  A61B2017/2946

    摘要： The invention provides surgical or diagnostic tools and associated methods that offer user control for operating remotely within regions of the body. These tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. An articulation lock allows the fixing and releasing of both neutral and articulated configurations of the tool and of consequent placement of the end effector. The tool may also include other features. A multi-state ratchet for end effector actuation provides enablement-disablement options with tactile feedback. A force limiter mechanism protects the end effector and manipulated objects from the harm of potentially excessive force applied by the operator. A rotation lock provides for enablement and disablement of rotatability of the end effector.

    摘要翻译： 本发明提供了提供用户控制以在身体的区域内远程操作的手术或诊断工具和相关联的方法。 这些工具包括用于远端执行器的操作的向近侧定位的致动器，以及用于端部执行器的关节和旋转运动的近端定位的致动器。 控制机构和方法可以完善操纵器对末端执行器启动和这些铰接和旋转运动的控制。 铰接锁允许固定和释放工具的中性和铰接构型以及随后的端部执行器的放置。 该工具还可以包括其他特征。 用于末端执行器致动的多状态棘轮提供带触觉反馈的启用禁用选项。 力限制器机构保护末端执行器和操纵物体免受操作者施加的潜在过大的力的伤害。 旋转锁定提供了端部执行器的可旋转性的启用和禁用。

    Tool with articulation lock
    4.
    发明授权
    Tool with articulation lock 有权
    带铰链锁的工具

    公开(公告)号：US08100824B2

    公开(公告)日：2012-01-24

    申请号：US11787543

    申请日：2007-04-16

    申请人： David Elias Hegeman ,  David J. Danitz ,  Cameron D. Hinman ,  Lincoln J. Alvord

    发明人： David Elias Hegeman ,  David J. Danitz ,  Cameron D. Hinman ,  Lincoln J. Alvord

    IPC分类号： A61B1/00

    CPC分类号： A61B1/0055 ,  A61B1/008 ,  A61B17/29 ,  A61B17/2909 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2017/291 ,  A61B2017/2927 ,  A61B2017/2946

    摘要： The invention provides surgical or diagnostic tools and associated methods that offer user control for operating remotely within regions of the body. These tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. An articulation lock allows the fixing and releasing of both neutral and articulated configurations of the tool and of consequent placement of the end effector. The tool may also include other features. A multi-state ratchet for end effector actuation provides enablement-disablement options with tactile feedback. A force limiter mechanism protects the end effector and manipulated objects from the harm of potentially excessive force applied by the operator. A rotation lock provides for enablement and disablement of rotatability of the end effector.

    摘要翻译： 本发明提供了提供用户控制以在身体的区域内远程操作的手术或诊断工具和相关联的方法。 这些工具包括用于远端执行器的操作的向近侧定位的致动器，以及用于端部执行器的关节和旋转运动的近端定位的致动器。 控制机构和方法可以完善操纵器对末端执行器启动和这些铰接和旋转运动的控制。 铰接锁允许固定和释放工具的中性和铰接构型以及随后的端部执行器的放置。 该工具还可以包括其他特征。 用于末端执行器致动的多状态棘轮提供带触觉反馈的启用禁用选项。 力限制器机构保护末端执行器和操纵物体免受操作者施加的潜在过大的力的伤害。 旋转锁定提供了端部执行器的可旋转性的启用和禁用。

    TOOL WITH ARTICULATION LOCK
    5.
    发明申请
    TOOL WITH ARTICULATION LOCK 有权
    工具与ARTICULATION LOCK

    公开(公告)号：US20120095451A1

    公开(公告)日：2012-04-19

    申请号：US13334628

    申请日：2011-12-22

    申请人： David Elias Hegeman ,  David J. Danitz ,  Cameron D. Hinman ,  Lincoln J. Alvord

    发明人： David Elias Hegeman ,  David J. Danitz ,  Cameron D. Hinman ,  Lincoln J. Alvord

    IPC分类号： A61B17/00

    CPC分类号： A61B1/0055 ,  A61B1/008 ,  A61B17/29 ,  A61B17/2909 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2017/291 ,  A61B2017/2927 ,  A61B2017/2946

    摘要： The invention provides surgical or diagnostic tools and associated methods that offer user control for operating remotely within regions of the body. These tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. An articulation lock allows the fixing and releasing of both neutral and articulated configurations of the tool and of consequent placement of the end effector. The tool may also include other features. A multi-state ratchet for end effector actuation provides enablement-disablement options with tactile feedback. A force limiter mechanism protects the end effector and manipulated objects from the harm of potentially excessive force applied by the operator. A rotation lock provides for enablement and disablement of rotatability of the end effector.

