Flexible surgical devices
    3.
    发明授权

    公开(公告)号:US10813629B2

    公开(公告)日:2020-10-27

    申请号:US15824534

    申请日:2017-11-28

    Abstract: A medical device comprises a tube including a wall with a plurality of slits oriented generally transverse to a longitudinal axis of the tube and defined by opposing surfaces. A pair of force transmission elements is actuatable to alter the tube between a flexible state and a stiffened state. A first force transmission element of the pair is coupled to an opposite side of the tube from the second force transmission element of the pair. The surgical device also includes a plurality of routing members coupled to the wall of the tube and configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. Equal tension forces applied to the pair of force transmission elements compress the tube to create the stiffened state by deforming regions of the tube disposed between the plurality of slits.

    Flexible surgical devices
    4.
    发明授权

    公开(公告)号:US12016539B2

    公开(公告)日:2024-06-25

    申请号:US17841500

    申请日:2022-06-15

    Abstract: A method for operating a medical device includes measuring a configuration of a tube, receiving a desired configuration of the tube, determining an actuation input to bend the tube to the desired configuration, and transmitting the actuation input to at least one force transmission element that is actuatable to alter the tube between a flexible state and a stiffened state. Altering the tube from the flexible state to the stiffened state includes simultaneously applying first and second tension forces to first and second force transmission elements, respectively, to compress and shorten a length of the tube. The method further includes receiving a first command to place the tube in the flexible state, reducing longitudinal compression on the tube in response to the first command, receiving a second command to place the tube in the stiffened state, and longitudinally compressing the tube in response to the second command.

    FLEXIBLE SURGICAL DEVICES
    8.
    发明申请

    公开(公告)号:US20220304668A1

    公开(公告)日:2022-09-29

    申请号:US17841500

    申请日:2022-06-15

    Abstract: A surgical device comprises a tube including a proximal segment and a distal segment and a plurality of force transmission elements coupled to the tube. The force transmission elements are actuatable to alter the distal segment of the tube between a flexible state and a stiffened state. The device also comprises a plurality of routing members. Each routing member is coupled to a wall of the tube. The routing members are configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. The device also comprises a decoupling structure that generates a reduced force transmitted to the proximal segment when an applied force is applied to the distal segment by the force transmission elements.

    Method And System For Absolute Three-Dimensional Measurements Using A Twist-Insensitive Shape Sensor
    9.
    发明申请
    Method And System For Absolute Three-Dimensional Measurements Using A Twist-Insensitive Shape Sensor 审中-公开
    使用Twist-Insensitive形状传感器进行绝对三维测量的方法和系统

    公开(公告)号:US20170071683A1

    公开(公告)日:2017-03-16

    申请号:US15359020

    申请日:2016-11-22

    Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

    Abstract translation: 一种装置包括参考固定装置。 参考固定件包括接头和跟踪接头运动的联合跟踪器。 该装置还包括外科器械。 系绳连接在关节和手术器械之间。 形状传感器从参考固定件穿过关节,穿过系绳并进入外科器械。 形状传感器基本上没有扭曲。 联合跟踪器测量接头的运动。 来自形状传感器的来自联合跟踪器的信息的信息提供相对于参考固定装置的绝对三维信息,即在固定世界参考系中提供绝对三维信息。

    Method And System For Absolute Three-Dimensional Measurements Using A Twist-Insensitive Shape Sensor
    10.
    发明申请
    Method And System For Absolute Three-Dimensional Measurements Using A Twist-Insensitive Shape Sensor 审中-公开
    使用Twist-Insensitive形状传感器进行绝对三维测量的方法和系统

    公开(公告)号:US20160157944A1

    公开(公告)日:2016-06-09

    申请号:US15014513

    申请日:2016-02-03

    Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

    Abstract translation: 一种装置包括参考固定装置。 参考固定件包括接头和跟踪接头运动的联合跟踪器。 该装置还包括外科器械。 系绳连接在关节和手术器械之间。 形状传感器从参考固定件穿过关节,穿过系绳并进入外科器械。 形状传感器基本上没有扭曲。 联合跟踪器测量接头的运动。 来自形状传感器的来自联合跟踪器的信息的信息提供相对于参考固定装置的绝对三维信息,即在固定世界参考系中提供绝对三维信息。

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