公开(公告)号：WO2013029039A1

公开(公告)日：2013-02-28

申请号：PCT/US2012/052470

申请日：2012-08-27

Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE ,  BETH ISRAEL DEACONESS MEDICAL CENTER, INC. ,  WALSH, Conor James ,  THOMAS, Ajith ,  KESNER, Samuel Benjamin ,  PEI, Hao ,  XIAO, Kechao ,  LOSCHAK, Paul ,  GALLOWAY, Kevin C.

Inventor： WALSH, Conor James ,  THOMAS, Ajith ,  KESNER, Samuel Benjamin ,  PEI, Hao ,  XIAO, Kechao ,  LOSCHAK, Paul ,  GALLOWAY, Kevin C.

IPC: A61B17/16 ,  A61B17/17 ,  A61B17/56 ,  B23B39/04

CPC classification number: B23B31/117 ,  A61B17/1624 ,  A61B17/1626 ,  A61B17/1695 ,  A61B90/03 ,  B23B41/00 ,  Y10T279/33 ,  Y10T408/20 ,  Y10T408/551 ,  Y10T408/665

Abstract: The present invention is directed to a bi-stable coupling for controlling the depth of a tool insertion, such as drilling, and similar processes. The bi-stable coupling can be used to penetrate (e.g., drill or push) through a material layer of unknown thickness without plunging the tool into the adjacent layer. In accordance with the invention, in a first state, force is applied to the tool to initiate penetration and a reactive force maintains the device in the first state during penetration and when tool penetrates the material, the reactive force is diminished enabling the device to transition to a second state in which the tool becomes retracted. In medical applications, the invention allows for drilling through bone of unknown thickness without plunging into the adjacent soft tissue.

Abstract translation: 本发明涉及一种用于控制工具插入（例如钻孔）和类似工艺的深度的双稳态耦合。 双稳态耦合可用于穿透（例如，钻或推动）穿过未知厚度的材料层而不将工具插入相邻层。 根据本发明，在第一状态下，力施加到工具以启动穿透，并且反作用力在穿透期间将装置保持在第一状态，并且当工具穿透材料时，反作用力减小，使得装置能够转变 到工具缩回的第二状态。 在医疗应用中，本发明允许穿过未知厚度的骨，而不会侵入相邻的软组织。

公开(公告)号：WO2016029143A1

公开(公告)日：2016-02-25

申请号：PCT/US2015/046350

申请日：2015-08-21

Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE ,  LESSING, Joshua, Aaron ,  WHITESIDES, George, M. ,  MARTINEZ, Ramses, V. ,  YANG, Dian ,  MOSADEGH, Bobak ,  GALLOWAY, Kevin, C. ,  GUDER, Firat ,  TAYI, Alok, Suryavamsee

Inventor： LESSING, Joshua, Aaron ,  WHITESIDES, George, M. ,  MARTINEZ, Ramses, V. ,  YANG, Dian ,  MOSADEGH, Bobak ,  GALLOWAY, Kevin, C. ,  GUDER, Firat ,  TAYI, Alok, Suryavamsee

IPC: B25J9/00 ,  B25J9/14 ,  G06F19/00

CPC classification number: B25J18/06 ,  B25J9/142 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088 ,  B25J15/0009 ,  B25J15/12

Abstract: A soft robotic device with one or more sensors is described. The sensor may be embedded in the soft body of the soft robotic device, attached to the soft body of the soft robotic device, or otherwise linked to the soft body of the soft robotic device.

Abstract translation: 描述了具有一个或多个传感器的软的机器人装置。 传感器可以嵌入在软的机器人装置的软体中，附着在软的机器人装置的软体上，或以其它方式连接到软的机器人装置的软体上。