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1.发明申请MANIPULATOR WITH DECOUPLED MOVEMENTS, AND APPLICATION TO INSTRUMENTS FOR MINIMALLY INVASIVE SURGERY 有权具有解除移动的操纵器，以及适用于微创外科手术器械公开(公告)号：US20100331860A1
公开(公告)日：2010-12-30
申请号：US12864899
申请日：2009-01-31
申请人： Pascal Barrier , Jérémy Ollagnier , Gérard Gautier
发明人： Pascal Barrier , Jérémy Ollagnier , Gérard Gautier
IPC分类号： A61B17/00
摘要： A manipulator includes a main arm, of which the proximal end bears a drive, and a proximal manipulation structure, and of which the distal end bears a controlled distal structure that may itself bear a surgical tool. The main arm passes through a surgical trocar. The proximal manipulation structure includes two opposed contact zones and stress sensors positioned in a central zone between the two opposed contact zones. The stress sensors operate the drive as a function of the stresses applied to the contact zones in order to produce the pivoting and rotating movements of the surgical tool with respect to the main arm. This ensures that there is optimal decoupling of the movements in the various degrees of freedom, thus making it easier to obtain movements through stressing operations that are natural to the operating surgeon.
摘要翻译： 操纵器包括主臂，其近端具有驱动器，以及近侧操作结构，并且其远端具有本身可承受手术工具的受控远端结构。 主臂通过手术套管针。 近侧操作结构包括两个相对的接触区域和位于两个相对的接触区域之间的中心区域中的应力传感器。 应力传感器作为施加到接触区域的应力的函数来操作驱动器，以便产生外科手术工具相对于主臂的枢转和旋转运动。 这确保了在各种自由度中的运动的最佳解耦，从而使通过操作外科医生自然的应力操作更容易地获得运动。
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2.发明授权Manipulator with decoupled movements, and application to instruments for minimally invasive surgery 有权具有解耦运动的机械手，以及应用于微创手术的仪器公开(公告)号：US08696651B2
公开(公告)日：2014-04-15
申请号：US12864899
申请日：2009-01-31
申请人： Pascal Barrier , Jérémy Ollagnier , Gérard Gautier
发明人： Pascal Barrier , Jérémy Ollagnier , Gérard Gautier
IPC分类号： A61B17/00
摘要： A manipulator includes a main arm, of which the proximal end bears a drive, and a proximal manipulation structure, and of which the distal end bears a controlled distal structure that may itself bear a surgical tool. The main arm passes through a surgical trocar. The proximal manipulation structure includes two opposed contact zones and stress sensors positioned in a central zone between the two opposed contact zones. The stress sensors operate the drive as a function of the stresses applied to the contact zones in order to produce the pivoting and rotating movements of the surgical tool with respect to the main arm. This ensures that there is optimal decoupling of the movements in the various degrees of freedom, thus making it easier to obtain movements through stressing operations that are natural to the operating surgeon.
摘要翻译： 操纵器包括主臂，其近端具有驱动器，以及近侧操作结构，并且其远端具有本身可承受手术工具的受控远端结构。 主臂通过手术套管针。 近侧操作结构包括两个相对的接触区域和位于两个相对的接触区域之间的中心区域中的应力传感器。 应力传感器作为施加到接触区域的应力的函数来操作驱动器，以便产生外科手术工具相对于主臂的枢转和旋转运动。 这确保了在各种自由度中的运动的最佳解耦，从而使通过操作外科医生自然的应力操作更容易地获得运动。
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公开(公告)号：US20120130356A1
公开(公告)日：2012-05-24
申请号：US13387786
申请日：2010-07-30
IPC分类号： A61B19/00
CPC分类号： A61B17/2909 , A61B17/8875 , A61B34/70 , A61B34/74 , A61B2017/0042 , A61B2017/00455 , Y10T408/6764
摘要： A hand-held manipulator includes a handle (4) fixedly mounted on the end of a connecting arm (2), the distal end (2b) of which carries a work unit (3). The handle (4) includes a grip section (4e) having a surface of revolution about a longitudinal handle axis (III), which is aligned with the longitudinal axis (I) of the arm. Control elements (4a-4c) are shaped in an annular structure near the distal end (4f) of the grip section (4e) so as to be accessible in any angular orientation of the hand holding the handle.
