公开(公告)号：US20190145435A1

公开(公告)日：2019-05-16

申请号：US16186823

申请日：2018-11-12

Applicant: President and Fellows of Harvard College

Inventor： Kevin Galloway ,  Conor Walsh ,  Donal Holland ,  Panagiotis Polygerinos ,  Tyler Clites ,  Paxton Maeder-York ,  Ryan Neff ,  Emily Marie Boggs ,  Zivthan Dubrovsky

IPC: F15B15/10 ,  A61F2/68 ,  A61B34/00 ,  A61H3/00 ,  A61H1/02 ,  A61B17/02

Abstract: A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.

公开(公告)号：US20220133198A1

公开(公告)日：2022-05-05

申请号：US17432528

申请日：2020-02-27

Applicant: President and Fellows of Harvard College

Inventor： Dmitry Popov ,  Michael Karpelson ,  Timothy Walsh ,  Conor Walsh ,  Ryan Gulland ,  Alex Beaudette

IPC: A61B5/22 ,  A63B21/00 ,  A63B21/04 ,  A63B21/055

Abstract: A system for quantification of exercise and physical therapy includes an anchoring module and an electronics module. The anchoring module is removably attached to an object (e.g., a flexible resistive band) or equipped with a clamping mechanism for removably securing the object. The anchoring module also includes an anchoring-module coupling fixture. At least one of the modules includes a sensor (e.g., a force sensor) configured to generate a signal representative of a user's performance during exercise or physical therapy; a processor configured to receive signals from the force sensor; a computer storage medium storing software code and in communication with the processor, wherein the software code includes instruction for processing the signals from the force sensor to quantify the performance; and at least one electronics-module coupling fixture configured to secure the electronics module to the anchoring module coupling fixture.

公开(公告)号：US11103274B2

公开(公告)日：2021-08-31

申请号：US16376549

申请日：2019-04-05

Applicant: BRIGHAM AND WOMEN'S HOSPITAL, INC. ,  PRESIDENT AND FELLOWS OF HARVARD COLLEGE

Inventor： Alexander Isakov ,  Kimberly Murdaugh ,  William Burke ,  Jon Einarsson ,  Conor Walsh

IPC: A61B17/3205 ,  A61B17/32 ,  A61B17/221 ,  A61B17/00 ,  A61B17/34 ,  A61B90/00

Abstract: Embodiments of the invention provide a laparoscopic morcellating device and method for removing tissue from a body cavity. The morcellating device includes a containment mechanism having an aperture, a cutting mechanism designed to fit into an interior space of the containment mechanism and a retractor mechanism that is coupled to the cutting mechanism. The containment mechanism and cutting mechanism combination surrounds the tissue and the aperture of the containment mechanism is closed around the tissue. The morcellating device further includes a motor for actuating the retractor such that the cutting mechanism constricts and morcellates the tissue. The laparoscopic morcellating device further allows for torque balancing of the retractor mechanism, gas flow regulation of the body cavity, and safety feedback mechanisms that can alert the surgeon.

公开(公告)号：US20160030073A1

公开(公告)日：2016-02-04

申请号：US14775053

申请日：2014-03-05

Applicant: BRIGHAM AND WOMEN'S HOSPITAL, INC. ,  PRESIDENT AND FELLOWS OF HARVARD COLLEGE

Inventor： Alexander Isakov ,  Kimberly Murdaugh ,  William Burke ,  Jon Einarsson ,  Conor Walsh

IPC: A61B17/32 ,  A61B17/221

CPC classification number: A61B17/32056 ,  A61B17/221 ,  A61B17/320016 ,  A61B17/32002 ,  A61B17/3421 ,  A61B2017/0003 ,  A61B2017/00075 ,  A61B2017/00123 ,  A61B2017/00287 ,  A61B2017/00398 ,  A61B2017/00876 ,  A61B2017/2212 ,  A61B2017/320024 ,  A61B2090/0811

Abstract: Embodiments of the invention provide a laparoscopic morcellating device and method for removing tissue from a body cavity. The morcellating device includes a containment mechanism having an aperture, a cutting mechanism designed to fit into an interior space of the containment mechanism and a retractor mechanism that is coupled to the cutting mechanism. The containment mechanism and cutting mechanism combination surrounds the tissue and the aperture of the containment mechanism is closed around the tissue. The morcellating device further includes a motor for actuating the retractor such that the cutting mechanism constricts and morcellates the tissue. The laparoscopic morcellating device further allows for torque balancing of the retractor mechanism, gas flow regulation of the body cavity, and safety feedback mechanisms that can alert the surgeon.

Abstract translation: 本发明的实施例提供一种用于从体腔去除组织的腹腔镜morcellating装置和方法。 毛细管装置包括具有孔的容纳机构，设计成装配到容纳机构的内部空间中的切割机构和联接到切割机构的牵开器机构。 容纳机构和切割机构组合围绕组织，并且容纳机构的孔围绕组织封闭。 转杯装置还包括用于致动牵开器的马达，使得切割机构收缩并使组织变细。 腹腔镜手术装置进一步允许牵引器机构的扭矩平衡，体腔的气流调节和可以提醒外科医生的安全反馈机构。

公开(公告)号：US20150173993A1

公开(公告)日：2015-06-25

申请号：US14371675

申请日：2013-09-17

Applicant: President and Fellows of Harvard College

Inventor： Conor Walsh ,  Alan Thomas Asbeck ,  Ignacio Galiana Bujanda ,  Ye Ding ,  Robert Joseph Dyer ,  Arnar Freyr Larusson ,  Brendan Thomas Quinlivan ,  Kai Schmidt ,  Diana Wagner ,  Michael Wehner

IPC: A61H3/00 ,  B25J9/00

CPC classification number: A61H3/00 ,  A61F2/68 ,  A61F2002/745 ,  A61F2002/747 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H2201/1215 ,  A61H2201/1238 ,  A61H2201/1246 ,  A61H2201/1261 ,  A61H2201/1481 ,  A61H2201/149 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/1664 ,  A61H2201/1671 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/501 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2230/60 ,  A61H2230/605 ,  A63B21/0414 ,  B25J9/0006 ,  F03G7/08

Abstract: In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.

