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1. 发明公开

EP1715789A1 TELEOPERATED ENDOSCOPIC CAPSULE EQUIPPED WITH ACTIVE LOCOMOTION SYSTEM 有权转让
标题翻译：与ACTIVE LOKOMOTIONSSYSTEM TELE供电的胶囊内窥镜
公开(公告)号：EP1715789A1
公开(公告)日：2006-11-02
申请号：EP05702514.0
申请日：2005-02-17
申请人： Dario, Paolo , Menciassi, Arianna , Stefanini, Cesare , Gorini, Samuele , Pernorio, Giuseppe , Accoto, Dino
发明人： Dario, Paolo , Menciassi, Arianna , Stefanini, Cesare , Gorini, Samuele , Pernorio, Giuseppe , Accoto, Dino
IPC分类号： A61B5/07 , A61B1/04
CPC分类号： A61B1/00156 , A61B1/041 , A61B34/72
摘要： A teleoperated endoscopic capsule for diagnostic and therapeutic purposes inside an animal body cavity, comprising a body (1) with a plurality of locomotion modules (5) placed on its surface, suitable for moving said body in the body cavity. The capsule also comprises an energy source inside said body and a microcontroller in the body (1) for actuating the locomotion modules (5) on the basis of commands teletransmitted by an operator. A video camera is then provided for capturing images controlled by said microcontroller and a transceiver system for receiving the commands teletransmitted by the operator and for transmitting the images gained through the video camera.

2. 发明申请

WO2012070016A1 PROCESS FOR THE PREPARATION OF BIOCOMPATIBLE, FREE-STANDING NANOFILMS OF CONDUCTIVE POLYMERS 审中-公开
标题翻译：制备生物降解的自由基导电聚合物纳米微粒的方法
公开(公告)号：WO2012070016A1
公开(公告)日：2012-05-31
申请号：PCT/IB2011/055288
申请日：2011-11-24
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , GRECO, Francesco , MATTOLI, Virgilio , DARIO, Paolo , MENCIASSI, Arianna , ZUCCA, Alessandra
发明人： GRECO, Francesco , MATTOLI, Virgilio , DARIO, Paolo , MENCIASSI, Arianna , ZUCCA, Alessandra
IPC分类号： C08J7/02 , B82Y30/00
CPC分类号： C08J7/02 , B82Y30/00 , C08J7/08 , Y10T428/31533
摘要： The invention concerns a process for the preparation of nanofilms of conductive polymers, through the formation of support layers of other polymers. The present process has advantageous properties such as cost-effectiveness, speed of execution and use of relatively simple instruments; and it also allows to obtain free-standing nanofilms, i.e. nanofilms that are stable and able to support themselves without the need for any support. The present nanofilms al so have further advantageous characteristics, such as strength, flexibility, ability to adhere to different substrates, and high biocompatibility, which make them suitable for numerous different technological applications, in particular in the biomedical field.
摘要翻译：本发明涉及通过形成其它聚合物的支撑层来制备导电聚合物的纳米膜的方法。本方法具有成本效益，执行速度和使用相对简单的仪器等优点; 并且它还允许获得独立的纳米薄膜，即稳定且能够支持自身而不需要任何支撑物的纳米薄膜。本发明的纳米薄膜具有更强的特性，例如强度，柔韧性，粘附于不同基材的能力以及高生物相容性，这使得它们适用于许多不同的技术应用，特别是生物医学领域。

