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    NEEDLE-GUIDE ROBOT WITH PRESET DEPTH OF INSERTION
    1.
    发明申请
    NEEDLE-GUIDE ROBOT WITH PRESET DEPTH OF INSERTION 审中-公开
    具有预置插入深度的针引导机器人

    公开(公告)号：WO2017205368A1

    公开(公告)日：2017-11-30

    申请号：PCT/US2017/033991

    申请日：2017-05-23

    Applicant: THE JOHNS HOPKINS UNIVERSITY

    Inventor： STOIANOVICI, Dan ,  PETRISOR, Doru

    IPC: A61B10/02 ,  A61B90/11 ,  A61B34/30

    CPC classification number: A61B10/0233 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/3409 ,  A61B2090/034 ,  A61B2090/374

    Abstract: An embodiment in accordance with the present invention provides a robot structure that includes an MRI-Safe pneumatic stepper motor and optical encoding technologies. The present invention includes a needle guide and a needle depth limiter. The needle for biopsy is inserted through the needle guide and the depth of inserting is limited by the needle depth limiter. The robot is configured to control this procedure. The robot structure is adapted for biopsy, a novel way of setting the depth of needle insertion, image-to-robot registration. The system includes control for the robot.

    Abstract translation: 根据本发明的实施例提供了一种机器人结构，其包括MRI安全气动步进电机和光​​学编码技术。 本发明包括针引导件和针深度限制器。 活检针穿过导针器插入，深度限制器限制插入深度。 机器人配置为控制此过程。 机器人结构适用于活检，这是一种设置针插入深度，图像与机器人配准的新方法。 该系统包含对机器人的控制。

    ULTRASOUND PROBE WITH INTEGRATED NEEDLE ADVANCER
    3.
    发明申请
    ULTRASOUND PROBE WITH INTEGRATED NEEDLE ADVANCER 审中-公开
    带集成针头推进器的超声波探头

    公开(公告)号：WO2017074596A1

    公开(公告)日：2017-05-04

    申请号：PCT/US2016/051873

    申请日：2016-09-15

    Applicant: AVENT, INC.

    Inventor： COKER, Justin Jeffrey ,  HSU, Kenneth C.

    IPC: A61B8/08 ,  A61B8/14 ,  A61B8/00

    CPC classification number: A61B8/085 ,  A61B8/14 ,  A61B8/4444 ,  A61B8/466 ,  A61B8/483 ,  A61B17/3403 ,  A61B2017/3409 ,  A61B2017/3413 ,  A61B2090/378

    Abstract: The present disclosure is directed to an ultrasound imaging system with an integrated needle advancer. More specifically, the ultrasound imaging system includes an ultrasound probe having a transducer housing, a transducer transmitter, a needle assembly, and a controller. The transducer housing has a body that defines an internal cavity. The internal cavity includes a passageway extending from a proximal end to a distal end of the body. The needle assembly is configured within the passageway of the internal cavity. The transducer transmitter is configured within the distal end of the body. Further, the transducer transmitter is configured to emit and receive ultrasound beams. Thus, the controller is configured to generate an image from the ultrasound beams.

    Abstract translation: 本公开涉及具有集成针推进器的超声成像系统。 更具体地，超声成像系统包括具有换能器外壳，换能器发射器，针组件和控制器的超声探头。 换能器壳体具有限定内腔的主体。 内腔包括从本体的近端延伸到远端的通道。 针组件配置在内腔的通道内。 换能器发射器配置在身体的远端内。 此外，换能器发射器被配置为发射和接收超声波束。 因此，控制器被配置为从超声波束产生图像。

    ROLL CONTROL BASED ON PITCH AND YAW INPUTS FOR A DEVICE IN A COMPUTER-ASSISTED MEDICAL SYSTEM
    4.
    发明申请
    ROLL CONTROL BASED ON PITCH AND YAW INPUTS FOR A DEVICE IN A COMPUTER-ASSISTED MEDICAL SYSTEM 审中-公开
    基于用于计算机辅助医疗系统中的设备的倾斜和插入的滚动控制

    公开(公告)号：WO2017062372A1

    公开(公告)日：2017-04-13

    申请号：PCT/US2016/055359

    申请日：2016-10-04

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： BERNSTEIN, Nicholas

    IPC: A61B34/30 ,  A61B17/00 ,  A61B34/35

    CPC classification number: A61B90/11 ,  A61B17/34 ,  A61B34/30 ,  A61B34/35 ,  A61B2017/00477 ,  A61B2017/3409

