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公开(公告)号：US11684752B2
公开(公告)日：2023-06-27
申请号：US16322289
申请日：2017-08-03
申请人： SONY CORPORATION
IPC分类号： A61B1/008 , A61M25/01 , A61B1/005 , H02N11/00 , G02B23/24 , A61B1/00 , H02N1/00 , B25J9/10 , B25J9/14
CPC分类号： A61M25/0155 , A61B1/00 , A61B1/0053 , A61B1/0056 , A61B1/0057 , G02B23/24 , H02N1/006 , H02N11/00 , A61B1/008 , B25J9/1075 , B25J9/14
摘要： An actuator is provided with a tubular actuator element and a supporting body which supports an inner peripheral surface of the actuator element. An internal pressure of the actuator element is higher than an external pressure of the actuator element.
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公开(公告)号：US20190192821A1
公开(公告)日：2019-06-27
申请号：US16322289
申请日：2017-08-03
申请人： SONY CORPORATION
CPC分类号： A61M25/0155 , A61B1/00 , A61B1/0053 , A61B1/0056 , A61B1/0057 , A61B1/008 , B25J9/1075 , B25J9/14 , G02B23/24 , H02N1/006 , H02N11/00
摘要： An actuator is provided with a tubular actuator element and a supporting body which supports an inner peripheral surface of the actuator element. An internal pressure of the actuator element is higher than an external pressure of the actuator element.
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公开(公告)号：US20180133904A1
公开(公告)日：2018-05-17
申请号：US15788000
申请日：2017-10-19
发明人： Brett Zubiate , Howard Choset , Amir Degani , Sarjoun Skaff
CPC分类号： B25J18/06 , A61B1/00096 , A61B1/00142 , A61B1/00181 , A61B1/0053 , A61B1/0055 , A61B1/008 , H04N5/372 , H04N5/374 , H04N7/181
摘要： An articulated device may include a first steerable multi-linked mechanism and a second steerable multi-linked mechanism. The second steerable multi-linked mechanism may include a first link, a plurality of intermediate links and a second link movably coupled to a second one of the intermediate links. A first one of the intermediate links may be movably coupled to the first link. The articulated device may include a camera located within at least a portion of the second link and a protective shield connected to a distal end of the second link. The protective shield may surround at least a portion of the camera.
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公开(公告)号：US20170127911A1
公开(公告)日：2017-05-11
申请号：US15127397
申请日：2015-03-19
发明人： Tomonori Yamamoto , Isaac David Penny , Christopher Lee Shih Hao Sam Soon , Hoang-Ha Tran , Tae Zar Lwin , Tsun En Tan , Naoyuki Naito , Takahiro Kobayashi , Makio Oishi
CPC分类号： A61B1/0053 , A61B1/00133 , A61B1/0052 , A61B34/37 , A61B34/71 , A61B2017/00477 , A61B2034/301 , A61B2034/715
摘要： A flexible robotic endoscopy slave system includes an endoscope body and a flexible elongate shaft extending therefrom into which at least one tendon driven robotic endoscopic instrument is insertable; a docking station with which the endoscope body is releasably dockable; and a translation mechanism for selectively longitudinally displacing the endoscopic instrument(s) within the flexible elongate shaft when the endoscope body is docked. The translation mechanism can carry and selectively displace actuators that drive each robotic endoscopic instrument by way of tendons. At least one degree of freedom (DOF) of robotic instrument motion is controlled by a pair of actuators and a corresponding pair of tendons. Actuation engagement structures releasably couple the actuators to an adapter structure for driving each endoscopic instrument. Tendon pretensioning can occur automatically under programmable control. A roll joint without tendon crimping structures can be employed in a robotic endoscopic instrument for reducing tendon wear and roll joint spatial volume.
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公开(公告)号：US09550300B2
公开(公告)日：2017-01-24
申请号：US12766827
申请日：2010-04-23
申请人： David J. Danitz , Adam Gold
发明人： David J. Danitz , Adam Gold
IPC分类号： A61B1/00 , A61M29/00 , A61M25/00 , A61B17/00 , B25J18/06 , A61B1/005 , A61B17/072 , B25J9/06 , B25J9/10 , B25J13/02 , A61B18/14 , A61B17/29
CPC分类号： A61B34/70 , A61B1/0053 , A61B1/0055 , A61B17/072 , A61B17/07207 , A61B18/1492 , A61B34/71 , A61B34/77 , A61B2017/00323 , A61B2017/00424 , A61B2017/00438 , A61B2017/2905 , A61B2017/2927 , A61B2034/306 , A61B2090/038 , B25J9/06 , B25J9/104 , B25J13/02 , B25J18/06 , Y10S901/21 , Y10T74/20323 , Y10T74/20402
摘要： The present invention provides an articulating retractor including: a plurality of distal segments, a distal segment of the plurality of distal segments being movable relative to others of the plurality of distal segments; a plurality of proximal segments, a proximal segment of the plurality of proximal segments being movable relative to others of the plurality of proximal segments, the proximal segment corresponding to the distal segment; and multiple sets of cables, the proximal segment connected to its corresponding unit of the distal segment, by a set of cables, such that movement of the proximal segment causes corresponding reciprocal movement of the distal segment. The mechanisms of the articulating retractor may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.