3. 发明申请

WO2012035157A1 MAGNETIC LEVITATION ENDOSCOPIC DEVICE 审中-公开
标题翻译：磁感应内窥镜装置
公开(公告)号：WO2012035157A1
公开(公告)日：2012-03-22
申请号：PCT/EP2011/066149
申请日：2011-09-16
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , SIMI, Massimiliano , VALDASTRI, Pietro , MENCIASSI, Arianna , DARIO, Paolo
发明人： SIMI, Massimiliano , VALDASTRI, Pietro , MENCIASSI, Arianna , DARIO, Paolo
IPC分类号： A61B1/005 , A61B1/313 , A61B1/00
CPC分类号： A61B1/313 , A61B1/00158 , A61B1/0055
摘要： Endoscopic system, comprising an endoscopic device 1 moved by a magnetic levitation system comprising a first 2 and a second 3 module connected by means of a flexible joint 4 and each bearing one or more permanent magnets 21, 22, 31, 32, the second module 3 further being provided with a motor 34 for the actuation of the internal magnets 31, 32 thereof; and means 61, 62, 7 for generating a first and a second external magnetic field, adapted to respectively interact with the magnets of the first and of the second module with the aim of producing a desired magnetic field surrounding the second module 3 for an efficient working of the levitation system in orienting the second module 3 with respect to the first module 2.
摘要翻译：内窥镜系统，包括由磁悬浮系统移动的内窥镜装置1，该磁悬浮系统包括通过柔性关节4连接的第一和第二模块，并且每个轴承具有一个或多个永磁体21,22,31,32，第二模块 3还设置有用于致动其内部磁体31,32的马达34; 以及用于产生适于分别与第一和第二模块的磁体相互作用的第一和第二外部磁场的装置61,62,7，目的是产生围绕第二模块3的期望的磁场，用于有效地悬挂系统在使第二模块3相对于第一模块2定向时的工作。

4. 发明申请

WO2010035244A2 ELECTROMAGNETIC STEP-BY-STEP WOBBLE-TYPE MICROMOTOR 审中-公开
标题翻译：电磁级逐步型微型电机
公开(公告)号：WO2010035244A2
公开(公告)日：2010-04-01
申请号：PCT/IB2009054239
申请日：2009-09-28
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT ANNA , STEFANINI CESARE , DARIO PAOLO , CARROZZA MARIA CHIARA , DE CRISTOFARO SARAH
发明人： STEFANINI CESARE , DARIO PAOLO , CARROZZA MARIA CHIARA , DE CRISTOFARO SARAH
IPC分类号： H02K33/12 , H02K37/06
CPC分类号： H02K33/12 , H02K37/06 , H02K41/065
摘要： An electromagnetic step-by-step wobble type micromotor comprises an internal component and an annular component external to the internal one. The external component can play as stator and the internal component as rotor, or vice versa. The internal component has three or more poles, with a winding on each pole, and has an external surface facing an internal surface of the external component. During the operation of the micromotor each winding is in a powered condition. The external and internal surfaces have a teethed configuration. Each tooth has a peak radius of curvature different from the valley radius of curvature.
摘要翻译：电磁逐步摆动式微型电动机包括内部部件和内部部件外部的环形部件。外部组件可以作为定子和内部组件作为转子发挥作用，反之亦然。内部部件具有三个或更多个极，每个极上具有绕组，并且具有面向外部部件的内表面的外表面。在微电机的操作期间，每个绕组处于供电状态。外部和内部表面有一个teethed配置。每个齿的曲率半径不同于曲率半径。

