| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 161 | EXPANDABLE SUPPORT STRUCTURE FOR DELIVERY THROUGH A WORKING CHANNEL | US14189867 | 2014-02-25 | US20140296902A1 | 2014-10-02 | HILLARY K. HUSZAR; DAVID S. UTLEY; ERIC J. GWERDER; ROBERT C. HAGGERTY; GILBERT MATA, Jr.; FELICIA P. SEIN-LWIN |
| Methods, systems, and devices for providing treatment to a target site are described. The system may include a guide assembly, an expandable support device coupled with the distal end of the guide assembly, and an operative member disposed on the expandable support device. The expandable support device may be configured to transition between a collapsed and expanded configuration. The expandable support device may be supported by one or more flexible supports aligned in parallel with an axis about which the expandable support device collapses and/or multiple splines arranged in a pattern configured to promote transitioning of the expandable support device between an expanded and collapsed configuration. The guide assembly may be configured to provide torque to the expandable support device. The operative member can include multiple electrodes arranged in parallel to the axis about which the expandable support device collapses. | ||||||
| 162 | EXPANDABLE SUPPORT STRUCTURE FOR DELIVERY THROUGH A WORKING CHANNEL | US14189865 | 2014-02-25 | US20140296846A1 | 2014-10-02 | HILLARY K. HUSZAR; DAVID S. UTLEY; ERIC J. GWERDER; ROBERT C. HAGGERTY; GILBERT MATA, JR.; FELICIA P. SEIN-LWIN |
| Methods, systems, and devices for providing treatment to a target site are described. The system may include a guide assembly, an expandable support device coupled with the distal end of the guide assembly, and an operative member disposed on the expandable support device. The expandable support device may be configured to transition between a collapsed and expanded configuration. The expandable support device may be supported by one or more flexible supports aligned in parallel with an axis about which the expandable support device collapses and/or multiple splines arranged in a pattern configured to promote transitioning of the expandable support device between an expanded and collapsed configuration. The guide assembly may be configured to provide torque to the expandable support device. The operative member can include multiple electrodes arranged in parallel to the axis about which the expandable support device collapses. | ||||||
| 163 | Multi-linked device having a reinforcing member | US13886622 | 2013-05-03 | US08833197B2 | 2014-09-16 | Brett Zubiate; Howie Choset |
| A steerable multi-linked device may include a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first multi-linked mechanism and the second multi-linked mechanism may include a first link, a plurality of intermediate links, a second link movably coupled to a second one of the intermediate links and a reinforcing member. A first one of the intermediate links may be movably coupled to the first link, and the reinforcing member may extend from a first end of a third one of the intermediate links toward a second end of the third one of the intermediate links. | ||||||
| 164 | INTRODUCING DEVICE SYSTEM | US14167530 | 2014-01-29 | US20140190305A1 | 2014-07-10 | Yasuhiro OKAMOTO |
| An introducing device system includes: an insertion portion; a bending portion which is provided at the insertion portion; an operation portion through which an input operation is performed for bending the bending portion; a pulling member connected to the bending portion and pulled in accordance with the operation through the operation portion; a detection section that detects a moving state of the pulling member; a driving unit that rotationally drives; a driving force transmitting unit including an inner circumferential surface configured to be able to contact an outer circumferential surface of the driving unit, and an outer circumference on which the pulling member is wound, the driving force transmitting unit being reduced in diameter in accordance with pulling of the pulling member; and a driving unit control section controls the driving unit when the moving state detected by the detection section is different from a state determined in advance. | ||||||
| 165 | Instrument for endoscopic applications or the like | US12933703 | 2008-04-18 | US08740884B2 | 2014-06-03 | Marcel Antonius Elisabeth Verbeek |
| An instrument for endoscopic applications, including a tubular member having a handling end portion having a flexible portion and actuating devices located at the other end portion, and longitudinal elements for transferring the movement of the actuating devices to the handling end portion resulting in a change of orientation thereof, whereby the handling end portion includes at least two independent flexible portions, whereby the actuating end portion has a corresponding number of actuating devices, and whereby each actuating device is connected by its own set of longitudinal elements to a part of the handling end portion for effecting a change of orientation of one of the flexible portions. | ||||||
| 166 | METHOD FOR DRIVING ULTRASONIC MOTOR, ULTRASONIC MOTOR, AND ROBOT ARM | US13903765 | 2013-05-28 | US20130319158A1 | 2013-12-05 | Yuya Yamamoto |
