公开(公告)号：US20070161291A1

公开(公告)日：2007-07-12

申请号：US11604019

申请日：2006-11-22

申请人： Charles Swinehart ,  Lawrence Kerver ,  Chris Julian

发明人： Charles Swinehart ,  Lawrence Kerver ,  Chris Julian

IPC分类号： H01R9/03

CPC分类号： A61B1/0055 ,  A61B2017/003 ,  F16C1/10 ,  F16C1/20 ,  F16C2316/10 ,  Y10T29/49838

摘要： Embodiments of the invention provide methods for inserting a non-metallic multi-strand braid through a coil tube. Techniques for bonding one end of a lead line to one end of a multi-strand non-metallic braid are provided. There are also embodiments of steerable instruments described having a plurality of hinged segments; a multi-strand non-metallic braid connected distally to one segment of the plurality of segments and proximally to an actuator; and a steering controller adapted to control the actuator to move the hinged segment using the multi-strand non-metallic braid.

摘要翻译： 本发明的实施例提供了通过线圈管将非金属多股编织物插入的方法。 提供了将引线的一端接合到多股非金属编织物的一端的技术。 还描述了具有多个铰接段的可转向工具的实施例; 多股非金属编织物，其远端地连接到所述多个段中的一个段并且靠近致动器; 以及转向控制器，其适于使用所述多股非金属编织物来控制所述致动器来移动所述铰链段。

公开(公告)号：US20090216083A1

公开(公告)日：2009-08-27

申请号：US12036976

申请日：2008-02-25

申请人： Kevin Durant ,  Joshua Oen ,  David Mintz ,  Keith Phillip Laby

发明人： Kevin Durant ,  Joshua Oen ,  David Mintz ,  Keith Phillip Laby

IPC分类号： A61B1/00

CPC分类号： A61B1/0055 ,  A61B2034/306 ,  Y10T74/20329

摘要： Systems and methods for articulating an elongate articulatable body which is adapted to be delivered within a body cavity. Particularly, systems and methods for enhancing an articulating force on the elongate body without increasing an actuation force applied by an actuator.

摘要翻译： 用于铰接可伸缩的可铰接体的系统和方法，其适于在体腔内输送。 特别地，用于增强细长主体上的铰接力而不增加由致动器施加的致动力的系统和方法。

公开(公告)号：US20050020901A1

公开(公告)日：2005-01-27

申请号：US10850360

申请日：2004-05-19

申请人： Amir Belson ,  Robert Matthew Ohline

发明人： Amir Belson ,  Robert Matthew Ohline

IPC分类号： A61B1/005 ,  A61B1/05 ,  A61B1/31 ,  A61B17/00 ,  A61B18/02 ,  A61B18/14 ,  A61B18/22 ,  G02B23/24 ,  A61B5/05 ,  A61B1/00

CPC分类号： A61B1/0055 ,  A61B1/0051 ,  A61B1/0052 ,  A61B1/0053 ,  A61B1/0058 ,  A61B1/0125 ,  A61B1/018 ,  A61B1/05 ,  A61B1/31 ,  A61B18/02 ,  A61B18/1492 ,  A61B18/22 ,  A61B2017/00296 ,  A61B2017/003 ,  A61B2018/00351 ,  A61B2018/00446 ,  A61B2018/0212 ,  A61B2034/301 ,  G02B23/2469 ,  G02B23/2476 ,  G02B23/2484

摘要： Methods and apparatus for accessing and treating regions of the body are disclosed herein. Using an endoscopic device having an automatically controllable proximal portion and a selectively steerable distal portion, the device generally may be advanced into the body through an opening. The distal portion is selectively steered to assume a selected curve along a desired path within the body which avoids contact with tissue while the proximal portion is automatically controlled to assume the selected curve of the distal portion. The endoscopic device can then be used for accessing various regions of the body which are typically difficult to access and treat through conventional surgical techniques because the device is unconstrained by “straight-line” requirements. Various applications can include accessing regions of the brain, thoracic cavity, including regions within the heart, peritoneal cavity, etc., which are difficult to reach using conventional surgical procedures.