5. 发明申请

WO2002090807A1 PROPORTIONAL VALVE WITH SHAPE MEMORY ALLOY (SMA) ACTUATOR 审中-公开
标题翻译：具有形状记忆合金（SMA）执行器的比例阀
公开(公告)号：WO2002090807A1
公开(公告)日：2002-11-14
申请号：PCT/IT2001/000219
申请日：2001-05-08
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S. ANNA , DARIO, Paolo , CARROZZA, Maria, Chiara , ARENA, Alberto
发明人： DARIO, Paolo , CARROZZA, Maria, Chiara , ARENA, Alberto
IPC分类号： F16K31/00
CPC分类号： G05D23/08 , F16K31/002 , Y10T137/0363 , Y10T137/0396 , Y10T137/7761
摘要： A proportional valve for the control of the outlet pressure of a fluid flowing therethrough comprising a valve body (1) with an inlet port (15) and an outlet port (17) for the fluid and an inner chamber (8), within which there is formed a valve seat (9) whose opening is varied by means of a shutter (10) axially movable from and towards the valve seat, the movement of the shutter being controlled by a SMA actuating member (11) acting antagonistically to elastic means (12), the temperature of the fluid being lower than the transition temperature of the shape memory alloy. The actuating member and the elastic means are connected to the valve body (1) at opposite sides with respect to the valve seat and power means (105) are provided to be activated for circulating an electric current through said actuating member to heat it by Joule effect from a temperature lower than the transition temperature to an higher one. At least a vent hole (18) for the fluid is formed on the valve body (1) for putting the part of the chamber (8) upstream of said valve seat (9) into communication with the outside or a collection network, the actuating member (11) being housed in said part of chamber in correspondence to the inlet port of the fluid, whereby a continuous flow of fluid around the actuating member is ensured for accelerating the cooling process. A closed-loop control circuit for the power means (105) is provided for controlling the circulating current as a function of a pressure signal generated by fluid pressure sensing means (19) and in such a way to offset the retarding effect produced by the fluid during the heating step of the actuating member.
摘要翻译：用于控制流过流体的流体的出口压力的比例阀，包括具有用于流体的入口（15）和出口（17）的阀体（1）和内室（8）形成阀座（9），其开口通过从阀座轴向移动的挡板（10）而变化，所述挡板的运动由与弹性装置相反作用的SMA致动构件（11）控制 12），流体的温度低于形状记忆合金的转变温度。致动构件和弹性装置在相对于阀座的相对侧处连接到阀体（1），并且动力装置（105）被设置成被启动用于使电流循环通过所述致动构件以通过焦耳从低于转变温度的温度到较高的温度。至少一个用于流体的通气孔（18）形成在阀体（1）上，用于将腔室（8）的一部分放置在所述阀座（9）的上游，与外部或收集网络连通，致动构件（11）相对于流体的入口容纳在腔室的所述部分中，由此确保围绕致动构件的连续的流体流以加速冷却过程。提供用于功率装置（105）的闭环控制电路，用于根据由流体压力检测装置（19）产生的压力信号来控制循环电流，并且以这种方式抵消流体产生的阻滞效应在致动构件的加热步骤期间。

6. 发明申请

WO2012164517A1 ROBOTIC PLATFORM FOR MINI-INVASIVE SURGERY 审中-公开
标题翻译：微型手术机器人平台
公开(公告)号：WO2012164517A1
公开(公告)日：2012-12-06
申请号：PCT/IB2012/052739
申请日：2012-05-31
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , VALDASTRI, Pietro , DI NATALI, Christian , SIMI, Massimiliano , RANZANI, Tommaso , MENCIASSI, Arianna , DARIO, Paolo
发明人： VALDASTRI, Pietro , DI NATALI, Christian , SIMI, Massimiliano , RANZANI, Tommaso , MENCIASSI, Arianna , DARIO, Paolo
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B34/71 , A61B90/30 , A61B2017/00464 , A61B2017/00477 , A61B2017/00876 , A61B2034/302 , A61B2034/731 , G05B15/02
摘要： Robotic platform for mini-invasive surgery comprising robotic arms (4a, 4b) suitable to be placed in the body of a patient, introduced through a single access port, which are an extension of external robotic manipulators (19). The continuity between external (1) and internal (4a, 4b) robotic arms is guaranteed by means of a trans- abdominal magnetic connection (6) between the internal robotic arm integral with the external one. The trans-abdominal magnetic coupling not only guarantees a stable anchoring, but most of all it transfers degrees of freedom to the internal robotic arms, inducing the motion of internal magnets by means of the automatized motion of external magnets. It is also possible to reposition the internal robotic arms without requiring having to additionally perform incisions on the abdomen. Using the external robotic arms allows translating the internal ones on the entire abdomen thus providing a working space not bound to the point of insertion and theoretically unlimited.
摘要翻译：用于微创手术的机器人平台包括适于放置在患者体内的机器人臂（4a，4b），通过作为外部机器人操纵器（19）的延伸部的单个进入口引入。外部（1）和内部（4a，4b）机械手臂之间的连续性通过与外部机械臂整合的内部机械手臂之间的腹部磁性连接（6）来保证。跨腹磁耦合不仅可以保证稳定的锚固，而且最重要的是将内部机械臂的自由度转移，通过外部磁体的自动化运动来引起内部磁体的运动。也可以重新定位内部机器人手臂，而无需另外在腹部进行切口。使用外部机器人手臂允许翻译整个腹部的内部机器人手臂，从而提供不限于插入点的理论上无限制的工作空间。