    Abstract: Roll control is provided for a device by controlling the roll-angle offset about the device roll axis in correspondence to a specified rotation of a reference frame for the device. This specified rotation may correspond to a roll-free rotation of the reference frame to align a corresponding reference roll axis with the device roll axis. In applications to robotics generally, the device may be characterized as a robotic element or a robotically-supported instrument. In specific applications to robotic surgery in a computer-assisted medical system, the device may include a spar or cannula that is configured to support a surgical instrument.

    Abstract translation: 通过相对于设备的参考系的指定旋转控制围绕设备侧倾轴线的侧倾角偏移，为设备提供卷控制。 该指定的旋转可以对应于参考框架的无滚动旋转，以将相应的参考滚轴轴线与装置滚动轴线对准。 在通常用于机器人的应用中，该装置可以被表征为机器人元件或机器人支持的仪器。 在用于计算机辅助医疗系统中的机器人手术的具体应用中，该装置可以包括构造成支撑手术器械的翼梁或插管。

    INSERTION GUIDE
    5.
    发明申请
    INSERTION GUIDE 审中-公开
    插入指南

    公开(公告)号：WO2016084092A1

    公开(公告)日：2016-06-02

    申请号：PCT/IL2015/051158

    申请日：2015-11-28

    Applicant: XACT ROBOTICS LTD.

    Inventor： GALILI, Ben ,  ARNOLD, Ofer ,  SHARON, Simon ,  GLOZMAN, Daniel

    IPC: A61B17/34

    CPC classification number: A61B17/3403 ,  A61B10/04 ,  A61B34/20 ,  A61B2010/045 ,  A61B2017/00991 ,  A61B2017/3409 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61M25/0113 ,  A61M39/02 ,  A61M2025/0008 ,  A61M2025/0166 ,  A61N1/372

    Abstract: A device for insertion of a flexible needle or other such instrument into a tissue, incorporating a collapsible support guide which supports that part of the needle which has not yet penetrated the tissue, preventing it from buckling, and an arrangement which pulls the needle from its proximal end to provide sufficient force for the penetration process. The collapsible support guide can be a pair of flexible strips connected along their length and enclosing the needle along its uninserted length in order to support it, with a mechanism at the distal end of the device to peel the strips from the needle as it is inserted. Insertion can be achieved by a pair of rollers engaging and advancing the strips distally. Alternatively, a telescopic support tube can be used to support the needle, the tube collapsing telescopically as the needle is inserted, to maintain clearance above the needle.

    Abstract translation: 一种用于将柔性针或其它这样的器械插入组织中的装置，其包括可折叠支撑引导件，所述可折叠支撑引导件支撑尚未穿透组织的针的该部分，防止其弯曲，以及将针从其拉出的装置 近端以为穿透过程提供足够的力。 可折叠支撑引导件可以是沿其长度连接的一对柔性条，并且沿着其未插入长度封闭针以便支撑它，在装置的远端处的机构在被插入时将针从针上剥离 。 插入可以通过一对辊向远端接合和推进而实现。 或者，可以使用伸缩支撑管来支撑针，当针插入时，管可伸缩地折叠，以保持针上方的间隙。

    METHOD AND DEVICE FOR CONTROLLED DELIVERY OF MEDICAL DEVICES
    6.
    发明申请
    METHOD AND DEVICE FOR CONTROLLED DELIVERY OF MEDICAL DEVICES 审中-公开
    用于医疗设备的控制输送的方法和装置

    公开(公告)号：WO2016069364A1

    公开(公告)日：2016-05-06

    申请号：PCT/US2015/056836

    申请日：2015-10-22

    Applicant: COGENTIX MEDICAL, INC.

    Inventor： ROYCHOWDHURY, Suranjan

    IPC: A61M25/00 ,  A61M31/00

    CPC classification number: A61B17/3468 ,  A61B17/3403 ,  A61B90/11 ,  A61B2017/3407 ,  A61B2017/3409 ,  A61N1/0551

    Abstract: A device that uses an anatomic landmark or fiduciary point to establish a point of origin for device orientation in space is provided. The device controls the direction and depth of delivery of a needle, wire, trocar or cannula utilized for diagnostic or therapeutic intervention. The device guides the percutaneous delivery of a needle, wire, trocar or cannula to a target spatial location on or within tissue.