公开(公告)号：US20250064605A1

公开(公告)日：2025-02-27

申请号：US18936638

申请日：2024-11-04

Applicant: President and Fellows of Harvard College

Inventor： Kevin Galloway ,  Conor Walsh ,  Donal Holland ,  Panagiotis Polygerinos ,  Tyler Clites ,  Paxton Maeder-York ,  Ryan Neff ,  Emily Marie Boggs ,  Zivthan Dubrovsky

IPC: A61F2/68 ,  A61B17/00 ,  A61B17/02 ,  A61B17/11 ,  A61B34/00 ,  A61B90/00 ,  A61F2/70 ,  A61F2/72 ,  A61F2/74 ,  A61F5/01 ,  A61H1/02 ,  A61H3/00 ,  B25J9/16 ,  B25J13/00 ,  F15B15/10

Abstract: A wearable device includes at least one soft actuator body incorporated into the device and defining a chamber. A fluid connector is positioned and configured to provide a path for fluid flow into and out of the chamber. A control system is connected with the soft actuator body and comprises a pneumatic or hydraulic pump, valves, and a microcontroller and is configured to control fluid flow through the fluid connector into and out of the chamber to produce at least one actuation motion selected from bending, extending, stiffening, expansion, contraction, twisting, and combinations thereof in the soft actuator body. At least one sensor, including a motion sensor, is incorporated into the device and is in communication with the microcontroller, which is configured to control the fluid flow based on communications from the at least one sensor, including the motion sensor, and to thereby control actuation of the soft actuator body.

公开(公告)号：US12186210B2

公开(公告)日：2025-01-07

申请号：US17016066

申请日：2020-09-09

Applicant: President and Fellows of Harvard College

Inventor： Kevin Galloway ,  Conor Walsh ,  Donal Holland ,  Panagiotis Polygerinos ,  Tyler Clites ,  Paxton Maeder-York ,  Ryan Neff ,  Emily Marie Boggs ,  Zivthan Dubrovsky

IPC: A61F2/68 ,  A61B17/02 ,  A61B34/00 ,  A61F2/70 ,  A61F2/74 ,  A61F5/01 ,  A61H1/02 ,  A61H3/00 ,  F15B15/10 ,  A61B17/00 ,  A61B17/11 ,  A61B90/00 ,  A61F2/72 ,  B25J9/16 ,  B25J13/00

Abstract: A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.

公开(公告)号：US20210079935A1

公开(公告)日：2021-03-18

申请号：US17016066

申请日：2020-09-09

Applicant: President and Fellows of Harvard College

Inventor： Kevin Galloway ,  Conor Walsh ,  Donal Holland ,  Panagiotis Polygerinos ,  Tyler Clites ,  Paxton Maeder-York ,  Ryan Neff ,  Emily Marie Boggs ,  Zivthan Dubrovsky

IPC: F15B15/10 ,  A61H3/00 ,  A61B17/02 ,  A61H1/02 ,  A61B34/00 ,  A61F2/70 ,  A61F2/68

Abstract: A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.

公开(公告)号：US10258364B2

公开(公告)日：2019-04-16

申请号：US14775053

申请日：2014-03-05

Applicant: BRIGHAM AND WOMEN'S HOSPITAL, INC. ,  PRESIDENT AND FELLOWS OF HARVARD COLLEGE

Inventor： Alexander Isakov ,  Kimberly Murdaugh ,  William Burke ,  Jon Einarsson ,  Conor Walsh

IPC: A61B17/32 ,  A61B17/221 ,  A61B17/3205 ,  A61B17/00 ,  A61B17/34 ,  A61B90/00

Abstract: Embodiments of the invention provide a laparoscopic morcellating device and method for removing tissue from a body cavity. The morcellating device includes a containment mechanism having an aperture, a cutting mechanism designed to fit into an interior space of the containment mechanism and a retractor mechanism that is coupled to the cutting mechanism. The containment mechanism and cutting mechanism combination surrounds the tissue and the aperture of the containment mechanism is closed around the tissue. The morcellating device further includes a motor for actuating the retractor such that the cutting mechanism constricts and morcellates the tissue. The laparoscopic morcellating device further allows for torque balancing of the retractor mechanism, gas flow regulation of the body cavity, and safety feedback mechanisms that can alert the surgeon.

公开(公告)号：US10184500B2

公开(公告)日：2019-01-22

申请号：US15033270

申请日：2014-10-29

Applicant: President and Fellows of Harvard College

Inventor： Kevin Galloway ,  Conor Walsh ,  Donal Holland ,  Panagiotis Polygerinos ,  Tyler Clites ,  Paxton Maeder-York ,  Ryan Neff ,  Emily Marie Boggs ,  Zivthan Dubrovsky

IPC: F15B15/10 ,  A61H3/00 ,  A61B17/02 ,  A61H1/02 ,  A61B34/00 ,  A61F2/68 ,  A61B17/00 ,  A61B17/11 ,  A61B90/00 ,  A61F2/74

Abstract: A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator or body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.