公开(公告)号：US20070123997A1

公开(公告)日：2007-05-31

申请号：US11600291

申请日：2006-11-15

申请人： Hugh Herr ,  Conor Walsh ,  Daniel Paluska ,  Andrew Valiente ,  Kenneth Pasch ,  William Grand

发明人： Hugh Herr ,  Conor Walsh ,  Daniel Paluska ,  Andrew Valiente ,  Kenneth Pasch ,  William Grand

IPC分类号： A61F2/74

CPC分类号： A61F2/68 ,  A61F2/60 ,  A61F2/605 ,  A61F2/64 ,  A61F2/6607 ,  A61F5/0102 ,  A61F2002/5003 ,  A61F2002/5004 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/5073 ,  A61F2002/5075 ,  A61F2002/5093 ,  A61F2002/607 ,  A61F2002/6614 ,  A61F2002/6818 ,  A61F2002/6845 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  A61F2002/7695 ,  B25J9/0006 ,  B25J19/0008 ,  B62D57/032

摘要： An exoskeleton worn by a human user consisting of a rigid pelvic harness worn about the waist of the user and exoskeleton leg structures each of which extends downwardly alongside one of the human user's legs. The leg structures include hip, knee and ankle joints connected by adjustable length thigh and shin members. The hip joint that attaches the thigh structure to the pelvic harness includes a passive spring or an active actuator to assist in lifting the exoskeleton and said human user with respect to the ground surface upon which the user is walking and to propel the exoskeleton and human user forward. A controllable damper operatively arresting the movement of the knee joint at controllable times during the walking cycle, and spring located at the ankle and foot member stores and releases energy during walking.

摘要翻译： 用户使用的外骨骼由围绕使用者腰部的刚性骨盆线束和外骨骼腿结构组成，每个骨骼腿结构沿着人类用户的腿部之一向下延伸。 腿部结构包括通过可调节长度的大腿和胫骨构件连接的髋关节，膝盖和踝关节。 将大腿结构附接到骨盆线束的髋关节包括被动弹簧或主动致动器，以帮助相对于使用者在其上行走的地面提升外骨骼和所述人类用户并且推动外骨骼和人类使用者 前锋。 可操作的阻尼器在步行循环期间的可控制时间操作地阻止膝关节的运动，以及位于脚踝和脚部构件的弹簧存储并在行走期间释放能量。

公开(公告)号：US20110040216A1

公开(公告)日：2011-02-17

申请号：US12859765

申请日：2010-08-19

申请人： Hugh M. Herr ,  Conor Walsh ,  Daniel Joseph Paluska ,  Andrew Valiente ,  Kenneth Pasch ,  William Grand

发明人： Hugh M. Herr ,  Conor Walsh ,  Daniel Joseph Paluska ,  Andrew Valiente ,  Kenneth Pasch ,  William Grand

IPC分类号： A61H1/00

CPC分类号： A61F2/68 ,  A61F2/60 ,  A61F2/605 ,  A61F2/64 ,  A61F2/6607 ,  A61F5/0102 ,  A61F2002/5003 ,  A61F2002/5004 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/5073 ,  A61F2002/5075 ,  A61F2002/5093 ,  A61F2002/607 ,  A61F2002/6614 ,  A61F2002/6818 ,  A61F2002/6845 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  A61F2002/7695 ,  B25J9/0006 ,  B25J19/0008 ,  B62D57/032

摘要： An exoskeleton worn by a human user consists of a rigid pelvic harness, worn about the waist of the user, and exoskeleton leg structures, each of which extends downwardly alongside one of the human user's legs. The leg structures include hip, knee, and ankle joints connected by adjustable length thigh and shin members. The hip joint that attaches the thigh structure to the pelvic harness includes a passive spring or an active actuator to assist in lifting the exoskeleton and the human user with respect to the ground surface upon which the user is walking and to propel the exoskeleton and human user forward. A controllable damper operatively arrests the movement of the knee joint at controllable times during the walking cycle and a spring located at the ankle and foot member stores and releases energy during walking.

摘要翻译： 由用户佩戴的外骨骼由围绕使用者的腰部的刚性骨盆线束和外骨骼腿结构组成，每个骨骼腿结构沿着人类使用者的腿部之一向下延伸。 腿部结构包括通过可调节长度的大腿和胫骨构件连接的髋关节，膝盖和踝关节。 将大腿结构附接到骨盆线束的髋关节包括被动弹簧或主动致动器，以帮助相对于用户在其上行走的地面提升外骨骼和人类使用者，并且推动外骨骼和人类使用者 前锋。 可控制的阻尼器在步行循环期间的可控制时间操作地阻止膝关节的运动，并且位于脚踝和脚部构件的弹簧在行走期间存储和释放能量。

公开(公告)号：US20060229641A1

公开(公告)日：2006-10-12

申请号：US11307231

申请日：2006-01-27

申请人： Rajiv Gupta ,  Steven Barrett ,  Nevan Hanumara ,  Jo-Anne Shepard ,  Alexander Slocum ,  Conor Walsh

发明人： Rajiv Gupta ,  Steven Barrett ,  Nevan Hanumara ,  Jo-Anne Shepard ,  Alexander Slocum ,  Conor Walsh

IPC分类号： A61B19/00

CPC分类号： A61B17/3403 ,  A61B90/11 ,  A61B90/39 ,  A61B2017/00398 ,  A61B2017/00911 ,  A61B2017/3407 ,  A61B2017/3409

摘要： Methods and devices are provided for guiding and inserting a tool into an object, such as tissue. In an exemplary embodiment, a guidance and insertion device is provided that can be remotely controlled to adjust an insertion trajectory of a tool, and to advance the tool into tissue to a desired penetration depth. The tool can be, for example, a biopsy device, a brachytherapy device, or a lumpectomy device. The device can be configured for use with an imaging apparatus, such as computed tomography (CT) images, to allow the device and tool to be operated while viewing the device positioned in relation to a target surgical site. The device can also be configured to be positioned directly on a patient, so as to passively compensate for respiratory chest motion, and it can include features to passively compensate for needle oscillation. In other exemplary embodiments, the device can be entirely disposable.

摘要翻译： 提供了用于将工具引导和插入到诸如纸巾的物体中的方法和装置。 在示例性实施例中，提供可以被远程控制的引导和插入装置，以调整工具的插入轨迹，并且将工具推进到组织到期望的穿透深度。 该工具可以是例如活检装置，近距离放射治疗装置或乳房切除术装置。 该装置可被配置为与诸如计算机断层摄影（CT）图像的成像装置一起使用，以允许在查看相对于目标手术部位定位的装置的同时操作装置和工具。 该装置还可以被配置为直接定位在患者身上，以便被动地补偿呼吸胸部运动，并且其可以包括被动地补偿针振荡的特征。 在其他示例性实施例中，该装置可以是完全一次性的。