公开(公告)号：US20140005683A1

公开(公告)日：2014-01-02

申请号：US13880525

申请日：2011-10-21

申请人： Joseph A. Stand ,  Robert A. Didomenico ,  Brett Zubiate ,  Ian J. Darisse ,  J. Christopher Flaherty

发明人： Joseph A. Stand ,  Robert A. Didomenico ,  Brett Zubiate ,  Ian J. Darisse ,  J. Christopher Flaherty

IPC分类号： A61B19/00

CPC分类号： A61B19/2203 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/018 ,  A61B34/30 ,  A61B34/71 ,  A61B2034/306

摘要： A highly articulated robotic probe comprises an outer sleeve and an inner core. The outer sleeve and inner core include a plurality of links. The links of the outer sleeve and inner core are configured to pivot relative to one another. Various characteristics of the links determine the overall pivot angle of the articulated probe. Each of the plurality of links may have one or more channels. The channels form a semi-continuous passage from link to link and are configured to receive an elongated member such as an inner core, tool or cable. One or more cables may be used to control the outer links of the outer sleeve and the inner links of the inner core. Various characteristics of the cables determine the overall performance of the articulated probe.

摘要翻译： 高度铰接的机器人探头包括外套筒和内芯。 外套筒和内芯包括多个连杆。 外套筒和内芯的连杆构造成相对于彼此枢转。 连杆的各种特性确定铰接式探头的整体枢转角度。 多个链接中的每一个可以具有一个或多个信道。 通道形成从连接件到连接件的半连续通道，并且构造成容纳诸如内芯，工具或电缆的细长构件。 可以使用一根或多根电缆来控制外套筒和内芯的内链节的外链节。 电缆的各种特性决定了铰接式探头的整体性能。

公开(公告)号：US08992421B2

公开(公告)日：2015-03-31

申请号：US13880525

申请日：2011-10-21

申请人： Joseph A. Stand ,  Robert A. Didomenico ,  Brett Zubiate ,  Ian J. Darisse ,  J. Christopher Flaherty

发明人： Joseph A. Stand ,  Robert A. Didomenico ,  Brett Zubiate ,  Ian J. Darisse ,  J. Christopher Flaherty

IPC分类号： A61B1/00 ,  A61B19/00 ,  A61B1/005

CPC分类号： A61B19/2203 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/018 ,  A61B34/30 ,  A61B34/71 ,  A61B2034/306

摘要： A highly articulated robotic probe comprises an outer sleeve and an inner core. The outer sleeve and inner core include a plurality of links. The links of the outer sleeve and inner core are configured to pivot relative to one another. Various characteristics of the links determine the overall pivot angle of the articulated probe. Each of the plurality of links may have one or more channels. The channels form a semi-continuous passage from link to link and are configured to receive an elongated member such as an inner core, tool or cable. One or more cables may be used to control the outer links of the outer sleeve and the inner links of the inner core. Various characteristics of the cables determine the overall performance of the articulated probe.

摘要翻译： 高度铰接的机器人探头包括外套筒和内芯。 外套筒和内芯包括多个连杆。 外套筒和内芯的连杆构造成相对于彼此枢转。 连杆的各种特性确定铰接式探头的整体枢转角度。 多个链接中的每一个可以具有一个或多个信道。 通道形成从连接件到连接件的半连续通道，并且构造成容纳诸如内芯，工具或电缆的细长构件。 可以使用一根或多根电缆来控制外套筒和内芯的内链节的外链节。 电缆的各种特性决定了铰接式探头的整体性能。

公开(公告)号：US09649163B2

公开(公告)日：2017-05-16

申请号：US13884407

申请日：2011-11-10

申请人： Ian J. Darisse ,  Arnold E. Oyola ,  Joseph A. Stand ,  Robert A. DiDomenico ,  Samuel F. Straface ,  J. Christopher Flaherty

发明人： Ian J. Darisse ,  Arnold E. Oyola ,  Joseph A. Stand ,  Robert A. DiDomenico ,  Samuel F. Straface ,  J. Christopher Flaherty

IPC分类号： A61B1/04 ,  A61B19/00 ,  A61B1/00 ,  A61B1/005 ,  A61B17/00 ,  A61B17/34 ,  A61B34/00 ,  A61B90/00 ,  A61B34/30

CPC分类号： A61B34/30 ,  A61B1/0011 ,  A61B1/00154 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  A61B34/76 ,  A61B2017/00314 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/715 ,  A61B2034/742 ,  A61B2090/064 ,  A61B2090/3614

摘要： In an introduction assembly for an articulated probe, a feeding mechanism has actuators for controlling the articulated probe. The introduction device is fixed in a positional relationship to the feeding mechanism. The introduction device includes a support member configured to support an articulated probe. A proximal end of the support member has an entrance configured to guide the articulated probe into contact with the support member. A distal end of the support member has an exit configured to guide the articulated probe from the support member into a region of interest.

