公开(公告)号：US20120132018A1

公开(公告)日：2012-05-31

申请号：US13320582

申请日：2010-05-12

申请人： Hsiao-Wei Tang ,  Hendrik Van Brussel ,  Jan Peirs ,  Thierry Janssens

发明人： Hsiao-Wei Tang ,  Hendrik Van Brussel ,  Jan Peirs ,  Thierry Janssens

IPC分类号： F16H19/04 ,  F16H21/16

CPC分类号： A61B19/22 ,  A61B34/30 ,  A61B34/70 ,  A61B34/71 ,  A61B2090/506 ,  Y10S901/15 ,  Y10S901/16 ,  Y10S901/21 ,  Y10T74/18056 ,  Y10T74/18088 ,  Y10T74/18848 ,  Y10T74/20323

摘要： Apparatus comprising a member (6) arranged to revolve about a remote centre of motion (O) and a base link (3) coupled to a mounting fixture (1). A first link (4) and a second link (5) are pivotably coupled to the member at respective distances (L1, L2) from the remote centre of motion (O) and are translatable relative to the base link (3) along a first direction and at a fixed ratio of displacement. The ratio of said respective distances equals said fixed ratio of displacement, enabling the member (6) to revolve about the remote centre of motion. The apparatus is characterised in that it comprises means (7) for generating translational motion of a first element (37) and of a second element (57) along parallel but opposite directions. The means for generating translational motion is provided on the first link (4) and is arranged to provide motion parallel to the first direction. The base link is fixed in a position, the first element (37) is fixed to the base link (3) and the second element (57) is fixed to the second link (5), such that generation of said translational motion of the first element (37) and of the second element (57) enables the first link (4) and the second link (5) to translate relative to the base link (3) with said fixed ratio of displacement.

摘要翻译： 设备包括被布置成围绕远程运动中心（O）旋转的构件（6）和联接到安装夹具（1）的基座连杆（3）。 第一连杆（4）和第二连杆（5）在距远离运动中心（O）的相应距离（L1，L2）处可枢转地联接到构件，并且可相对于基座连杆（3）沿着第一 方向和固定比例的位移。 所述各个距离的比例等于所述固定的位移比，使得构件（6）能够围绕远程运动中心旋转。 该装置的特征在于它包括用于沿着平行但相反的方向产生第一元件（37）和第二元件（57）的平移运动的装置（7）。 用于产生平移运动的装置设置在第一连杆（4）上并且被布置成提供平行于第一方向的运动。 基座固定在一个位置上，第一元件（37）固定在基座连杆（3）上，第二元件（57）固定在第二连杆（5）上，以便产生 第一元件（37）和第二元件（57）使得第一连杆（4）和第二连杆（5）能够以所述固定的位移比相对于基座连杆（3）平移。

公开(公告)号：US20120130401A1

公开(公告)日：2012-05-24

申请号：US13387773

申请日：2010-07-30

申请人： Pascal Barrier ,  Jérémy Ollagnier ,  Rémi Rosset-Lanchet ,  Christine Melennec épouse Barthod ,  Max Giordano

发明人： Pascal Barrier ,  Jérémy Ollagnier ,  Rémi Rosset-Lanchet ,  Christine Melennec épouse Barthod ,  Max Giordano

IPC分类号： A61B19/00

CPC分类号： A61B19/22 ,  A61B17/062 ,  A61B17/2909 ,  A61B17/3421 ,  A61B17/3423 ,  A61B34/70 ,  A61B34/74 ,  A61B2017/00424 ,  A61B2017/291 ,  A61B2017/2927 ,  A61B2017/2929 ,  Y10T74/20329

摘要： A manipulator includes a control unit (1), with handle (4) and control buttons (4a-4d), and a connecting arm (2) which, at its proximal end (2a), carries the control unit (1) and, at its distal end (2b), carries a work unit (3). The control buttons (4a-4d) control at least a first inclination motor, which causes a movement of inclination of a tool support (5) of the work unit (3) about a transverse inclination axis (11), and they control the actual rotation of the tool support (5) about its direction of inclination (II) and control the orientation of the direction of inclination (II) about the longitudinal axis (I-I) of the connecting arm (2). A particularly ergonomic manipulator is thus obtained which is easy to learn to use and which efficiently separates the stresses arising from movements of the tool support (5) and the stresses arising from holding and moving the manipulator itself.

