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1.发明授权Ergonomic and semi-automatic manipulator, and applications to instruments for minimally invasive surgery 有权人体工程学和半自动机械手，以及应用于微创手术的仪器公开(公告)号：US08920433B2
公开(公告)日：2014-12-30
申请号：US13387773
申请日：2010-07-30
Applicant: Pascal Barrier , Jérémy Ollagnier , Rémi Rosset-Lanchet , Christine Melennec épouse Barthod , Max Giordano
Inventor： Pascal Barrier , Jérémy Ollagnier , Rémi Rosset-Lanchet , Christine Melennec épouse Barthod , Max Giordano
CPC classification number: A61B19/22 , A61B17/062 , A61B17/2909 , A61B17/3421 , A61B17/3423 , A61B34/70 , A61B34/74 , A61B2017/00424 , A61B2017/291 , A61B2017/2927 , A61B2017/2929 , Y10T74/20329
Abstract: 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.
Abstract translation: 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。
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2.发明申请ERGONOMIC AND SEMI-AUTOMATIC MANIPULATOR, AND APPLICATIONS TO INSTRUMENTS FOR MINIMALLY INVASIVE SURGERY 有权人体和半自动手术器械及其应用于微创手术的仪器公开(公告)号：US20120130401A1
公开(公告)日：2012-05-24
申请号：US13387773
申请日：2010-07-30
Applicant: Pascal Barrier , Jérémy Ollagnier , Rémi Rosset-Lanchet , Christine Melennec épouse Barthod , Max Giordano
Inventor： Pascal Barrier , Jérémy Ollagnier , Rémi Rosset-Lanchet , Christine Melennec épouse Barthod , Max Giordano
IPC: A61B19/00
CPC classification number: A61B19/22 , A61B17/062 , A61B17/2909 , A61B17/3421 , A61B17/3423 , A61B34/70 , A61B34/74 , A61B2017/00424 , A61B2017/291 , A61B2017/2927 , A61B2017/2929 , Y10T74/20329
Abstract: 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.
Abstract translation: 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。
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