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1. 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。

2. 发明申请

WO1998018390A1 SURGICAL DRILL WITH BIT PENETRATION CONTROL AND BREAKTHROUGH DETECTION 审中-公开
标题翻译：手术钻头，具有位置渗透控制和突破性检测
公开(公告)号：WO1998018390A1
公开(公告)日：1998-05-07
申请号：PCT/EP1997006020
申请日：1997-10-31
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S. ANNA , ALLOTTA, Benedetto
发明人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S. ANNA
IPC分类号： A61B17/16
CPC分类号： A61B17/1622 , A61B2090/033 , B23Q5/32 , B25F5/003
摘要： A surgical drill (1), comprising a rotating head (2) having a drill bit (3) suitable to bore a body (4) and support means (7) to which the head (2) is pivotally connected. An actuating unit (10) of the movement of the drill bit (3) with respect to the body to bore (4) is provided for, comprising a first support (11) comprising the head (2) and a second support (12), suitable for resting directly upon the body (4) and translating with respect to the first support (11) parallel to the drill bit (3). The movement between drill bit (3) and body (4) is caused by the relative movement between drill bit (3) and second support (12). Means (21) for the detection of the force acting on the drill bit and means for the control of the drill bit displacement in function of the drilling force are provided for. The drill, manually holdable, presents both a reference with respect to the patient body and allows a precise control of the drill bit displacement.
摘要翻译：一种外科钻头（1），包括具有适于钻孔体（4）的钻头（3）的转动头部（2）和所述头部（2）枢轴连接的支承装置。提供了钻头（3）相对于主体到孔（4）的运动的致动单元（10），其包括包括头部（2）的第一支撑件（11）和第二支撑件（12）适于直接搁置在主体（4）上并且相对于平行于钻头（3）的第一支撑件（11）平移。钻头（3）和主体（4）之间的运动是由钻头（3）和第二支撑（12）之间的相对运动引起的。提供了用于检测作用在钻头上的力的装置（21）和用于控制钻头位移的装置。手动保持的钻具既提供了相对于患者身体的参考，并且允许钻头位移的精确控制。

3. 发明申请

WO1995010396A1 A DEVICE OPERABLE TO SUPPLY A FORCE FEEDBACK TO A PHYSIOLOGICAL UNIT TO BE USED IN PARTICULAR AS AN ADVANCED INTERFACE FOR MACHINES AND COMPUTERS 审中-公开
标题翻译：一个可以向机械设备提供力量反馈的设备，特别是机器和计算机的高级接口
公开(公告)号：WO1995010396A1
公开(公告)日：1995-04-20
申请号：PCT/EP1994003311
申请日：1994-10-06
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S. ANNA , BERGAMASCO, Massimo , SCATTAREGGIA MARCHESE, Sandro , SALSEDO, Fabio , FERRETTI, Luca
发明人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S. ANNA
IPC分类号： B25J13/02
CPC分类号： B25J9/0006 , A61H1/0288 , A61H2201/165 , B25J13/02
摘要： A device operable to supply a force feedback to a physiological unit, to be used as an advanced interface for machines and computers, including an exoskeleton which includes kinematic elements (7, 25, 34, 42, 56, 57) articulated about articulation axes arranged coincident with or in close proximity to the physiological axes of the physiological unit such as, for example, the flexion-extension axes of the phalanges of the fingers of a hand of an operator. A series of electrical actuators (11) controls the degree of tension on traction cables (13) applying a force feedback to the kinematic elements and, consequently, to the physiological unit, so as to simulate an interaction between the operator and a virtual object. The device includes position sensor means for detecting the configuration of the physiological unit and force sensor means for measuring the strength of the force locally applied thereto by the actuators controlled by a processing system.
摘要翻译：一种可操作以将力反馈提供给生理单元的装置，用作机器和计算机的高级接口，包括外骨骼，其包括关于已经布置的关节运动轴线铰接的运动元件（7,25,34,42,56,57）与生理单元的生理轴线重合或非常接近，例如操作者的手的手指的趾骨的屈伸伸展轴。一系列电动执行器（11）控制牵引电缆（13）上的张力对运动元件施加力反馈，从而控制到生理单元，以便模拟操作者与虚拟物体之间的相互作用。该装置包括用于检测生理单元的构造的位置传感器装置和用于测量由处理系统控制的致动器局部施加到其上的力的强度的力传感器装置。