摘要翻译： 本文公开了用于进入和处理身体区域的方法和装置。 使用具有自动控制的近端部分和选择性可操纵的远端部分的内窥镜装置，该装置通常可以通过开口进入身体。 远侧部分被选择性地转向以沿着主体内的期望路径呈现出选择的曲线，其避免与组织的接触，而近端部分被自动控制以呈现远端部分的选定曲线。 然后，内窥镜装置可用于通过常规手术技术访问身体的各个区域，这些区域通常难以进入和治疗，因为该装置不受“直线”要求的约束。 各种应用可以包括进入脑，胸腔的区域，包括心脏内的区域，腹膜腔等，这些区域难以用常规外科手术达到。

公开(公告)号：US20070161856A1

公开(公告)日：2007-07-12

申请号：US11603944

申请日：2006-11-21

申请人： Amir Belson

发明人： Amir Belson

IPC分类号： A61B1/04 ,  A61B1/00

CPC分类号： A61B1/01 ,  A61B1/00151 ,  A61B1/0051 ,  A61B5/061 ,  A61M25/0119

摘要： The present invention provides embodiments of a steerable instrument having an elongate body having a distal end and a proximal end; a guide structure distal to the elongate body distal end; and a connector supported by the elongate body distal end and attached to the guide structure, wherein the guide structure or the connector is adapted to provide position feedback of the guide structure relative to the elongate body. There are also provided methods for advancing an instrument along a path by providing an indication of the direction of the path of the instrument by movement of a guide structure in response to interaction with an object defining the path; and adjusting the direction of the instrument based on the indication.

摘要翻译： 本发明提供了具有细长体的可操纵器具的实施例，其具有远端和近端; 远离细长体远端的引导结构; 以及由细长主体远端支撑并连接到引导结构的连接器，其中引导结构或连接器适于提供引导结构相对于细长主体的位置反馈。 还提供了通过响应于与限定路径的对象的相互作用而通过引导结构的移动提供仪器的路径的方向的指示来提供沿着路径的仪器的方法; 并根据指示调整仪器的方向。

公开(公告)号：US07044907B2

公开(公告)日：2006-05-16

申请号：US10229189

申请日：2002-08-26

申请人： Amir Belson

发明人： Amir Belson

IPC分类号： A61B1/00

CPC分类号： A61B1/0051 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/31 ,  A61B5/065 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742

摘要： A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.

公开(公告)号：US06984203B2

公开(公告)日：2006-01-10

申请号：US10306580

申请日：2002-11-27

申请人： Joseph M. Tartaglia ,  Wade A. Keller ,  Amir Belson ,  Arthur R. Ratchford

发明人： Joseph M. Tartaglia ,  Wade A. Keller ,  Amir Belson ,  Arthur R. Ratchford

IPC分类号： A61B1/04

CPC分类号： A61B1/00073 ,  A61B1/0014 ,  A61B1/00147 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/008 ,  A61B1/01 ,  A61B1/07 ,  A61B1/31 ,  A61B5/065 ,  A61B2017/00323 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742

摘要： An endoscope with guiding apparatus is provided. The endoscope has an elongate body with a steerable distal portion, an automatically controlled portion, a flexible and passively manipulated proximal portion, and an externally controlled and manipulatable guiding apparatus. The guiding apparatus may be positioned within the endoscope or may be positioned adjacent to the endoscope. An interlocking device is provided to slidably interlock the guiding apparatus and the endoscope. When the guide is in a flexible state, it can conform to a curve or path defined by the steerable distal portion and the automatically controlled portion. The guide can then be selectively rigidized to assume that curve or path. Once rigidized, the endoscope can be advanced along the guide in a monorail or “piggy-back” fashion so that the flexible proximal portion follows the curve held by the guide until the endoscope reaches a next point of curvature within a body lumen.

公开(公告)号：US06869396B2

公开(公告)日：2005-03-22

申请号：US10228583

申请日：2002-08-26

申请人： Amir Belson

发明人： Amir Belson

IPC分类号： G02B23/24 ,  A61B1/00 ,  A61B1/005 ,  A61B1/008 ,  A61B1/01 ,  A61B1/04 ,  A61B1/31

CPC分类号： A61B1/0051 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/31 ,  A61B5/065 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742

摘要： A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.