摘要翻译： 手持机械手包括固定地安装在连接臂（2）的端部上的把手（4），其远端（2b）承载着工作单元（3）。 手柄（4）包括具有围绕纵向手柄轴线（III）的旋转表面的握持部分（4e），其与臂的纵向轴线（I）对齐。 控制元件（4a-4c）在握持部分（4e）的远端（4f）附近以环形结构成形，以便能够以握住手柄的手的任何角度取向进入。
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公开(公告)号：US20120130355A1
公开(公告)日：2012-05-24
申请号：US13387782
申请日：2010-07-30
IPC分类号： A61B17/00
CPC分类号： A61B17/2909 , A61B17/0469 , A61B34/70 , A61B34/74 , A61B2017/0042 , A61B2017/291 , A61B2017/2929
摘要： A manipulator includes a control unit (1), with handle (4) and control buttons (4a-4d), and a connecting arm (2) which, at its proximal end (2a), carries the control unit (1) and, at its distal end (2b), carries a work unit (3). The handle (4) is articulated about at least one transverse articulation axis (4e), which is itself situated at an intermediate position along the handle (4). A particularly ergonomic manipulator is thus obtained which is easy to learn to use and which efficiently separates the stresses arising from movements of the tool support (5) and the stresses arising from holding and moving the manipulator itself.
摘要翻译： 操纵器包括具有手柄（4）和控制按钮（4a-4d）的控制单元（1）和在其近端（2a）处携带控制单元（1））的连接臂（2） 在其远端（2b）处承载工作单元（3）。 手柄（4）围绕至少一个横向铰接轴线（4e）铰接，横向铰接轴线本身位于沿手柄（4）的中间位置。 因此获得了一种特别符合人体工程学的操纵器，其易于学习使用，并且有效地分离由工具支撑件（5）的运动引起的应力和由保持和移动操纵器本身而产生的应力。
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5.发明授权Ergonomic and semi-automatic manipulator, and applications to instruments for minimally invasive surgery 有权人体工程学和半自动机械手，以及应用于微创手术的仪器公开(公告)号：US08920433B2
公开(公告)日：2014-12-30
申请号：US13387773
申请日：2010-07-30
申请人： Pascal Barrier , Jérémy Ollagnier , Rémi Rosset-Lanchet , Christine Melennec épouse Barthod , Max Giordano
发明人： Pascal Barrier , Jérémy Ollagnier , Rémi Rosset-Lanchet , Christine Melennec épouse Barthod , Max Giordano
CPC分类号： A61B19/22 , A61B17/062 , A61B17/2909 , A61B17/3421 , A61B17/3423 , A61B34/70 , A61B34/74 , A61B2017/00424 , A61B2017/291 , A61B2017/2927 , A61B2017/2929 , Y10T74/20329
摘要： A manipulator includes a control unit (1), with handle (4) and control buttons (4a-4d), and a connecting arm (2) which, at its proximal end (2a), carries the control unit (1) and, at its distal end (2b), carries a work unit (3). The control buttons (4a-4d) control at least a first inclination motor, which causes a movement of inclination of a tool support (5) of the work unit (3) about a transverse inclination axis (11), and they control the actual rotation of the tool support (5) about its direction of inclination (II) and control the orientation of the direction of inclination (II) about the longitudinal axis (I-I) of the connecting arm (2). A particularly ergonomic manipulator is thus obtained which is easy to learn to use and which efficiently separates the stresses arising from movements of the tool support (5) and the stresses arising from holding and moving the manipulator itself.
摘要翻译： 操纵器包括具有手柄（4）和控制按钮（4a-4d）的控制单元（1）和在其近端（2a）处携带控制单元（1））的连接臂（2） 在其远端（2b）处承载工作单元（3）。 所述控制按钮（4a-4d）至少控制第一倾斜电动机，所述第一倾斜电动机使得所述作业单元（3）的工具支撑件（5）围绕横向倾斜轴线（11）的倾斜运动，并且它们控制实际 工具支撑件（5）绕其倾斜方向（II）的旋转，并且围绕连接臂（2）的纵向轴线（II）控制倾斜方向（II）的取向。 因此获得了一种特别符合人体工程学的操纵器，其易于学习使用，并且有效地分离由工具支撑件（5）的运动引起的应力和由保持和移动操纵器本身而产生的应力。
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公开(公告)号：US08821512B2
公开(公告)日：2014-09-02
申请号：US13387782
申请日：2010-07-30
CPC分类号： A61B17/2909 , A61B17/0469 , A61B34/70 , A61B34/74 , A61B2017/0042 , A61B2017/291 , A61B2017/2929
摘要： A manipulator includes a control unit (1), with handle (4) and control buttons (4a-4d), and a connecting arm (2) which, at its proximal end (2a), carries the control unit (1) and, at its distal end (2b), carries a work unit (3). The handle (4) is articulated about at least one transverse articulation axis (4e), which is itself situated at an intermediate position along the handle (4). A particularly ergonomic manipulator is thus obtained which is easy to learn to use and which efficiently separates the stresses arising from movements of the tool support (5) and the stresses arising from holding and moving the manipulator itself.
