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1.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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2.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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3.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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4.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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5.发明申请FLEXIBLE ENDOSCOPE DEVICE WITH VISUAL CONTROL AND PROCESS FOR STABILIZATION OF SUCH A DEVICE 审中-公开具有视觉控制的柔性内窥镜装置和用于稳定该装置的方法公开(公告)号：US20100168518A1
公开(公告)日：2010-07-01
申请号：US12528254
申请日：2008-02-25
IPC分类号： A61B1/005
CPC分类号： A61B1/05 , A61B1/00147 , A61B1/0051
摘要： A flexible endoscope device includes an elongated flexible body having an end segment bearing or defining the endoscope head, and provided with an optical system that can be curved or bent in at least two mutually perpendicular directions, the elongated body being functionally connected at the other end thereof to a control element capable of controlling at least the movements and/or the arrangement of the end segment. The device includes automatic flexion and positioning elements of the end segment by visual control, the elements essentially including a video processing element for receiving the images or video signals provided by the optical system of the endoscope head using a computer element capable of carrying out visual control operations on the basis of the processed video signals and of transmitting control signals, and actuation members that are part of or associated with the control elements.
摘要翻译： 柔性内窥镜装置包括具有末端部分轴承或限定内窥镜头部的细长柔性体，并且设置有能够在至少两个相互垂直的方向上弯曲或弯曲的光学系统，细长体在另一端功能连接 至少能够控制端段的移动和/或布置的控制元件。 该装置包括通过视觉控制的端段的自动弯曲和定位元件，该元件基本上包括一个视频处理元件，用于使用能够进行视觉控制的计算机元件接收由内窥镜头的光学系统提供的图像或视频信号 基于经处理的视频信号和发送控制信号的操作，以及作为控制元件的一部分或与控制元件相关联的致动构件。
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6.发明授权公开(公告)号：US09095686B2
公开(公告)日：2015-08-04
申请号：US12994557
申请日：2009-05-26
CPC分类号： A61M25/09041 , A41H37/00 , A61B1/00133 , A61B1/018 , A61B17/00 , A61B34/30 , A61B34/70 , A61B34/71 , A61M2025/09116 , B21J15/28 , B31B50/68
摘要： A device for controlled translational displacement of an elongated element that terminates in a frontal functional end, in particular an instrument/tool that is designed to be brought to an internal site in a patient, more particularly an exploratory instrument/surgical tool placed in a catheter or in an operating channel or working channel of a flexible endoscope, whereby the device includes a linear actuator that acts at the rear end of the elongated element that is located opposite its frontal functional end. The device that is characterized in that the actuator includes of a direct-drive electromagnetic linear motor with a shaft that moves in translation relative to a stator and that drives the elongated element, whereby the shaft can also be coupled to a rotary motor.
摘要翻译： 用于可伸缩元件的受控平移位移的装置，其终止于正面功能端，特别是被设计成被带到病人内部位置的仪器/工具，更具体地，放置在导管中的探查仪器/手术工具 或者在柔性内窥镜的操作通道或工作通道中，由此该装置包括线性致动器，其作用在与其正面功能端相对的细长元件的后端。 该装置的特征在于，致动器包括直轴驱动电磁线性电动机，其具有相对于定子平移地移动并驱动细长元件的轴，由此轴也可联接到旋转电动机。
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公开(公告)号：US20110184390A1
公开(公告)日：2011-07-28
申请号：US12994557
申请日：2009-05-26
IPC分类号： A61B17/00
CPC分类号： A61M25/09041 , A41H37/00 , A61B1/00133 , A61B1/018 , A61B17/00 , A61B34/30 , A61B34/70 , A61B34/71 , A61M2025/09116 , B21J15/28 , B31B50/68
摘要： A device for controlled translational displacement of an elongated element that terminates in a frontal functional end, in particular an instrument or a tool that is designed to be brought to an internal site in a patient, more particularly an exploratory instrument or a surgical tool placed in a catheter or in an operating channel or working channel of a flexible endoscope, whereby the device includes a linear actuator that acts at the rear end of the elongated element that is located opposite its frontal functional end. Device (1) that is characterized in that the actuator (5) consists of a direct-drive electromagnetic linear motor that includes a shaft (6) that moves in translation relative to a stator and that drives the elongated element (2), whereby the shaft (6) optionally can also be coupled to a rotary motor.
摘要翻译： 用于可伸展元件的可控平移位移的装置，其终止于正面功能端，特别是被设计成被带到病人内部位置的仪器或工具，更具体地，放置在患者体内的探查仪器或手术工具 导管或柔性内窥镜的操作通道或工作通道中，由此该装置包括线性致动器，该线性致动器作用于位于与其正面功能端相对的细长元件的后端。 其特征在于，所述致动器（5）包括直接驱动电磁线性马达，所述直驱电磁线性马达包括相对于定子平移运动并驱动所述细长元件（2）的轴（6），由此 轴（6）任选地也可以联接到旋转马达。
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