| A method for driving an ultrasonic motor includes setting an upper limit rotation speed that is lower than a rotation speed at a resonance frequency at a lowest temperature of a predetermined operating temperature range and a lower limit frequency that is more than or equal to a resonance frequency at a highest temperature of the operating temperature range, and, when the ultrasonic motor starts, a rotation speed of the ultrasonic motor becomes lower than the upper limit rotation speed and the ultrasonic motor is driven with a driving frequency which is higher than the lower limit frequency. | ||||||
| 167 | STEERABLE MULTI-LINKED DEVICE HAVING A MODULAR LINK ASSEMBLY | US13786753 | 2013-03-06 | US20130247537A1 | 2013-09-26 | Brett Zubiate; Howard M. Choset; Amir Degani; Michael Schwerin |
| A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first and second multi-linked mechanisms is steerable and includes a modular link assembly at an end thereof. The modular link assembly includes a base, and a tip removably connected to the base. | ||||||
| 168 | Articulating mechanisms with bifurcating control | US12766820 | 2010-04-23 | US08535347B2 | 2013-09-17 | David J. Danitz; Adam Gold |
| The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue. | ||||||
| 169 | LINK UNIT AND ARM MODULE HAVING THE SAME | US13772746 | 2013-02-21 | US20130213170A1 | 2013-08-22 | Jeong Hun KIM; Yong Jae Kim |
| An arm module having a structure capable of precisely moving each link unit while flexibly moving with sufficient stiffness includes a plurality of link units each having a ring shape, a plurality of joint units each disposed in a middle portion of a corresponding one of the plurality of link units to connect the plurality of link units, wherein the plurality of link units includes a first link unit, a second link unit disposed while being rotated with respect to the first link unit, the second link unit linked at an upper side of the first link unit while passing through a middle portion of the first link unit, and a third link unit disposed while being rotated with respect to the second link unit, the third link unit linked at an upper side of the second link unit while passing through a middle portion of the second link unit. | ||||||
| 170 | Manipulator mechanism | US12438458 | 2007-08-22 | US08490511B2 | 2013-07-23 | Takashi Saito |
| A manipulator mechanism according to the present invention comprises an arm 1 having a tip mechanism 3 attached to its tip part, and an arm paying out device 2 to which the base end part of the arm 1 is coupled for winding and paying out the arm 1. The arm 1 comprises a tape aggregate 4 formed by bundling a plurality of elastic tapes 41, and a plurality of bundling members 5 attached to the tape aggregate 4 with spaces therebetween in a longitudinal direction of the tape aggregate 4. The bundling member 5 is provided with a guiding groove 51, through which the plurality of tapes 41 pass, to keep the relative position of the plurality of tapes 41 constant. | ||||||
| 171 | BIO-INSPIRED CONTINUOUS ROBOTIC LIMB | US13823102 | 2011-09-14 | US20130167683A1 | 2013-07-04 | Matteo Cianchetti; Maurizio Follador; Andrea Arienti; Cecilia Laschi; Barbara Mazzolai; Paolo Dario |
| A robotic limb is described. The robotic limb has a closed tubular casing made of viscoelastic material defining a chamber containing an incompressible fluid. The closed tubular casing has a sheath formed by substantially inextensible intertwined wires. In the chamber there are groups of transverse actuators axially spaced from each other, connected to the sheath and adapted to reversibly contract the closed tubular casing at least partly in the radial direction. The robotic limb also has longitudinal actuating means adapted to reversibly contract the closed tubular casing at least partly in the axial direction being connected to each of the groups of transverse actuators. | ||||||
| 172 | Modular hybrid snake arm | US12134936 | 2008-06-06 | US08414246B2 | 2013-04-09 | Wayland E. Tobey |
| An intelligent modular hybrid robot arm system is usable with mobile robots, and is applicable to stationary industrial arms. The intelligent modular hybrid robot arm system provides a large work envelope and a controlled and directed rotational movement for a flexible snake robot arm. The intelligent modular hybrid robot arm system has the ability to change end effector tools and sensors. The platform computers have the ability to interact with other subsystems for coordinated as well as independent tasks. The flexibly snake robot arm can be covered with a flexible sensor network, or “skin”. The intelligent modular hybrid robot arm system can manage its energy use, stores the arm in a compact shape and uses a central support tube offering unobstructed arm access to all sectors of its working envelope. | ||||||
| 173 | Steerable multi-linked device having a modular link assembly | US13353971 | 2012-01-19 | US08397481B2 | 2013-03-19 | Brett Zubiate; Howard Choset; Amir Degani; Michael Schwerin |
