Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
    1.
    发明授权
    Surgical tool having positively positionable tendon-actuated multi-disk wrist joint 有权
    手术工具具有积极定位的肌腱致动多盘腕关节

    公开(公告)号:US06817974B2

    公开(公告)日:2004-11-16

    申请号:US10187248

    申请日:2002-06-28

    IPC分类号: A61B100

    摘要: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

    摘要翻译: 本发明涉及一种具有手腕机构的工具,其提供俯仰和偏转旋转,使得该工具在滚动,俯仰和偏转中没有奇异性。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中,一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆,而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中,致动器机构包括用于接纳中间电缆的多个小半径孔或槽,以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径,使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨, 以便精确控制和操纵椎骨。

    SURGICAL TOOL HAVING POSITIVELY POSITIONABLE TENDON-ACTUATED MULTI-DISK WRIST JOINT
    4.
    发明申请
    SURGICAL TOOL HAVING POSITIVELY POSITIONABLE TENDON-ACTUATED MULTI-DISK WRIST JOINT 有权
    手术工具,具有可立式定位的多功能多功能多功能笔记本接口

    公开(公告)号:US20100228284A1

    公开(公告)日:2010-09-09

    申请号:US12782833

    申请日:2010-05-19

    IPC分类号: A61B17/28

    摘要: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

    摘要翻译: 本发明涉及一种具有手腕机构的工具,其提供俯仰和偏转旋转,使得该工具在滚动,俯仰和偏转中没有奇异性。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中,一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆,而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中,致动器机构包括用于接纳中间电缆的多个小半径孔或槽,以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径,使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨, 以便精确控制和操纵椎骨。

    Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
    5.
    发明授权
    Surgical tool having positively positionable tendon-actuated multi-disk wrist joint 有权
    手术工具具有积极定位的肌腱致动多盘腕关节

    公开(公告)号:US07736356B2

    公开(公告)日:2010-06-15

    申请号:US10980119

    申请日:2004-11-01

    IPC分类号: A61B17/00

    摘要: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

    摘要翻译: 本发明涉及一种具有手腕机构的工具,其提供俯仰和偏转旋转,使得该工具在滚动,俯仰和偏转中没有奇异性。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中,一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆,而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中,致动器机构包括用于接纳中间电缆的多个小半径孔或槽,以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径,使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨, 以便精确控制和操纵椎骨。

    Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
    6.
    发明授权
    Surgical tool having positively positionable tendon-actuated multi-disk wrist joint 有权
    手术工具具有积极定位的肌腱致动多盘腕关节

    公开(公告)号:US08142421B2

    公开(公告)日:2012-03-27

    申请号:US12782833

    申请日:2010-05-19

    IPC分类号: A61B17/00

    摘要: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

    摘要翻译: 本发明涉及一种具有手腕机构的工具,其提供俯仰和偏转旋转,使得该工具在滚动,俯仰和偏转中没有奇异性。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中,一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆,而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中,致动器机构包括用于接纳中间电缆的多个小半径孔或槽,以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径,使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨, 以便精确控制和操纵椎骨。

    Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
    7.
    发明申请
    Surgical tool having positively positionable tendon-actuated multi-disk wrist joint 有权
    手术工具具有积极定位的肌腱致动多盘腕关节

    公开(公告)号:US20050090809A1

    公开(公告)日:2005-04-28

    申请号:US10980119

    申请日:2004-11-01

    摘要: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

    摘要翻译: 本发明涉及一种具有手腕机构的工具,其提供俯仰和偏转旋转,使得该工具在滚动,俯仰和偏转中没有奇异性。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中,一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆,而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中,致动器机构包括用于接纳中间电缆的多个小半径孔或槽,以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径,使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨, 以便精确控制和操纵椎骨。

    Floating bicycle gear indicator
    8.
    发明授权
    Floating bicycle gear indicator 失效
    浮动自行车齿轮指示器

    公开(公告)号:US06394021B1

    公开(公告)日:2002-05-28

    申请号:US09681055

    申请日:2000-12-13

    IPC分类号: B62K2112

    摘要: A gear indicator for a bicycle that includes first and second control cables connected to first and second shift actuators, respectively. The gear indicator includes a housing mounted onto the control cables. The housing is spaced apart from the shift actuators and is not attached to the handlebars. First and second pulleys are disposed in the housing and are rotatable by a displacement of the first and second control cables, respectively. First and second gear display elements are movable in response to the rotation of the first and second pulleys. The first and second display elements indicate the currently selected gears of the bicycle.