7. 发明申请

WO2012035064A1 BIO-INSPIRED CONTINUOUS ROBOTIC LIMB 审中-公开
标题翻译：生物激励的连续机器人
公开(公告)号：WO2012035064A1
公开(公告)日：2012-03-22
申请号：PCT/EP2011/065939
申请日：2011-09-14
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , CIANCHETTI, Matteo , FOLLADOR, Maurizio , ARIENTI, Andrea , LASCHI, Cecilia , MAZZOLAI, Barbara , DARIO, Paolo
发明人： CIANCHETTI, Matteo , FOLLADOR, Maurizio , ARIENTI, Andrea , LASCHI, Cecilia , MAZZOLAI, Barbara , DARIO, Paolo
IPC分类号： B25J9/10 , B25J18/06
CPC分类号： B25J9/1085 , B25J18/06 , Y10T74/20305
摘要： A robotic limb comprising a closed tubular casing (2) made of viscoelastic material defining a chamber (4) containing an incompressible fluid (F), said casing (2) incorporating a sheath (3) formed by substantially inextensible intertwined wires, in the chamber (4) there being provided groups of transverse actuators (5) axially spaced from each other, connected to said sheath (3) and adapted to reversibly contract the casing (2) at least partly in the radial direction, longitudinal actuating means (6) adapted to reversibly contract the casing (2) at least partly in the axial direction being connected to each group of the transverse actuators (5).
摘要翻译：一种机器人肢体，其包括由限定包含不可压缩流体（F）的腔室（4）的由粘弹性材料制成的封闭管状壳体（2），所述壳体（2）包括由所述腔室中的基本上不可延伸的缠结线形成的护套（3）（4）设置有彼此轴向间隔开的一组横向致动器（5），其连接到所述护套（3）并且适于至少部分沿径向可逆地收缩壳体（2），纵向致动装置（6）适于至少部分地沿轴向方向可逆地收缩所述壳体（2），所述壳体（2）连接到每组所述横向致动器（5）。

8. 发明申请

WO2010046823A1 ENDOLUMINAL ROBOTIC SYSTEM 审中-公开
标题翻译：内镜机器人系统
公开(公告)号：WO2010046823A1
公开(公告)日：2010-04-29
申请号：PCT/IB2009/054561
申请日：2009-10-16
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , DARIO, Paolo , CUSCHIERI, Alfred , MENCIASSI, Arianna , VALDASTRI, Pietro , HARADA, Kanako
发明人： DARIO, Paolo , CUSCHIERI, Alfred , MENCIASSI, Arianna , VALDASTRI, Pietro , HARADA, Kanako
IPC分类号： A61B1/05 , A61B1/273 , A61B5/07 , A61B17/00 , A61B17/04 , A61B19/00 , B25J7/00
CPC分类号： A61B34/30 , A61B34/72 , A61B2017/306 , A61B2034/303 , A61B2034/304
摘要： A micro-robotic platform and a method for deploying the platform in a body cavity for performing endoluminal surgical interventions in a fully bimanual fashion. The platform comprises a first (1) and a second (2) surgical robot each provided with a surgical tool (5, 6) and being configured to be attached to the body cavity wall. The first and the second surgical robot each comprises a first (11 ) and a second (12) snake-like robotic unit, the first snake-like robotic unit (11 ) comprising a first central unit (13) and first articulated attachment means (7a, b; 8a, b; 9) extending from said first central unit (13) for attaching the first central unit to the body cavity wall. The second snake-like robotic unit (12) comprises a second central unit (14), second articulated attachment means (7c; 8c; 9) for attaching the second central unit to the body cavity wall and an articulated arm (3, 4) bearing the surgical tool (5, 6), the second articulated attachment means and the articulated arm extending from the second central unit. Releasable connection means (15) are provided on the first and second central units (13, 14) to connect the first central unit to the second central unit releasably to form each of the first and second surgical robot within the body cavity deployed in such a way to allow a surgical procedure to be performed in a true bimanual way.
摘要翻译：一种微机器人平台和一种在体腔内部署平台的方法，用于以完全双目的方式进行腔内外科手术。平台包括第一（1）和第二（2）外科手术机器人，每个手术机器人设有外科手术工具（5,6）并被配置为附接到体腔壁。第一和第二外科手术机器人每个包括第一（11）和第二（12）蛇形机器人单元，第一蛇状机器人单元（11）包括第一中心单元（13）和第一铰接附接装置 7a，b; 8a，b; 9），其从所述第一中心单元（13）延伸，用于将所述第一中心单元附接到所述体腔壁。第二蛇形机器人单元（12）包括第二中心单元（14），用于将第二中心单元附接到体腔壁的第二铰接附接装置（7c; 8c; 9）和铰接臂（3,4）承载所述手术工具（5,6），所述第二铰接附接装置和所述铰接臂从所述第二中心单元延伸。可释放的连接装置（15）设置在第一和第二中心单元（13,14）上，以将第一中心单元与第二中央单元可释放地连接，以在体腔内的每个第一外科手术机器人和第二外科手术机构中部署方式允许外科手术以真正的双手方式进行。