4. 发明授权

EP1883332B1 SELF -FEEDING APPARATUS 有权
标题翻译：自送料装置
公开(公告)号：EP1883332B1
公开(公告)日：2011-03-30
申请号：EP06766302.1
申请日：2006-05-26
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S. ANNA
发明人： GUGLIELMELLI, Eugenio , DI LAURO, Giuseppina, Anna , CHIARUGI, Federico , GIACHETTI, Giacomo , PERRELLA, Yves , PISETTA, Andrea , SCOGLIO, Andrea
IPC分类号： A47G21/08
CPC分类号： A47G21/08
摘要： An apparatus for the self-feeding of disabled or elderly people comprising: a support base (1; 101a; 101b) ; holding means (9) for an open food container, pivotally connected to the base; means (7) for scooping food from said container; means for moving the scooping means from a food scooping position from the container and a food dispensing position at an height from the base corresponding to the user's mouth, comprising a first arm (3) slantingly extending from the base and a second arm (5) , arranged in a substantially horizontal position and slidably mounted on the first arm (3) , the food scooping means (7) being slidably mounted on the second arm (5) . Motor means (18, 24) are further provided for sliding the second arm (5) along the first arm (3) and the food scooping means (7) along the second arm (5) and for rotating the food container holding means (9) . At least a tank (105) for liquid o semi liquid food and for beverages is placed on the base (1) and means for conveying the food (10, 104) from the tank to the user's mouth are provided; The apparatus also comprises programming and control means of the functions thereof including a mouth operable control (11) placed at the outlet end of the conveying means (10, 104).

5. 发明公开

EP0838200A3 Endoscopic robot 失效
标题翻译：内窥镜机器人
公开(公告)号：EP0838200A3
公开(公告)日：1999-10-20
申请号：EP97830529.0
申请日：1997-10-21
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S. ANNA
发明人： Dario, Paolo , Carrozza, Maria Chiara , Pietrabissa, Andrea , Magnani, Bernardo , Lencioni, Lucia
IPC分类号： A61B19/00
CPC分类号： A61B1/00151 , A61B1/12 , A61B17/00234 , A61B34/30 , A61B2017/00345 , A61B2034/303 , A61M25/0116 , A61M25/04
摘要： An endoscopic robot (1), designed for being inserted into a body cavity (C) of a patient and advanced therein in a prefixed direction (A) with a so-called inchworm-like motion, comprising a variable length segment (2) and aspiration means (12, 13) for selectively producing a pneumatic vacuum (V) between the robot (1) and the body cavity (C) at the robot ends (3, 4) sufficient to produce a substantial anchorage to the body cavity walls, thereby allowing the inchworm-like motion and avoiding, at the same time, any pushing action against the body cavity walls which causes discomfort and pain to the patient.