摘要翻译： 本发明提供了一种关节式牵开器，其包括：多个远侧段，所述多个远段中的远端段可相对于所述多个远段中的其它远端段移动; 多个近端段，所述多个近端段中的近端段可相对于所述多个近端段中的其它近端段移动，所述近端段对应于所述远端段; 以及多组电缆，近端段通过一组电缆连接到其远端段的相应单元，使得近端段的运动引起远端段的相应的往复移动。 关节式牵开器的机构也可以以这样的方式组合，以远程模拟用于操纵物体或身体组织的手指移动。
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公开(公告)号：US09434077B2
公开(公告)日：2016-09-06
申请号：US12766822
申请日：2010-04-23
申请人： David J. Danitz , Adam Gold
发明人： David J. Danitz , Adam Gold
IPC分类号： A61B1/00 , A61M25/00 , A61B17/00 , B25J18/06 , A61B1/005 , A61B17/072 , B25J9/06 , B25J9/10 , B25J13/02 , A61B18/14 , A61B17/29
CPC分类号： A61B34/70 , A61B1/0053 , A61B1/0055 , A61B17/072 , A61B17/07207 , A61B18/1492 , A61B34/71 , A61B34/77 , A61B2017/00323 , A61B2017/00424 , A61B2017/00438 , A61B2017/2905 , A61B2017/2927 , A61B2034/306 , A61B2090/038 , B25J9/06 , B25J9/104 , B25J13/02 , B25J18/06 , Y10S901/21 , Y10T74/20323 , Y10T74/20402
摘要： The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.
摘要翻译： 本发明提供了一种例如用于远程操纵身体内或身体各处的各种手术器械和诊断工具的关节机构。 在机构的近端处的段的运动导致段在机构的远端处的相应的相对运动。 近端段和远端段通过一组电缆连接，使得每个近端段与远侧段形成离散对。 这种构造允许每个区段对彼此独立地移动，并且还允许关节运动机构经历复杂的运动并且采用复杂的构造。 关节运动机构也可以以远程模拟手指运动以对物体或身体组织进行操纵的方式组合。
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公开(公告)号：US09220398B2
公开(公告)日：2015-12-29
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
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。
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公开(公告)号：US20150320295A1
公开(公告)日：2015-11-12
申请号：US14449925
申请日：2014-08-01
发明人： Amir BELSON , Robert M. OHLINE
CPC分类号： A61B1/0053 , A61B1/00006 , A61B1/0055 , A61B1/0058 , A61B1/008 , A61B1/31 , A61B34/30 , A61B2034/301 , A61B2034/306 , H01L41/0926 , H01L41/193
摘要： An electro-polymeric articulated endoscope and method of insertion are described herein. A steerable endoscope having a segmented, elongated body with a manually or selectively steerable distal portion and an automatically controlled proximal portion can be articulated by electro-polymeric materials. These materials are configured to mechanically contract or expand in the presence of a stimulus, such as an electrical field. Adjacent segments of the endoscope can be articulated using the electro-polymeric material by inducing relative differences in size or length of the material when placed near or around the outer periphery along a portion of the endoscope.
摘要翻译： 这里描述了一种电聚合铰接内窥镜和插入方法。 具有具有手动或选择性可操纵的远侧部分和自动控制的近端部分的分段细长主体的可操纵内窥镜可以通过电聚合材料铰接。 这些材料构造成在诸如电场的刺激的存在下机械地收缩或膨胀。 当沿着内窥镜的一部分放置在外周附近或周围时，通过引起材料的尺寸或长度的相对差异，可以使用电聚合材料来连接内窥镜的相邻段。
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公开(公告)号：US20150165162A1
公开(公告)日：2015-06-18
申请号：US14628487
申请日：2015-02-23
发明人： Michael BARENBOYM , Isaac OSTROVSKY
CPC分类号： A61M25/0136 , A61B1/0052 , A61B1/0053 , A61M25/0147
摘要： A control mechanism for use with a steerable medical device allows for single-handed operation of at least a distal portion of the medical device. The device can be a catheter or an endoscope, for example.
摘要翻译： 与可转向医疗装置一起使用的控制机构允许对医疗装置的至少远端部分进行单手操作。 例如，该装置可以是导管或内窥镜。
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公开(公告)号：US20150133858A1
公开(公告)日：2015-05-14
申请号：US14537127
申请日：2014-11-10
发明人： Christopher A. JULIAN , Amir BELSON , Aaron W. BROWN , Mark HARASYM , Marc S. KREIDLER , Robert M. OHLINE , Scott J. REINER , Enrique ROMO , Charles E. SWINEHART , Katherine WHITIN
CPC分类号： A61B1/00128 , A61B1/0016 , A61B1/0053 , A61B1/0055 , A61B1/0057 , A61B1/008 , A61B1/31 , A61B2017/003 , A61B2017/00477
摘要： A connector assembly for controllable articles is described herein. The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.
摘要翻译： 本文描述了用于可控制品的连接器组件。 连接器组件接合用于从一个或多个力发生器传递力的力传递元件与用于操纵可控制品的力传递元件。 另外，连接器组件提供组织，从而简化了通常以快速单一运动连接多个元件的过程。
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