    Abstract translation: 提供了一种使用解剖学地标或受信点建立空间中设备取向原点的设备。 该装置控制用于诊断或治疗干预的针，线，套针或套管的输送方向和深度。 该装置引导针，线，套管针或插管的经皮递送到组织上或组织内的目标空间位置。

    PLACEMENT APPARATUS
    9.
    发明申请
    PLACEMENT APPARATUS 审中-公开
    放置装置

    公开(公告)号：WO2015130976A1

    公开(公告)日：2015-09-03

    申请号：PCT/US2015/017835

    申请日：2015-02-26

    Applicant: CANON U.S.A., INC. ,  THE BRIGHAM AND WOMEN'S HOSPITAL INC. ,  FUJIMOTO, Kosuke ,  KITAJIMA, Satoru ,  TUNCALI, Kemal

    Inventor： FUJIMOTO, Kosuke ,  KITAJIMA, Satoru ,  TUNCALI, Kemal

    IPC: A61B19/00

    CPC classification number: A61B90/11 ,  A61B2017/3407 ,  A61B2017/3409

    Abstract: A positioning apparatus is provided that is configured to perform a biopsy or therapy support by puncture using a needle or other needle-shaped equipment. This positioning apparatus is exemplified by an apparatus that includes a first rotation member, a guide for guiding a needle or other needle-shaped equipment in a longitudinal direction, a second rotation member with a different rotation axis, and a friction applying unit configured to apply friction force to the first rotation member directly or indirectly and generates friction torque.

    Abstract translation: 提供了一种定位装置，其被配置为使用针或其它针状设备通过穿刺来执行活检或治疗支撑。 这种定位装置的例子是一种装置，其包括第一旋转构件，用于沿纵向引导针或其他针状设备的引导件，具有不同旋转轴线的第二旋转构件，以及摩擦施加单元， 直接或间接地对第一旋转构件的摩擦力产生摩擦力矩。

    NEEDLE STEERING BY SHAFT MANIPULATION
    10.
    发明申请
    NEEDLE STEERING BY SHAFT MANIPULATION 审中-公开
    针脚转向

    公开(公告)号：WO2015052719A1

    公开(公告)日：2015-04-16

    申请号：PCT/IL2014/050891

    申请日：2014-10-07

    Applicant: TECHNION RESEARCH & DEVELOPMENT FOUNDATION LTD.

    Inventor： GLOZMAN, Daniel ,  DASKAL, Gonen ,  SHOHAM, Moshe ,  ARAD, Michael ,  PINSKY, Yoav

    IPC: A61B17/34 ,  A61B19/00

    CPC classification number: A61B34/30 ,  A61B90/11 ,  A61B90/37 ,  A61B2017/3409 ,  A61B2034/304 ,  A61B2090/374 ,  A61B2090/3762

    Abstract: A method and apparatus for steering of a flexible needle into tissue using a steering robotic platform for manipulation of the needle shaft, and by use of a semi-active arm for locating and orienting of the steering robot on the patient's body. As opposed to other steering methods, the robot does not hold the base of the needle, which is its proximal region, but rather grips the shaft of the needle by means of a manipulatable needle gripping device, near its distal end. The needle gripper attached to the robotic platform may be equipped with a traction assembly to provide motion to the needle in its longitudinal direction, such that it co-ordinates the entry of the needle with the desired entry angle. The gripping of the needle at its distal end, close to its insertion point, provides the needle manipulator with a low profile, with concomitant advantages.

    Abstract translation: 一种用于使用用于操纵针​​轴的转向机器人平台以及通过使用半主动臂将转向机器人定位和定向在患者身体上来将柔性针转向组织的方法和装置。 与其他转向方法相反，机器人不夹持作为其近侧区域的针的基部，而是通过可操纵的针夹持装置在其远端附近握住针的轴。 附接到机器人平台的针夹具可以配备有牵引组件，以在针的纵向方向上提供运动，使得其以所需的入口角度坐标针入口。 针头在其远端的抓持位置靠近其插入点，为针状操纵器提供了一种低调，具有优点。

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