公开(公告)号：US20140012288A1

公开(公告)日：2014-01-09

申请号：US13884407

申请日：2011-11-10

申请人： Ian J. Darisse ,  Arnold E. Oyola ,  Joseph A. Stand ,  Robert A. DiDomenico ,  Samuel F. Straface ,  J. Christopher Flaherty

发明人： Ian J. Darisse ,  Arnold E. Oyola ,  Joseph A. Stand ,  Robert A. DiDomenico ,  Samuel F. Straface ,  J. Christopher Flaherty

IPC分类号： A61B19/00

CPC分类号： A61B34/30 ,  A61B1/0011 ,  A61B1/00154 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  A61B34/76 ,  A61B2017/00314 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/715 ,  A61B2034/742 ,  A61B2090/064 ,  A61B2090/3614

摘要： In an introduction assembly for an articulated probe, a feeding mechanism has actuators for controlling the articulated probe. The introduction device is fixed in a positional relationship to the feeding mechanism. The introduction device includes a support member configured to support an articulated probe. A proximal end of the support member has an entrance configured to guide the articulated probe into contact with the support member. A distal end of the support member has an exit configured to guide the articulated probe from the support member into a region of interest.

摘要翻译： 在用于铰接式探针的导入组件中，馈送机构具有用于控制铰接式探针的致动器。 导入装置以与供给机构的位置关系固定。 引入装置包括构造成支撑铰接式探针的支撑构件。 支撑构件的近端具有被构造成引导关节式探针与支撑构件接触的入口。 支撑构件的远端具有出口，所述出口构造成将关节式探针从支撑构件引导到感兴趣的区域中。

公开(公告)号：US20170015007A1

公开(公告)日：2017-01-19

申请号：US15180503

申请日：2016-06-13

申请人： Robert Anderson ,  Gabriel Johnston ,  Ian J. Darisse ,  Joseph A. Stand ,  Luis Bettencourt ,  Todd Frangolis ,  Arnold E. Oyola ,  J. Christopher Flaherty

发明人： Robert Anderson ,  Gabriel Johnston ,  Ian J. Darisse ,  Joseph A. Stand ,  Luis Bettencourt ,  Todd Frangolis ,  Arnold E. Oyola ,  J. Christopher Flaherty

IPC分类号： B25J18/06 ,  A61B34/30 ,  A61B34/00 ,  B25J9/06

CPC分类号： B25J18/06 ,  A61B34/30 ,  A61B34/71 ,  B25J9/065 ,  Y10S901/21 ,  Y10T74/20323

摘要： An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

摘要翻译： 用于驱动关节式探针的装置包括细长探针，该细长探针被构造和布置为以至少一个预定的运动程度来铰接并且从柔性状态转变到刚性状态;以及力传递机构，其构造和布置成向 探测。 该力选自由使得探针以至少一个预定的运动程度来铰接的力和使探针从柔性状态转变到刚性状态的力的组。 基部结构附接到力传递机构和细长探针的部分; 所述基部结构包括一个或多个稳定元件，所述稳定元件被构造和布置成抵抗由所述力传递机构的力引起的所述探针的不期望的移动。

公开(公告)号：US09364955B2

公开(公告)日：2016-06-14

申请号：US14364195

申请日：2012-12-20

申请人： Arnold E. Oyola ,  Robert Anderson ,  Gabriel Johnston ,  Ian J. Darisse ,  Joseph A. Stand ,  Luis Bettencourt ,  Todd Frangolis ,  J. Christopher Flaherty

发明人： Arnold E. Oyola ,  Robert Anderson ,  Gabriel Johnston ,  Ian J. Darisse ,  Joseph A. Stand ,  Luis Bettencourt ,  Todd Frangolis ,  J. Christopher Flaherty

IPC分类号： B25J18/06

CPC分类号： B25J18/06 ,  A61B34/30 ,  A61B34/71 ,  B25J9/065 ,  Y10S901/21 ,  Y10T74/20323

摘要： An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

摘要翻译： 用于驱动关节式探针的装置包括细长探针，该细长探针被构造和布置为以至少一个预定的运动程度来铰接并且从柔性状态转变到刚性状态;以及力传递机构，其构造和布置成向 探测。 该力选自由使得探针以至少一个预定的运动程度来铰接的力和使探针从柔性状态转变到刚性状态的力的组。 基部结构附接到力传递机构和细长探针的部分; 所述基部结构包括一个或多个稳定元件，所述稳定元件被构造和布置成抵抗由所述力传递机构的力引起的所述探针的不期望的移动。