摘要翻译： 操纵器包括具有手柄（4）和控制按钮（4a-4d）的控制单元（1）和在其近端（2a）处携带控制单元（1））的连接臂（2） 在其远端（2b）处承载工作单元（3）。 所述控制按钮（4a-4d）至少控制第一倾斜电动机，所述第一倾斜电动机使得所述作业单元（3）的工具支撑件（5）围绕横向倾斜轴线（11）的倾斜运动，并且它们控制实际 工具支撑件（5）绕其倾斜方向（II）的旋转，并且围绕连接臂（2）的纵向轴线（II）控制倾斜方向（II）的取向。 因此获得了一种特别符合人体工程学的操纵器，其易于学习使用，并且有效地分离由工具支撑件（5）的运动引起的应力和由保持和移动操纵器本身而产生的应力。

公开(公告)号：US20110166435A1

公开(公告)日：2011-07-07

申请号：US13119405

申请日：2009-09-15

申请人： Robert Lye

发明人： Robert Lye

IPC分类号： A61B5/05

CPC分类号： A61B19/22 ,  A61B34/20 ,  A61B2034/107 ,  A61B2034/2068 ,  A61B2090/0807 ,  A61B2090/363 ,  A61F2/34 ,  A61F2/4609 ,  A61F2002/4668

摘要： The surgical orientation system is used to assist a surgeon to orient a prosthetic component relative to a patient's anatomy during surgery. An embodiment is particularly suited for assisting surgeons to locate an acetabular cup into a reamed acetabulum. The system includes: an implement (1) for releasable attachment of a prosthetic component; an electronic orientation monitor (2) attached to the implement (1); and a brace (3). The brace (3) is releasably attachable to the patient so as to define a reference point (4) relative to the patient's anatomy. This reference point (4) is external of the patient and includes at least on surface (5) defining a reference plane that is used to orient the monitor (2) into a reference orientation to calibrate the monitor (2). The surgeon then manipulates the implement (1) so that the prosthetic component is in the desired position relative to the patient and the monitor (2) provides an indication to the surgeon when a subsequent orientation of the monitor (2) has a predefmed relationship relative to the reference orientation; for example the predefined relationship may be parallel to within predefined tolerances. Upon receiving the indication the surgeon inserts the prosthetic component into the patient.

摘要翻译： 手术取向系统用于帮助外科医生在手术期间相对于患者的解剖结构定向假体部件。 一个实施例特别适用于帮助外科医生将髋臼杯定位成铰孔臼。 该系统包括：用于可拆卸地附接假肢部件的工具（1）; 附接到所述工具（1）的电子方向监视器（2）; 和大括号（3）。 支架（3）可释放地附接到患者，以便相对于患者的解剖结构限定参考点（4）。 该参考点（4）是患者的外部，并且至少包括限定用于将监视器（2）定向为校准监视器（2）的参考方向的参考平面的表面（5）。 外科医生然后操纵器具（1），使得假肢部件相对于患者处于期望的位置，并且当监视器（2）的后续定向具有预定关系时，监视器（2）向外科医生提供指示 参考方向; 例如，预定义的关系可以平行于预定义的公差内。 在接收到指示时，外科医生将假体组件插入患者体内。

公开(公告)号：US20090171159A1

公开(公告)日：2009-07-02

申请号：US12399471

申请日：2009-03-06

申请人： Glen Jorgensen ,  William G. Dennis

发明人： Glen Jorgensen ,  William G. Dennis

IPC分类号： A61B1/00

CPC分类号： A61B19/22 ,  A61B1/00147 ,  A61B1/00165 ,  A61B1/0055 ,  A61B1/05 ,  A61B1/317 ,  A61B17/29 ,  A61B17/295 ,  A61B17/320016 ,  A61B18/1482 ,  A61B18/1492 ,  A61B34/70 ,  A61B34/71 ,  A61B2017/003 ,  A61B2017/00331 ,  A61B2017/00867 ,  A61B2017/2903 ,  A61B2017/2904 ,  A61B2017/2905 ,  A61B2017/2906 ,  A61B2017/291 ,  A61B2017/2931 ,  A61B2017/2948

摘要： A surgical device is provided, the device having a tubular outer body member with a handle at its proximal end and a flexible distal end segment extending from its distal end. The surgical device also has an operable end extending from the distal end of the flexible distal end segment. The device is configured for selectively causing the flexible end segment to bend to adopt a desired curvature and for selectively rotating the operable end relative to the flexible distal end segment about an axis of the flexible distal end segment.

