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    INSTRUMENT-MOUNTED TENSION SENSING MECHANISM FOR ROBOTICALLY-DRIVEN MEDICAL INSTRUMENTS
    4.
    发明申请
    INSTRUMENT-MOUNTED TENSION SENSING MECHANISM FOR ROBOTICALLY-DRIVEN MEDICAL INSTRUMENTS 有权
    用于机动车辆医疗器械的仪表安装张力感测机构

    公开(公告)号：US20160374766A1

    公开(公告)日：2016-12-29

    申请号：US15188802

    申请日：2016-06-21

    申请人： Auris Surgical Robotics, Inc.

    发明人： Travis Schuh

    IPC分类号： A61B34/30

    CPC分类号： A61B34/30 ,  A61B5/4523 ,  A61B5/6852 ,  A61B2034/301 ,  A61B2034/715 ,  A61B2562/0252 ,  A61B2562/0261 ,  A61M25/0147 ,  G01L5/04

    摘要： A tension mechanism for a robotically-controlled medical device measures the tension applied to an actuation tendon to provide feedback to a robotic controller. In one embodiment, the device comprises an elongated instrument, an elongated member, and a base. The elongated member is coupled to the distal end of the elongated instrument, configured to actuate the distal end of the elongated instrument in response to tension in the elongated member. The base is located at the proximal end of the elongated instrument, and comprises a first redirect surface that redirects the elongated member. The first redirect surface is coupled to a lever element that is configured to exert a reactive force on a sensor in response to tension in the elongated member.

    摘要翻译： 用于机器人控制的医疗装置的张紧机构测量施加到致动筋的张力，以向机器人控制器提供反馈。 在一个实施例中，该装置包括细长器械，细长构件和底座。 细长构件联接到细长器械的远端，构造成响应于细长构件中的张力致动细长器械的远端。 基部位于细长器械的近端，并且包括使细长构件重定向的第一重定向表面。 第一重定向表面联接到杠杆元件，其被配置为响应于细长构件中的张力而在传感器上施加反作用力。

    ACTIVE ANKLE FOOT ORTHOSIS
    9.
    发明申请
    ACTIVE ANKLE FOOT ORTHOSIS 有权
    活动性角叉刀

    公开(公告)号：US20150127117A1

    公开(公告)日：2015-05-07

    申请号：US14322300

    申请日：2014-07-02

    申请人： Massachusetts Institute of Technology

    发明人： Hugh Herr ,  Joaquin Blaya ,  Gill A. Pratt

    IPC分类号： A61F2/68 ,  A61F5/01

    CPC分类号： A61H3/00 ,  A61B5/1038 ,  A61B5/1071 ,  A61B5/4519 ,  A61B5/4523 ,  A61B5/4528 ,  A61F2/68 ,  A61F5/0113 ,  A61F5/0127 ,  A61F2002/701 ,  A61H2003/007 ,  A61H2201/12 ,  A61H2205/10

    摘要： An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.

    摘要翻译： 提供活动性踝足矫形器（AAFO），其中矫正关节的阻抗在整个行走周期中被调节以治疗脚踝脚步病理学，例如脚踏步态。 在受控的足底屈曲期间，应用仿生扭转弹簧控制，其中主动调节矫正关节刚度以最小化与地面的前脚碰撞。 在整个后期姿势中，关节阻抗最小化，以免阻碍动力足底弯曲运动，并且在摆动阶段期间，扭转弹簧阻尼器（PD）控制器提升脚部以提供脚趾间隙。 为了评估可变阻抗控制的临床效果，在穿着AAFO的两个落脚参与者上收集动力学和运动步态数据。 已经发现，主动调节关节阻抗减少了脚掌的发生，允许更大的动力足底屈曲，并且在与法线相比时在摆动期间提供较少的运动学差异。