公开(公告)号：US20090099420A1

公开(公告)日：2009-04-16

申请号：US11871104

申请日：2007-10-11

申请人： Bruce Robert Woodley ,  Joshua Oen ,  Aaron Brown ,  Chris Julian ,  Keith P. Laby ,  Wade Keller ,  Lawrence Kerver ,  Marc Kreidler ,  Scott Reiner ,  Katherine Whitin

发明人： Bruce Robert Woodley ,  Joshua Oen ,  Aaron Brown ,  Chris Julian ,  Keith P. Laby ,  Wade Keller ,  Lawrence Kerver ,  Marc Kreidler ,  Scott Reiner ,  Katherine Whitin

IPC分类号： A61B1/00

CPC分类号： B25J9/065 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  B25J18/06 ,  F16C1/106 ,  G02B23/2476

摘要： The present invention relates, generally, to the reduction or elimination of permanent and catastrophic herniations in Bowden cables or coil pipes in articulating devices or snake-like robots. More particularly, the present invention relates managing the coil pipes in a spiral pattern along the articulating device or snake-like robot to reduce or eliminate the necessity of the Bowden cables or coil pipes to slide along the length of the articulating device or snake-like robot. Reduction or elimination of the necessity for the Bowden cables or coil pipes to slide reduces or eliminates catastrophic herniations in articulating devices or snake-like robots undergoing one or more articulations.

摘要翻译： 本发明一般涉及在铰接装置或蛇状机器人中的Bowden电缆或线圈管中减少或消除永久性和灾难性的疝气。 更具体地，本发明涉及沿着铰接装置或蛇形机器人以螺旋形图案管理线圈管，以减少或消除鲍登缆绳或线圈管沿着铰接装置或蛇状物的长度滑动的必要性 机器人。 减少或消除Bowden电缆或线圈管滑动的必要性可减少或消除经历一次或多次关节的关节装置或蛇形机器人的灾难性疝气。

公开(公告)号：US20070161857A1

公开(公告)日：2007-07-12

申请号：US11603943

申请日：2006-11-21

申请人： Kevin Durant ,  David Mintz ,  Robert Ohline

发明人： Kevin Durant ,  David Mintz ,  Robert Ohline

IPC分类号： A61B1/00

CPC分类号： A61B1/0052 ,  A61B1/00128 ,  A61B5/065 ,  A61B34/20 ,  A61B90/361 ,  A61B2090/064 ,  A61M25/0147 ,  A61M25/0155 ,  A61M25/0158

摘要： Embodiments of the invention relate to methods of positioning a bendable instrument by moving at least two control elements first and second amounts to bend the instrument to a position; measuring the first and second amounts; and determining the position, shape or configuration of the instrument from the first and second amounts.

摘要翻译： 本发明的实施例涉及通过将至少两个控制元件移动至少两个控制元件来定位可弯曲的仪器的方法，以使仪器弯曲到一个位置; 测量第一和第二量; 以及从第一和第二量确定仪器的位置，形状或构型。

公开(公告)号：US07087013B2

公开(公告)日：2006-08-08

申请号：US10402599

申请日：2003-03-27

申请人： Amir Belson ,  Paul DeWitt Frey ,  Christine Wei Hsien McElhaney ,  James Craig Milroy ,  Robert Matthew Ohline ,  Joseph M. Tartaglia

发明人： Amir Belson ,  Paul DeWitt Frey ,  Christine Wei Hsien McElhaney ,  James Craig Milroy ,  Robert Matthew Ohline ,  Joseph M. Tartaglia

IPC分类号： A61B1/00

CPC分类号： A61B1/00004 ,  A61B1/00055 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/008 ,  A61B1/015 ,  A61B1/018 ,  A61B1/05 ,  A61B1/31 ,  A61B5/065 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742

摘要： A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body allowing it to negotiate tortuous curves along a desired path through or around and between organs within the body.