    摘要翻译： 本发明提供了提供用户控制以在身体的区域内远程操作的手术或诊断工具和相关联的方法。 这些工具包括用于远端执行器的操作的向近侧定位的致动器，以及用于端部执行器的关节和旋转运动的近端定位的致动器。 控制机构和方法可以完善操纵器对末端执行器启动和这些铰接和旋转运动的控制。 铰接锁允许固定和释放工具的中性和铰接构型以及随后的端部执行器的放置。 该工具还可以包括其他特征。 用于末端执行器致动的多状态棘轮提供带触觉反馈的启用禁用选项。 力限制器机构保护末端执行器和操纵物体免受操作者施加的潜在过大的力的伤害。 旋转锁定提供了端部执行器的可旋转性的启用和禁用。

    Articulating mechanism with flex-hinged links
    9.
    发明授权
    Articulating mechanism with flex-hinged links 有权
    铰链机构铰链

    公开(公告)号：US07678117B2

    公开(公告)日：2010-03-16

    申请号：US10948911

    申请日：2004-09-24

    申请人： Cameron D. Hinman ,  David J. Danitz

    发明人： Cameron D. Hinman ,  David J. Danitz

    IPC分类号： A61B17/00

    CPC分类号： A61M25/0138 ,  A61B1/0055 ,  A61M25/0105

    摘要： The invention provides articulating mechanisms, and flexible members and flexible segments that can form such articulating mechanisms. The mechanisms are useful, for example, for remote steering, guidance and/or manipulation of various instruments and tools at a targeted location. The mechanisms, members or segments include links connected by flexible hinges. The proximal and distal ends of the mechanisms are connected by at least one set of cables in such a fashion that a proximal active flexible segment forms a discrete pair with a distal active flexible segment. Movement of active flexible segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. This configuration allows each flexible segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations.

    摘要翻译： 本发明提供了铰接机构，以及可以形成这种铰接机构的柔性构件和柔性段。 这些机制例如用于在目标位置处的各种仪器和工具的远程转向，指导和/或操纵是有用的。 机构，部件或部分包括通过柔性铰链连接的连杆。 机构的近端和远端通过至少一组电缆连接，使得近端主动柔性段与远侧主动柔性段形成离散对。 在机构的近端处的活动柔性段的移动导致段在机构的远端处的相应的相对运动。 这种构造允许每个柔性段对彼此独立地移动，并且还允许关节运动机构经历复杂的运动并且采用复杂的构造。

    Hand-actuated device for remote manipulation of a grasping tool
    10.
    发明授权
    Hand-actuated device for remote manipulation of a grasping tool 有权
    用于远程操纵抓握工具的手动驱动装置

    公开(公告)号：US07410483B2

    公开(公告)日：2008-08-12

    申请号：US10997249

    申请日：2004-11-24

    申请人： David J. Danitz ,  Cameron D. Hinman

    发明人： David J. Danitz ,  Cameron D. Hinman

    IPC分类号： A61B17/00

    CPC分类号： A61B34/70 ,  A61B1/0053 ,  A61B1/0055 ,  A61B17/072 ,  A61B17/07207 ,  A61B18/1492 ,  A61B34/71 ,  A61B34/77 ,  A61B2017/00323 ,  A61B2017/00424 ,  A61B2017/00438 ,  A61B2017/2905 ,  A61B2017/2927 ,  A61B2034/306 ,  A61B2090/038 ,  B25J9/06 ,  B25J9/104 ,  B25J13/02 ,  B25J18/06 ,  Y10S901/21 ,  Y10T74/20323 ,  Y10T74/20402

    摘要： The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.

    摘要翻译： 本发明提供了一种例如用于远程操纵身体内或身体各处的各种手术器械和诊断工具的关节机构。 在机构的近端处的段的运动导致段在机构的远端处的相应的相对运动。 近端段和远端段通过一组电缆连接，使得每个近端段与远端段形成离散对。 这种构造允许每个区段对彼此独立地移动，并且还允许关节运动机构经历复杂的运动并且采用复杂的构造。 关节运动机构也可以以远程模拟手指运动以对物体或身体组织进行操纵的方式组合。