9. 发明申请

WO2010035244A3 ELECTROMAGNETIC STEP-BY-STEP WOBBLING MICROMOTOR 审中-公开
公开(公告)号：WO2010035244A3
公开(公告)日：2010-04-01
申请号：PCT/IB2009/054239
申请日：2009-09-28
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , STEFANINI, Cesare , DARIO, Paolo , CARROZZA, Maria, Chiara , DE CRISTOFARO, Sarah
发明人： STEFANINI, Cesare , DARIO, Paolo , CARROZZA, Maria, Chiara , DE CRISTOFARO, Sarah
IPC分类号： H02K33/12 , H02K37/06
摘要： An electromagnetic step-by-step wobbling micromotor comprises an inner component and an annular component being external to the inner one. The outer component may be a stator and the inner component a rotor, or vice versa. The inner component has three or more poles with a winding on each pole, and an external surface facing an internal surface of the outer component. During the operation of the micromotor each winding is powered. The external and internal surfaces have toothed surfaces. Each tooth has a peak radius which is different from the valley radius.

10. 发明申请

WO2005018453A1 A WEARABLE MECHATRONIC DEVICE FOR THE ANALYSIS OF JOINT BIOMECHANICS 审中-公开
标题翻译：一种用于联合生物系统分析的可接受的机械装置
公开(公告)号：WO2005018453A1
公开(公告)日：2005-03-03
申请号：PCT/IT2003/000517
申请日：2003-08-26
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , SCOGLIO, Andrea , ZACCONE, Franco , MICERA, Silvestro , DARIO, Paolo
发明人： SCOGLIO, Andrea , ZACCONE, Franco , MICERA, Silvestro , DARIO, Paolo
IPC分类号： A61B5/103
CPC分类号： A61B5/4528 , A61B5/1071 , A61B5/1121 , A61B5/6828
摘要： A wearable mechatronic device for monitoring the movements of a body joint comprising a support (1) that can be applied to the limb comprising the joint, magnetic sensor means (10a, 10b) arranged in correspondence with at least one axis of rotation (X, Y) of the joint and capable of generating an electric signal of an intensity correlated with the magnitude of the angular movement around said axis, means (17a,b-22a,b; 24; 29) for positioning said magnetic sensor means in correspondence with said at least one axis or rotation, fixable to said support (1) on the joint and both above and below it.
摘要翻译：一种用于监测身体关节的运动的可佩戴的机电装置，包括可施加到包括关节的肢体的支撑件（1），与至少一个旋转轴线（X，X）对应布置的磁性传感器装置（10a，10b） Y），并且能够产生与所述轴线周围的角运动的大小相关的强度的电信号，用于将所述磁传感器装置对应于所述装置（17a，b-22a，b; 24; 29）所述至少一个轴线或旋转件可固定到所述接头上的所述支撑件（1）上并且在其上方和下方。

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