摘要翻译： 操纵器包括具有手柄（4）和控制按钮（4a-4d）的控制单元（1）和在其近端（2a）处携带控制单元（1））的连接臂（2） 在其远端（2b）处承载工作单元（3）。 手柄（4）围绕至少一个横向铰接轴线（4e）铰接，横向铰接轴线本身位于沿手柄（4）的中间位置。 因此获得了一种特别符合人体工程学的操纵器，其易于学习使用，并且有效地分离由工具支撑件（5）的运动引起的应力和由保持和移动操纵器本身而产生的应力。
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7.发明申请ERGONOMIC AND SEMI-AUTOMATIC MANIPULATOR, AND APPLICATIONS TO INSTRUMENTS FOR MINIMALLY INVASIVE SURGERY 有权人体和半自动手术器械及其应用于微创手术的仪器公开(公告)号：US20120130401A1
公开(公告)日：2012-05-24
申请号：US13387773
申请日：2010-07-30
申请人： Pascal Barrier , Jérémy Ollagnier , Rémi Rosset-Lanchet , Christine Melennec épouse Barthod , Max Giordano
发明人： Pascal Barrier , Jérémy Ollagnier , Rémi Rosset-Lanchet , Christine Melennec épouse Barthod , Max Giordano
IPC分类号： A61B19/00
CPC分类号： A61B19/22 , A61B17/062 , A61B17/2909 , A61B17/3421 , A61B17/3423 , A61B34/70 , A61B34/74 , A61B2017/00424 , A61B2017/291 , A61B2017/2927 , A61B2017/2929 , Y10T74/20329
摘要： A manipulator includes a control unit (1), with handle (4) and control buttons (4a-4d), and a connecting arm (2) which, at its proximal end (2a), carries the control unit (1) and, at its distal end (2b), carries a work unit (3). The control buttons (4a-4d) control at least a first inclination motor, which causes a movement of inclination of a tool support (5) of the work unit (3) about a transverse inclination axis (11), and they control the actual rotation of the tool support (5) about its direction of inclination (II) and control the orientation of the direction of inclination (II) about the longitudinal axis (I-I) of the connecting arm (2). A particularly ergonomic manipulator is thus obtained which is easy to learn to use and which efficiently separates the stresses arising from movements of the tool support (5) and the stresses arising from holding and moving the manipulator itself.
摘要翻译： 操纵器包括具有手柄（4）和控制按钮（4a-4d）的控制单元（1）和在其近端（2a）处携带控制单元（1））的连接臂（2） 在其远端（2b）处承载工作单元（3）。 所述控制按钮（4a-4d）至少控制第一倾斜电动机，所述第一倾斜电动机使得所述作业单元（3）的工具支撑件（5）围绕横向倾斜轴线（11）的倾斜运动，并且它们控制实际 工具支撑件（5）绕其倾斜方向（II）的旋转，并且围绕连接臂（2）的纵向轴线（II）控制倾斜方向（II）的取向。 因此获得了一种特别符合人体工程学的操纵器，其易于学习使用，并且有效地分离由工具支撑件（5）的运动引起的应力和由保持和移动操纵器本身而产生的应力。
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公开(公告)号：US08613740B2
公开(公告)日：2013-12-24
申请号：US13387786
申请日：2010-07-30
CPC分类号： A61B17/2909 , A61B17/8875 , A61B34/70 , A61B34/74 , A61B2017/0042 , A61B2017/00455 , Y10T408/6764
摘要： A hand-held manipulator includes a handle (4) fixedly mounted on the end of a connecting arm (2), the distal end (2b) of which carries a work unit (3). The handle (4) includes a grip section (4e) having a surface of revolution about a longitudinal handle axis (III), which is aligned with the longitudinal axis (I) of the arm. Control elements (4a-4c) are shaped in an annular structure near the distal end (4f) of the grip section (4e) so as to be accessible in any angular orientation of the hand holding the handle.
摘要翻译： 手持机械手包括固定地安装在连接臂（2）的端部上的把手（4），其远端（2b）承载着工作单元（3）。 手柄（4）包括具有围绕纵向手柄轴线（III）的旋转表面的握持部分（4e），其与臂的纵向轴线（I）对齐。 控制元件（4a-4c）在握持部分（4e）的远端（4f）附近以环形结构成形，以便能够以握住手柄的手的任何角度取向进入。
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