公开(公告)号：US20200039064A1

公开(公告)日：2020-02-06

申请号：US16415683

申请日：2019-05-17

Applicant: The Regents of the University of California

Inventor： Stephen Alan McKinley ,  David Gealy ,  Pieter Abbeel

IPC: B25J9/12 ,  B25J18/00 ,  F16H48/38

Abstract: A compliant robot includes a base and a compliant robot arm. The compliant robot arm includes a first quasi-direct drive assembly operatively connected to said base such that said compliant robot arm has at least one degree of freedom for motion relative to said base. The first quasi-direct drive assembly provides passive compliance such that said compliant robot arm has a back-drivable mode of operation for interactions between said compliant robot arm and an environment.

公开(公告)号：US10286197B2

公开(公告)日：2019-05-14

申请号：US14907679

申请日：2014-07-28

Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Jean Pouliot ,  Ken Goldberg ,  I-Chow Hsu ,  J. Adam M. Cunha ,  Animesh Garg ,  Sachin Patil ,  Pieter Abbeel ,  Timmy Siauw

IPC: A61M31/00 ,  A61B8/08 ,  A61B6/03 ,  A61N5/06 ,  A61N5/10 ,  A61N7/02 ,  A61B18/18 ,  A61B18/14 ,  A61B18/00 ,  A61B18/02 ,  B33Y10/00 ,  B33Y80/00 ,  A61B90/00 ,  A61F7/12 ,  B29K101/12 ,  B29L31/00 ,  B29C64/112 ,  B29C64/20

Abstract: The present invention offers an alternative for cancer treatment where radiation, thermotherapy, or another therapeutic modality must be delivered to an internal cavity of a subject, for example to treat mouth, anal, cervical, and vaginal cancers. The invention is a new approach that builds on recent results in 3D printing and steerable needle motion planning to create customized implants containing customized curvature-constrained internal channels that fit securely, minimize air gaps, and precisely guide treatment sources through internal printed channels to accurately reach tumors and minimize damage to healthy tissue.