| A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first and second multi-linked mechanisms is steerable and includes a modular link assembly at an end thereof. The modular link assembly includes a base, and a tip removably connected to the base. | ||||||
| 174 | Controllable dexterous endoscopic device | US12180387 | 2008-07-25 | US08388519B2 | 2013-03-05 | Pablo Garcia; Thomas Low; Bryan Chavez; Harsha Prahlad; Natalia Isaza; Sanjeev Dutta |
| A selectively rigidizable endoscopic device is described. In one aspect, an endoscopic medical device is described that includes a flexible inner tube having a first lumen, a flexible outer tube that receives the inner tube, and a multiplicity of overlapping, rigidizable scale-like strips. Each scale-like strip is coupled with the inner tube and positioned between the inner and outer tubes. Of particular note, the overlapping strips are actuatable between a non-rigidized state in which overlapping strips are slideable relative to one another and a rigidized state in which overlapping strips are not slideable relative to one another. | ||||||
| 175 | Tension detection mechanism and manipulator using the same | US12726790 | 2010-03-18 | US08365608B2 | 2013-02-05 | Masatoshi Iida |
| A tension detection mechanism includes a linear member which extends in a longitudinal direction, and which is configured to transmits power, a restraining member including a restraining portion through which the linear member extends and which is configured to restrain movement of the linear member in the longitudinal direction partially, and a detection member which is provided to the restraining member and which is configured to detect tension of the linear member. A length of a portion of the linear member restrained by the restraining portion is larger than a distance between two ends of the restraining member in the longitudinal direction of the linear member. | ||||||
| 176 | Modular rotary multi-sensor sensor ring | US12134894 | 2008-06-06 | US08364312B2 | 2013-01-29 | Wayland E. Tobey |
| An intelligent modular rotary multi-sensor sensor ring platform for such uses as in mobile robotics allows a few sensors to scan the local area and environment, provides a cost saving, volume and a power savings as well as reducing calibration and maintenance costs. The sensor ring platform has a large internal diameter allowing a maximum area for the chassis structural elements as well as other equipment located in the chassis. Local sensor signal processing is combined with time, rotation speed and position data stamps to allow processed data to be used locally as well as to be transferred to other systems or subsystems or for data logging purposes. | ||||||
| 177 | Bidirectional moving micro-robot system | US12847851 | 2010-07-30 | US08322469B2 | 2012-12-04 | Eui Sung Yoon; Sung Wook Yang; Jin Seok Kim; Kyoung Hwan Na; Duk Moon Rho |
| Disclosed herein is a bidirectional moving micro-robot system. The bidirectional moving micro-robot system has a first body having a plurality of legs foldably/unfoldably connected thereto, a second body having a plurality of legs foldably/unfoldably connected thereto and a connection member having both end portions respectively connected to the first and second bodies. In the bidirectional moving micro-robot system, the length of the connection member exposed between the first and second bodies is extended or contracted. | ||||||
| 178 | STEERABLE MULTI-LINKED DEVICE HAVING A MODULAR LINK ASSEMBLY | US13353971 | 2012-01-19 | US20120180591A1 | 2012-07-19 | Brett Zubiate; Howard M. Choset; Amir Degani; Michael Schwerin |
| A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first and second multi-linked mechanisms is steerable and includes a modular link assembly at an end thereof. The modular link assembly includes a base, and a tip removably connected to the base. | ||||||
| 179 | SELECTIVELY RIGIDIZABLE AND ACTIVELY STEERABLE ARTICULATABLE DEVICE | US13399618 | 2012-02-17 | US20120144950A1 | 2012-06-14 | Pablo GARCIA; Thomas LOW; Bryan CHAVEZ; Harsha PRAHLAD |
| A selectively rigidizable and actively steerable device is described. In one aspect, an articulatable device is described that includes a flexible inner tube having a first lumen, a flexible outer tube that receives the inner tube, and a multiplicity of overlapping, rigidizable scale-like strips. Each scale-like strip is coupled with the inner tube and positioned between the inner and outer tubes. Of particular note, the overlapping strips are actuatable between a non-rigidized state in which overlapping strips are slideable relative to one another and a rigidized state in which overlapping strips are not slideable relative to one another. | ||||||
| 180 | Steerable multi linked device having multiple working ports | US11838519 | 2007-08-14 | US08192422B2 | 2012-06-05 | Brett Zubiate; Amir Degani; Howie Choset |
| A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. The first mechanism defines a first plurality of grooves. The second mechanism defines a second plurality of grooves. The first and second pluralities of grooves cooperate to define at least two working ports along a length of the device. At least one of the first and second mechanisms are steerable. | ||||||
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