6. 发明公开

EP1629949A2 Haptic interface device 有权
标题翻译： Haptische Schnittstellenvorrichtung
公开(公告)号：EP1629949A2
公开(公告)日：2006-03-01
申请号：EP04020621.1
申请日：2004-08-31
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S. ANNA
发明人： Frisoli, Antonio , Salsedo, Fabio , Bergamasco, Massimo , Simoncini, Francesco
IPC分类号： B25J13/02 , G06F3/00
CPC分类号： G06F3/014 , B25J13/025 , G06F3/011 , G06F3/016
摘要： Human-computer interface device of haptic kinesthetic type, capable of engaging directly with a human that manoeuvres it exchanging forces generically oriented in space in at least two points of contact with the user. An exemplary embodiment comprises a couple of kinematical open chains (1 and 2), symmetrically connected to a support (10) that can be fixed to a forearm (4) of an operator. The two kinematical chains (1 and 2) are articulated respectively in the axes (5, 6, 7 and 5', 6', 7') and end with a respective interaction element (3 and 3'). The kinematical chain (1) has three links (20, 30 and 40), and is characterized by three actuated degrees of freedom, distributed onto the three links, and three passive degrees of freedom concentrated in the interaction element (3) with one of the distal phalanxes of the hand of the user arranged at the free end of the kinematical chain. The first link (20) is pivotally connected to a base (21) integral to the support (10) and can rotate about an axis (5) perpendicular to the plane of the support (10). The second link (30), is obtained from a tubular stem having a first end pivotally connected to the first link (20) by a rotational joint about an axis (6) and a second end pivotally connected to the third link (40) by a rotational joint about another axis (7) perpendicular to that of the first end. Each of the two kinematical chains (1 and 2) of the haptic interface comprises an unit of three rotational motors (130, 131, 132) arranged at each of the two ends of the support (10). The forces generated by said rotational motors are, moreover, transmitted to the joints of the kinematical chain by a system of: tendons, "capstan" with circular sectors and idle pulleys.
摘要翻译：触觉运动型人体计算机界面装置，能够直接与人交配，以与使用者至少两个接触点在空间中一般地定向交换力。示例性实施例包括对称地连接到可以固定到操作者的前臂（4）的支撑件（10）的一对运动学开放链（1和2）。两个运动链（1和2）分别在轴（5,6,7和5'，6'，7'）中铰接并且以相应的相互作用元件（3和3'）结束。运动链（1）具有三个连杆（20,30和40），其特征在于三个致动的自由度分布在三个链节上，三个被动自由度集中在相互作用元件（3）中，其中一个用户的手的远端指骨布置在运动链的自由端。第一连杆（20）枢转地连接到与支撑件（10）成一体的基座（21），并且可以围绕垂直于支撑件（10）的平面的轴线（5）旋转。所述第二连杆（30）由管状杆获得，所述管状杆具有通过围绕轴线（6）的旋转接头枢转地连接到所述第一连杆（20）的第一端和通过所述第二连杆（30）枢转地连接到所述第三连杆（40）的第二端围绕与第一端垂直的另一轴线（7）的旋转接头。触觉界面的两个运动链（1和2）中的每一个包括布置在支撑件（10）的两个端部中的每一个处的三个旋转马达（130,131,132）的单元。此外，所述旋转马达产生的力通过以下系统传递到运动链的接头：腱，具有圆形部分和空转滑轮的“主导轴”。

7. 发明公开

EP0838200A2 Endoscopic robot 失效
标题翻译： Endoskopischer Roboter
公开(公告)号：EP0838200A2
公开(公告)日：1998-04-29
申请号：EP97830529.0
申请日：1997-10-21
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S. ANNA
发明人： Dario, Paolo , Carrozza, Maria Chiara , Pietrabissa, Andrea , Magnani, Bernardo , Lencioni, Lucia
IPC分类号： A61B19/00
CPC分类号： A61B1/00151 , A61B1/12 , A61B17/00234 , A61B34/30 , A61B2017/00345 , A61B2034/303 , A61M25/0116 , A61M25/04
摘要： An endoscopic robot (1), designed for being inserted into a body cavity (C) of a patient and advanced therein in a prefixed direction (A) with a so-called inchworm-like motion, comprising a variable length segment (2) and aspiration means (12, 13) for selectively producing a pneumatic vacuum (V) between the robot (1) and the body cavity (C) at the robot ends (3, 4) sufficient to produce a substantial anchorage to the body cavity walls, thereby allowing the inchworm-like motion and avoiding, at the same time, any pushing action against the body cavity walls which causes discomfort and pain to the patient.
摘要翻译：一种内窥镜机器人（1），其被设计成插入到患者的体腔（C）中并且以预定方向（A）以所谓的蚯蚓状运动推进，包括可变长度段（2）和用于在机器人端（3,4）处选择性地在机器人（1）和体腔（C）之间产生气动真空（V）的抽吸装置（12,13），其足以产生对体腔壁的实质锚固，从而允许类似蚯蚓的运动，并且同时避免对身体腔壁施加任何推动作用，这引起对患者的不适和疼痛。