    摘要翻译: 一种用于自行车的齿轮指示器,其包括分别连接到第一和第二换档致动器的第一和第二控制缆索。 齿轮指示器包括安装在控制电缆上的壳体。 壳体与换档致动器间隔开,并且不附接到把手。 第一和第二滑轮设置在壳体中并且可以分别通过第一和第二控制电缆的位移而旋转。 第一和第二齿轮显示元件可响应于第一和第二滑轮的旋转而运动。 第一和第二显示元件指示自行车当前选择的档位。

    BOTTLE CLOSURE
    9.
    发明申请
    BOTTLE CLOSURE 失效
    瓶盖关闭

    公开(公告)号:US20050211737A9

    公开(公告)日:2005-09-29

    申请号:US10242512

    申请日:2002-09-12

    摘要: The bottle closure comprises a generally cylindrical inner member adapted to be threadedly engaged on the outside of the neck of a bottle. The inner member has a central passage communicating with the neck of the bottle. An outer member is rotatably mounted on and around the inner member. The inner member includes a valve seat defining a fluid passage between the bottle and the outer member and being located within the neck of the bottle. The outer member includes a valve closure element adapted to close the fluid passage in a first annular position of the outer member on the inner member thereby to form a seal with the valve seat. The outer member, when moved to a second annular position relative to the inner member, opens the fluid passage, thereby to allow fluid in a bottle to flow through the closure.

    摘要翻译: 瓶盖包括大致圆柱形的内部构件,其适于螺纹地接合在瓶颈的外部。 内部构件具有与瓶颈连通的中心通道。 外部构件可旋转地安装在内部构件上并围绕内部构件。 内部构件包括阀座,该阀座在瓶和外部构件之间限定流体通道并且位于瓶的颈部内。 外部构件包括阀闭合元件,其适于将外部构件的第一环形位置中的流体通道封闭在内部构件上,从而与阀座形成密封。 当外部构件相对于内部构件移动到第二环形位置时,打开流体通道,从而允许瓶子中的流体流过封闭件。

    Bottle closure
    10.
    发明授权
    Bottle closure 失效
    瓶盖关闭

    公开(公告)号:US06997359B2

    公开(公告)日:2006-02-14

    申请号:US10242512

    申请日:2002-09-12

    IPC分类号: B67D3/00

    摘要: The bottle closure comprises a generally cylindrical inner member adapted to be threadedly engaged on the outside of the neck of a bottle. The inner member has a central passage communicating with the neck of the bottle. An outer member is rotatably mounted on and around the inner member. The inner member includes a valve seat defining a fluid passage between the bottle and the outer member and being located within the neck of the bottle. The outer member includes a valve closure element adapted to close the fluid passage in a first annular position of the outer member on the inner member thereby to form a seal with the valve seat. The outer member, when moved to a second annular position relative to the inner member, opens the fluid passage, thereby to allow fluid in a bottle to flow through the closure.

    摘要翻译: 瓶盖包括大致圆柱形的内部构件,其适于螺纹地接合在瓶颈的外部。 内部构件具有与瓶颈连通的中心通道。 外部构件可旋转地安装在内部构件上并围绕内部构件。 内部构件包括阀座,该阀座在瓶和外部构件之间限定流体通道并且位于瓶的颈部内。 外部构件包括阀闭合元件,其适于将外部构件的第一环形位置中的流体通道封闭在内部构件上,从而与阀座形成密封。 当外部构件相对于内部构件移动到第二环形位置时,打开流体通道,从而允许瓶子中的流体流过封闭件。