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    MOTION COMPENSATING CATHETER DEVICE
    2.
    发明申请
    MOTION COMPENSATING CATHETER DEVICE 审中-公开
    运动补偿导管装置

    公开(公告)号：WO2011137336A1

    公开(公告)日：2011-11-03

    申请号：PCT/US2011/034544

    申请日：2011-04-29

    Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE ,  CHILDREN'S MEDICAL CENTER CORPORATION ,  KESNER, Samuel ,  HOWE, Robert ,  YUEN, Shelten ,  DEL NIDO, Pedro ,  PERRIN, Douglas ,  VASILYEV, Nikolay

    Inventor： KESNER, Samuel ,  HOWE, Robert ,  YUEN, Shelten ,  DEL NIDO, Pedro ,  PERRIN, Douglas ,  VASILYEV, Nikolay

    IPC: A61M25/01 ,  A61M25/09

    CPC classification number: A61M25/0116 ,  A61B8/0841 ,  A61B8/483 ,  A61B8/565 ,  A61B34/20 ,  A61M25/0045 ,  A61M25/0105 ,  A61M25/0113 ,  A61M25/0133 ,  A61M25/0147 ,  A61M2025/0046 ,  A61M2025/0166 ,  A61M2025/0681

    Abstract: A catheter system allows for percutaneous intervention on the fast-moving structures inside the heart. The device consists of a steerable catheter sheath, an actuated, multi-degree of freedom moving catheter, and a catheter end effector, such as a fixation device. An actuator controls the motion of the catheter guide-wire in the catheter sheath to follow the motion of the target tissue. A control system controls the actuator and compensates for mechanical characteristics of the system including friction and backlash. A 3-D imaging system can be used to view the motion of the target tissue and the catheter end effector and produce 3-D imaging data. The 3-D imaging data can be used by the control system to track the target tissue and accurately position the end effector with respect to the moving target tissue allowing a clinician to repair the target tissue while it is moving. The system can be used to perform mitral valve annuloplasty wherein the actuated catheter compensates for the heart valve motion and an end effector fixation device is used to place fixation items, like anchors or staples, into the heart valve tissue to fix the annulus.

    Abstract translation: 导管系统允许对心脏内的快速移动结构进行经皮干预。 该装置由可导向的导管鞘，致动的多自由度移动导管和导管末端执行器（例如固定装置）组成。 执行器控制导管护套中导管导丝的运动，以跟随目标组织的运动。 控制系统控制致动器并补偿系统的机械特性，包括摩擦和齿隙。 3-D成像系统可用于观察目标组织和导管末端执行器的运动并产生3-D成像数据。 控制系统可以使用3-D成像数据来跟踪目标组织并相对于移动的目标组织精确地定位末端执行器，允许临床医生在移动时修复目标组织。 该系统可用于执行二尖瓣瓣膜成形术，其中致动的导管补偿心脏瓣膜运动，并且使用末端执行器固定装置将固定物品（如锚或钉）放置在心脏瓣膜组织中以固定环。

    BALLOON ACTUATION FOR LAMINATED DEVICES
    3.
    发明申请
    BALLOON ACTUATION FOR LAMINATED DEVICES 审中-公开
    层压装置的气球执行

    公开(公告)号：WO2017040733A1

    公开(公告)日：2017-03-09

    申请号：PCT/US2016/049812

    申请日：2016-09-01

    Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE

    Inventor： MEYITANG, Pierre-Marie ,  KESNER, Samuel ,  WOOD, Robert ,  KARPELSON, Michael ,  WALSH, Conor ,  SMITH, Michael ,  PENA VELASCO, Rut Maria

    IPC: B32B38/00 ,  B81B3/00 ,  B81B5/00 ,  B81B7/02

    CPC classification number: B81C1/00007 ,  B81B2201/038 ,  B81B2203/053 ,  H02N2/02

    Abstract: Balloon actuators are incorporated into a laminated mechanism by bonding patterned flexible layers (e.g., with an adhesive) to form at least one balloon with a central unbonded region that forms a hermetic chamber; at least one of the patterned flexible layers is selectively bonded to more-rigid parts of the laminated mechanism in a configuration such that pressurization of the hermetic chamber(s) produces relative linear or rotational displacement of at least one of the more-rigid parts with respect to another of the more-rigid parts.

    Abstract translation: 气球致动器通过结合图案化的柔性层（例如，用粘合剂）结合到层压机构中以形成具有形成密封室的中心未结合区域的至少一个气囊; 图案化柔性层中的至少一个选择性地结合到层压机构的更刚性部分，使得密封室的加压产生至少一个较刚性部分的相对线性或旋转位移， 尊重另一个更加僵硬的部分。

    MONOLITHIC, MULTI-AXIS FORCE SENSOR
    4.
    发明申请
    MONOLITHIC, MULTI-AXIS FORCE SENSOR 审中-公开
    单相，多轴力传感器

    公开(公告)号：WO2015143281A1

    公开(公告)日：2015-09-24

    申请号：PCT/US2015/021683

    申请日：2015-03-20

    Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE

    Inventor： GAFFORD, Joshua ,  KESNER, Samuel ,  WALSH, Conor ,  WOOD, Robert

    IPC: G01L1/22 ,  G01L1/20 ,  G01L5/16

    CPC classification number: G01L5/161 ,  A61B34/30 ,  A61B34/76 ,  A61B2034/742 ,  A61B2090/064 ,  G01L5/226

    Abstract: A monolithic, multi-axis force sensor can be in the form of a laminated structure including a scaffold; a plurality of arms extending within and across the scaffold at distinct angles, wherein the arms include a structural support layer, a sensor layer including a strain-gauge alloy, and a flexible and electrically insulating polymer layer sandwiched between the structural support layer and the sensor layer in a monolithic, multi-layered laminate structure; and electrically conductive pathways positioned to deliver a voltage through the strain-gauge alloy in the arms.

    Abstract translation: 单片多轴力传感器可以是包括脚手架的叠层结构的形式; 多个臂以不同的角度在支架内延伸并穿过支架，其中臂包括结构支撑层，包括应变计合金的传感器层以及夹在结构支撑层和传感器之间的柔性和电绝缘的聚合物层 层叠在一体的多层层压结构中; 以及定位成通过臂中的应变计合金输送电压的导电通路。

    PERCUTANEOUS DEPLOYABLE ELECTRODE ARRAY
    5.
    发明申请
    PERCUTANEOUS DEPLOYABLE ELECTRODE ARRAY 审中-公开

    公开(公告)号：WO2015020945A3

    公开(公告)日：2015-02-12

    申请号：PCT/US2014/049571

    申请日：2014-08-04

    Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE

    Inventor： KESNER, Samuel ,  O'DONNELL, Kathleen ,  WALSH, Conor ,  DUBROVSKY, Zivthan

    IPC: A61M5/172 ,  A61M5/42

    Abstract: A percutaneous stimulation device includes (a) a plurality of electrode panels joined via hinges, wherein each electrode panel includes a substrate and an electrode mounted on the substrate, and wherein the substrate is a laminate comprising a flexible layer joined with a rigid layer on each side of the flexible layer; (b) an elongate insertion shaft to or within which the plurality of electrode panels are mounted; (c) electrically conductive wiring coupled with each electrode and extending along the insertion shaft; and (d) an actuation mechanism coupled with electrode panels and configured to extend and retract the electrode panels when actuated.

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