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公开(公告)号：US11911123B2
公开(公告)日：2024-02-27
申请号：US16768508
申请日：2018-11-26
发明人： Iulian I. Iordachita , Jin Seob Kim , David Levi , Kevin Cleary , Reza Monfaredi
CPC分类号： A61B34/32 , A61B90/11 , A61B2017/3409 , A61B2090/374
摘要： A body mountable robot may include a set of stages disposed in a parallel configuration. The body mountable robot may include a set of actuating joints, wherein an actuating joint, of the set of actuating joints, is configured to rotate with respect to a corresponding stage of the set of stages. The body mountable robot may include at least one actuator, wherein the at least one actuator is configured to actuate at least one actuating joint of the set of actuating joints. The body mountable robot may include a set of scissor mechanisms, wherein a scissor mechanism, of the set of scissor mechanisms, that is coupled to the actuating joint, is supported by the corresponding stage, and wherein the scissor mechanism is configured to translate with respect to the corresponding stage.
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2.发明授权MRI-compatible, integrated force and torque sensors and systems that incorporate the sensors 有权MRI兼容的集成力和转矩传感器以及包含传感器的系统公开(公告)号：US09289265B2
公开(公告)日：2016-03-22
申请号：US13939041
申请日：2013-07-10
CPC分类号： A61B34/30 , A61B90/11 , A61B2017/00911 , A61B2090/066 , A61B2090/374 , G01L5/166
摘要： A magnetic resonance imaging (MRI) compatible sensor for measuring torque with respect to an axis of rotation in conjunction with an applied linear force includes a shaft arranged in a longitudinal direction substantially along the axis of rotation, a base component arranged along the axis of rotation and displaced with respect to the shaft, a torque detector assembly configured to be coupled to rotational motion of the shaft about the axis of rotation relative to the base component, and a linear-force detector assembly configured to be coupled to linear motion of the shaft from a force applied in a direction substantially coincident with the axis of rotation relative to the base component. The torque detector assembly and the linear-force detector assembly are substantially de-coupled from each other such that torque measurements are substantially independent of linear force measurements. The MRI compatible sensor consists essentially of MRI compatible materials.
摘要翻译： 一种用于相对于所施加的线性力相对于旋转轴测量转矩的磁共振成像（MRI）兼容传感器包括沿着旋转轴线沿纵向设置的轴，沿着旋转轴线布置的基部部件 并且相对于所述轴移位;扭矩检测器组件，被配置为联接到所述轴相对于所述基座部件绕所述转轴旋转的运动;以及线性力检测器组件，被配置为联接到所述轴的直线运动 从基本上与旋转轴线重合的方向施加的力相对于基座部件。 转矩检测器组件和线性力检测器组件彼此基本上脱耦合，使得扭矩测量基本上与线性力测量无关。 MRI兼容传感器主要由MRI兼容材料组成。
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3.发明申请MRI-COMPATIBLE, INTEGRATED FORCE AND TORQUE SENSORS AND SYSTEMS THAT INCORPORATE THE SENSORS 有权兼容传感器的MRI兼容，集成力和转矩传感器和系统公开(公告)号：US20150018840A1
公开(公告)日：2015-01-15
申请号：US13939041
申请日：2013-07-10
CPC分类号： A61B34/30 , A61B90/11 , A61B2017/00911 , A61B2090/066 , A61B2090/374 , G01L5/166
摘要： A magnetic resonance imaging (MRI) compatible sensor for measuring torque with respect to an axis of rotation in conjunction with an applied linear force includes a shaft arranged in a longitudinal direction substantially along the axis of rotation, a base component arranged along the axis of rotation and displaced with respect to the shaft, a torque detector assembly configured to be coupled to rotational motion of the shaft about the axis of rotation relative to the base component, and a linear-force detector assembly configured to be coupled to linear motion of the shaft from a force applied in a direction substantially coincident with the axis of rotation relative to the base component. The torque detector assembly and the linear-force detector assembly are substantially de-coupled from each other such that torque measurements are substantially independent of linear force measurements. The MRI compatible sensor consists essentially of MRI compatible materials.
摘要翻译： 一种用于相对于所施加的线性力相对于旋转轴测量转矩的磁共振成像（MRI）兼容传感器包括沿着旋转轴线沿纵向设置的轴，沿着旋转轴线布置的基部部件 并且相对于所述轴移位;扭矩检测器组件，被配置为联接到所述轴相对于所述基座部件绕所述转轴旋转的运动;以及线性力检测器组件，被配置为联接到所述轴的直线运动 从基本上与旋转轴线重合的方向施加的力相对于基座部件。 转矩检测器组件和线性力检测器组件彼此基本上脱耦合，使得扭矩测量基本上与线性力测量无关。 MRI兼容传感器主要由MRI兼容材料组成。
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