摘要翻译： 提供了一种手术装置，该装置具有管状外主体构件，其近端具有手柄，并且从其远端延伸的柔性远端段。 手术装置还具有从柔性远端段的远端延伸的可操作的端部。 该装置被构造成选择性地使柔性端部段弯曲以采用期望的曲率并且围绕柔性远端段的轴线相对于柔性远端段选择性地旋转可操作端。

公开(公告)号：US20080004595A1

公开(公告)日：2008-01-03

申请号：US11770547

申请日：2007-06-28

申请人： Raju Viswanathan ,  Rogers Ritter ,  Peter Werp

发明人： Raju Viswanathan ,  Rogers Ritter ,  Peter Werp

IPC分类号： A61M31/00

CPC分类号： A61B19/22 ,  A61B34/70 ,  A61B34/73 ,  A61B2017/00106 ,  A61B2017/003

摘要： An apparatus and method for interventional navigation within a subject's body is provided in which a medical device having at least one electrostrictive element is adapted to cause the distal end of the medical device to bend in a given direction for improving navigation. The medical device may further comprise at least one magnetically responsive element on the distal end, which may be oriented in the approximate direction of a magnetic field that is applied to the subjects body. At least one method for navigating a medical device though a subject's body is provided, by changing the direction of an applied magnetic field to align a magnetically responsive element on the distal end for orienting the distal end, and by applying a voltage to at least one electrostrictive element disposed in the distal portion of the device for causing the distal end to change orientation from that achieved by application of the magnetic field alone.

摘要翻译： 提供了一种用于受试者身体内的介入导航的装置和方法，其中具有至少一个电致伸缩元件的医疗装置适于使医疗装置的远端沿给定方向弯曲以改善导航。 医疗装置还可以包括远端上的至少一个磁响应元件，其可以被施加到受试者身体的磁场的近似方向定向。 通过改变所施加的磁场的方向以使远端上的磁响应元件对准以使远端定向，并且通过向至少一个电极施加电压，提供至少一种用于通过受试者身体导航医疗装置的方法 电致伸缩元件设置在装置的远端部分中，用于使远端改变方向与通过仅施加磁场实现的方向。

公开(公告)号：US07121781B2

公开(公告)日：2006-10-17

申请号：US10460382

申请日：2003-06-11

申请人： Dan Sanchez

发明人： Dan Sanchez

IPC分类号： B25J17/02

CPC分类号： A61B19/22 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B2034/304 ,  A61B2034/305 ,  B25J3/04 ,  B25J9/0039 ,  B25J13/02 ,  B25J17/0266 ,  Y10T74/20335

摘要： A robotically controlled endoscopic medical instrument that includes an end effector coupled to a wrist. The wrist provides two separate degrees of freedom about the same pivot point. The end effector can be moved and actuated by pins. The pins allow for a compact minimally invasive medical instrument that has a wrist with two degrees of freedom.

摘要翻译： 一种机器人控制的内窥镜医疗器械，其包括连接到手腕的端部执行器。 手腕在相同的枢轴点上提供两个独立的自由度。 端部执行器可以通过销移动和致动。 引脚允许具有两个自由度的手腕的紧凑型微创医疗器械。

公开(公告)号：US09962179B2

公开(公告)日：2018-05-08

申请号：US14008775

申请日：2012-04-05

申请人： Michael Salvatore Castro ,  J. Christopher Flaherty

发明人： Michael Salvatore Castro ,  J. Christopher Flaherty

IPC分类号： A61B17/29 ,  A61B17/00 ,  A61B19/00 ,  A61B17/34 ,  A61B18/00 ,  A61B1/005 ,  A61B34/00

CPC分类号： A61B17/29 ,  A61B1/0055 ,  A61B17/00234 ,  A61B19/22 ,  A61B34/70 ,  A61B2017/00296 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/00535 ,  A61B2017/2905 ,  A61B2017/2906 ,  A61B2017/2908 ,  A61B2017/3445 ,  A61B2017/347 ,  A61B2018/00577 ,  A61B2019/2242

摘要： A system for performing a medical procedure includes an articulating probe including inner and outer sleeves, and a surgical tool including a functional element positioned at a distal end of a tool shaft, the tool shaft having an articulation region. The articulating probe and the surgical tool are independently controllable.