公开(公告)号：US20140318299A1

公开(公告)日：2014-10-30

申请号：US14364195

申请日：2012-12-20

申请人： Arnold E. OYOLA ,  Robert ANDERSON ,  Gabriel JOHNSTON ,  Ian J. DARISSE ,  Joseph A. STAND ,  Todd FRANGOLIS ,  Christopher J. FLAHERTY ,  MEDROBOTICS CORPORATION

发明人： Arnold E. Oyola ,  Robert Anderson ,  Gabriel Johnston ,  Ian J. Darisse ,  Joseph A. Stand ,  Luis Bettencourt ,  Todd Franglois

IPC分类号： B25J18/06

CPC分类号： B25J18/06 ,  A61B34/30 ,  A61B34/71 ,  B25J9/065 ,  Y10S901/21 ,  Y10T74/20323

摘要： An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

摘要翻译： 用于驱动关节式探针的装置包括细长探针，该细长探针被构造和布置为以至少一个预定的运动程度来铰接并且从柔性状态转变到刚性状态;以及力传递机构，其构造和布置成向 探测。 该力选自由使得探针以至少一个预定的运动程度来铰接的力和使探针从柔性状态转变到刚性状态的力的组。 基部结构附接到力传递机构和细长探针的部分; 所述基部结构包括一个或多个稳定元件，所述稳定元件被构造和布置成抵抗由所述力传递机构的力引起的所述探针的不期望的移动。

公开(公告)号：US20180228557A1

公开(公告)日：2018-08-16

申请号：US15567109

申请日：2016-04-20

申请人： Ian J. Darisse ,  Gabriel A. Johnston ,  Richard Walker, Jr. ,  Leland Witherspoon ,  David Warnock ,  Thomas Calef ,  Eric Daley ,  Stephen Tully ,  Amoz Cruz ,  Jonathan O'Keefe ,  JEffrey Cerier ,  Emily Triggs ,  Simon Grover ,  Andras Pungor ,  J. Christopher Flaherty ,  R. Maxwell Flaherty

发明人： Ian J. Darisse ,  Gabriel A. Johnston ,  Richard Walker, Jr. ,  Leland Witherspoon ,  David Warnock ,  Thomas Calef ,  Eric Daley ,  Stephen Tully ,  Amoz Cruz ,  Jonathan O'Keefe ,  JEffrey Cerier ,  Emily Triggs ,  Simon Grover ,  Andras Pungor ,  J. Christopher Flaherty ,  R. Maxwell Flaherty

IPC分类号： A61B34/30 ,  A61B1/05 ,  A61B1/12 ,  A61B50/13 ,  A61B1/00 ,  A61B1/005 ,  A61B1/008

CPC分类号： A61B34/30 ,  A61B1/00009 ,  A61B1/00055 ,  A61B1/00114 ,  A61B1/00117 ,  A61B1/00149 ,  A61B1/00158 ,  A61B1/0016 ,  A61B1/005 ,  A61B1/0057 ,  A61B1/008 ,  A61B1/018 ,  A61B1/05 ,  A61B1/0646 ,  A61B1/0676 ,  A61B1/0684 ,  A61B1/07 ,  A61B1/126 ,  A61B1/32 ,  A61B10/02 ,  A61B17/3201 ,  A61B46/20 ,  A61B50/13 ,  A61B2034/301 ,  A61B2034/306 ,  A61F5/005 ,  A61M5/14 ,  A61N5/1007 ,  H01H47/002 ,  Y10S901/41 ,  Y10S901/47

摘要： A system for performing a medical procedure comprises a first assembly and a second assembly. The first assembly comprises an articulating probe assembly and a first housing. The articulating probe assembly comprises an outer probe and an inner probe. The outer probe comprises: multiple articulating outer links and a first connector. The inner probe comprises multiple articulating inner links and a second connector. The first housing comprises: a proximal portion; a distal portion; and an opening positioned in the first housing distal portion. The articulating probe is constructed and arranged to pass through the first housing opening. The second assembly comprises: a first carriage constructed and arranged to operably engage the first connector of the outer probe; a second carriage constructed and arranged to operably engage the second connector of the inner probe; a dual linear drive assembly configured to independently translate the first carriage and the second carriage; and a second housing comprising a proximal portion and a distal portion. The first assembly is constructed and arranged to operably attach to the second assembly. Methods of performing a medical procedure are also described.