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    Robotic device for establishing access channel
    2.
    发明授权
    Robotic device for establishing access channel 有权
    用于建立接入信道的机器人设备

    公开(公告)号：US09549720B2

    公开(公告)日：2017-01-24

    申请号：US14394245

    申请日：2013-04-19

    申请人： Vanderbilt University

    发明人： Nabil Simaan ,  Andrea Bajo

    IPC分类号： A61M25/01 ,  A61B17/02 ,  A61B1/00 ,  A61B1/005 ,  A61M25/10

    CPC分类号： A61B17/0218 ,  A61B1/00006 ,  A61B1/00082 ,  A61B1/00147 ,  A61B1/00154 ,  A61B1/0055 ,  A61B34/30 ,  A61B2034/303 ,  A61B2034/306 ,  A61M25/0144 ,  A61M25/10

    摘要： A device for establishing an access channel to a target location is presented. The device includes a plurality of cylindrical segments. A plurality of backbones each extends through a backbone channel of each segment to join the plurality of segments together. When joined together, the central bore of each of the plurality of cylindrical segments align to form an access channel. A distal segment is fixedly attached to each of the plurality of backbones such that an orientation of the distal segment can be adjusted by linear movement of one or more of the plurality of backbones through the plurality of cylindrical segments. Furthermore, when linear movement of the plurality of backbones is restricted, the shape of the access channel can be adjusted by external forces while maintaining the orientation of the distal segment.

    摘要翻译： 提出了一种用于建立到目标位置的访问信道的设备。 该装置包括多个圆柱形段。 多个骨架各自延伸穿过每个段的主干通道，以将多个段连接在一起。 当连接在一起时，多个圆柱形段中的每一个的中心孔对准以形成通道。 远侧段固定地附接到多个骨架中的每一个，使得可以通过多个骨架中的一个或多个通过多个圆柱形段的线性运动来调节远端段的取向。 此外，当限制多个骨架的线性移动时，可以通过外力来调节进入通道的形状，同时保持远端段的取向。

    Dexterous wrists for surgical intervention
    3.
    发明授权
    Dexterous wrists for surgical intervention 有权

    公开(公告)号：US09687303B2

    公开(公告)日：2017-06-27

    申请号：US14391659

    申请日：2013-04-19

    申请人： Vanderbilt University

    发明人： Nabil Simaan ,  Roger E. Goldman ,  Andrea Bajo

    IPC分类号： A61B34/30 ,  A61B19/00 ,  A61B34/00

    CPC分类号： A61B34/30 ,  A61B34/71 ,  A61B2034/305

    摘要： A rotatable wrist connecting a gripper tool to the distal end of a continuum robot shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to the gripper. A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft of the continuum robot causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.

    DEXTEROUS WRISTS
    7.
    发明申请
    DEXTEROUS WRISTS 审中-公开

    公开(公告)号：US20170265950A1

    公开(公告)日：2017-09-21

    申请号：US15617652

    申请日：2017-06-08

    申请人： Vanderbilt University

    发明人： Nabil Simaan ,  Roger E. Goldman ,  Andrea Bajo

    IPC分类号： A61B34/30 ,  A61B34/00

    CPC分类号： A61B34/30 ,  A61B34/71 ,  A61B2034/305

    摘要： A rotatable wrist connecting a gripper tool to the distal end of a positioning shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to an actuatable device (e.g., a gripper). A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.

    ROBOTIC DEVICE FOR ESTABLISHING ACCESS CHANNEL
    9.
    发明申请
    ROBOTIC DEVICE FOR ESTABLISHING ACCESS CHANNEL 有权
    用于建立通道的机器人设备

    公开(公告)号：US20150119900A1

    公开(公告)日：2015-04-30

    申请号：US14394245

    申请日：2013-04-19

    申请人： Vanderbilt University

    发明人： Nabil Simaan ,  Andrea Bajo

    IPC分类号： A61B19/00 ,  A61B17/02 ,  A61M25/10 ,  A61M25/01

    CPC分类号： A61B17/0218 ,  A61B1/00006 ,  A61B1/00082 ,  A61B1/00147 ,  A61B1/00154 ,  A61B1/0055 ,  A61B34/30 ,  A61B2034/303 ,  A61B2034/306 ,  A61M25/0144 ,  A61M25/10

    摘要： A device for establishing an access channel to a target location is presented. The device includes a plurality of cylindrical segments. A plurality of backbones each extends through a backbone channel of each segment to join the plurality of segments together. When joined together, the central bore of each of the plurality of cylindrical segments align to form an access channel. A distal segment is fixedly attached to each of the plurality of backbones such that an orientation of the distal segment can be adjusted by linear movement of one or more of the plurality of backbones through the plurality of cylindrical segments. Furthermore, when linear movement of the plurality of backbones is restricted, the shape of the access channel can be adjusted by external forces while maintaining the orientation of the distal segment.

    摘要翻译： 提出了一种用于建立到目标位置的访问信道的设备。 该装置包括多个圆柱形段。 多个骨架各自延伸穿过每个段的主干通道，以将多个段连接在一起。 当连接在一起时，多个圆柱形段中的每一个的中心孔对准以形成通道。 远侧段固定地附接到多个骨架中的每一个，使得可以通过多个骨架中的一个或多个通过多个圆柱形段的线性运动来调节远端段的取向。 此外，当限制多个骨架的线性移动时，可以通过外力来调节进入通道的形状，同时保持远端段的取向。