公开(公告)号：US09505125B2

公开(公告)日：2016-11-29

申请号：US14579224

申请日：2014-12-22

申请人： Carnegie Mellon University

发明人： Brett Zubiate ,  Howard Choset

IPC分类号： A61B17/00 ,  A61B19/00 ,  A61B17/50 ,  B25J9/06 ,  A61B1/005 ,  B25J9/10

CPC分类号： A61B34/30 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B19/22 ,  A61B19/2203 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2019/2242 ,  A61B2019/2246 ,  A61B2034/301 ,  A61B2034/306 ,  B25J9/065 ,  B25J9/104 ,  B25J9/105 ,  Y10S901/21

摘要： An articulate probe device includes a first mechanism, a second mechanism, and an overtube mechanism. The first mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The second mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The overtube mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a proximal link which is moveably coupled to a second one of the intermediate links. Further, at least one of the first mechanism, second mechanism, and overtube mechanism is steerable and extendable beyond the other mechanisms.

公开(公告)号：US20160081752A1

公开(公告)日：2016-03-24

申请号：US14491990

申请日：2014-09-20

申请人： Maciej J. Kieturakis

发明人： Maciej J. Kieturakis

IPC分类号： A61B19/00 ,  A61B17/00

CPC分类号： A61B19/22 ,  A61B17/29 ,  A61B17/3423 ,  A61B90/50 ,  A61B2017/00738 ,  A61B2017/00991 ,  A61B2017/2902 ,  A61B2017/2904 ,  A61B2017/2905 ,  A61B2017/2906

摘要： A system for performing single port laparoscopic procedures includes a deployment frame and a plurality of tools. The tools are pivotally mounted on the frame and have end effectors which are translatably and rotatably disposed in the tool. A handle at the proximal end of the tool controls an end effector at the distal end of the tool. Movement of the tools relative to the frame is constrained so that they remain in a fixed geometric relationship which prevents the tools from interfering with each other during laparoscopic procedures.

摘要翻译： 用于执行单端口腹腔镜手术的系统包括展开框架和多个工具。 这些工具可枢转地安装在框架上并且具有能够平移和可旋转地设置在工具中的端部执行器。 刀具近端的把手控制工具远端的末端执行器。 工具相对于框架的移动被限制，使得它们保持在固定的几何关系中，防止工具在腹腔镜手术过程中相互干扰。

公开(公告)号：US09060792B2

公开(公告)日：2015-06-23

申请号：US12604839

申请日：2009-10-23

申请人： Joris Jaspers

发明人： Joris Jaspers

IPC分类号： A61B19/00 ,  A61B17/00 ,  A61B17/29

CPC分类号： A61B19/22 ,  A61B34/70 ,  A61B34/71 ,  A61B2017/00477 ,  A61B2017/291 ,  A61B2090/506

摘要： A manipulator for an instrument for minimally invasive surgery, having at a proximal end a handle for operating the instrument, and wherein the instrument is removably placed at a distal end, and wherein a parallelogram construction is provided between the proximal end and the distal end for guaranteeing an unambiguous positional relationship between the handle and the instrument, wherein the parallelogram construction is coupled with a system of bars for controlling the position of the parallelogram construction, the bars of the system of bars being connected to the parallelogram construction as well as to each other by means of cardan joints.

摘要翻译： 一种用于微创手术的器械的操纵器，在近端处具有用于操作所述器械的手柄，并且其中所述器械可移除地放置在远端，并且其中在近端和远端之间设置平行四边形构造，用于 保证把手和仪器之间的明确的位置关系，其中平行四边形构造与用于控制平行四边形结构的位置的杆系结合，杆的系统的杆连接到平行四边形结构以及每个 其他通过万向节接头。