8. 发明授权

EP0670059B1 A DEVICE FOR MONITORING THE CONFIGURATION OF A DISTAL PHYSIOLOGICAL UNIT FOR USE, IN PARTICULAR, AS AN ADVANCED INTERFACE FOR MACHINES AND COMPUTERS 失效
标题翻译：用于监控远端生理学分使用先进的接口，用于机及电脑
公开(公告)号：EP0670059B1
公开(公告)日：1997-06-04
申请号：EP94901822.0
申请日：1993-11-19
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S. ANNA
发明人： BERGAMASCO, Massimo , SCATTAREGGIA MARCHESE, Sandro , SALSEDO, Fabio , PARRINI, Gianluca
IPC分类号： G06F3/00 , B25J9/00
CPC分类号： G06F3/014 , A61B5/1125 , A61B5/4528 , B25J9/0006 , G10H1/00 , G10H2220/371
摘要： A device for monitoring the configuration of a distal physiological unit comprises first position sensor means for detecting quantities relating to the relative positions of the phalanges of a digit (E) of an extremity (M) of a limb and to the adduction-abduction of the digit (E). The device also comprises second position sensor means for detecting quantities relating to the pronation-supination position of a distal portion (D) of the limb, to the flexion-extension position of the wrist (P) and to the adduction-abduction position of the wrist (P). The device comprises a glove structure (2) bearing the fist sensor means and an exoskeleton structure (E) bearing the second sensor means.

9. 发明授权

EP1629949B1 Haptic interface device 有权
标题翻译：触觉界面装置
公开(公告)号：EP1629949B1
公开(公告)日：2010-10-20
申请号：EP04020621.1
申请日：2004-08-31
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S. ANNA
发明人： Frisoli, Antonio , Salsedo, Fabio , Bergamasco, Massimo , Simoncini, Francesco
IPC分类号： B25J13/02 , G06F3/00
CPC分类号： G06F3/014 , B25J13/025 , G06F3/011 , G06F3/016

10. 发明公开

EP1883332A2 SELF -FEEDING APPARATUS 有权
标题翻译：自送料装置
公开(公告)号：EP1883332A2
公开(公告)日：2008-02-06
申请号：EP06766302.1
申请日：2006-05-26
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S. ANNA
发明人： GUGLIELMELLI, Eugenio , DI LAURO, Giuseppina, Anna , CHIARUGI, Federico , GIACHETTI, Giacomo , PERRELLA, Yves , PISETTA, Andrea , SCOGLIO, Andrea
IPC分类号： A47G21/08
CPC分类号： A47G21/08
摘要： An apparatus for the self-feeding of disabled or elderly people comprising: a support base (1; 101a; 101b) ; holding means (9) for an open food container, pivotally connected to the base; means (7) for scooping food from said container; means for moving the scooping means from a food scooping position from the container and a food dispensing position at an height from the base corresponding to the user's mouth, comprising a first arm (3) slantingly extending from the base and a second arm (5) , arranged in a substantially horizontal position and slidably mounted on the first arm (3) , the food scooping means (7) being slidably mounted on the second arm (5) . Motor means (18, 24) are further provided for sliding the second arm (5) along the first arm (3) and the food scooping means (7) along the second arm (5) and for rotating the food container holding means (9) . At least a tank (105) for liquid o semi liquid food and for beverages is placed on the base (1) and means for conveying the food (10, 104) from the tank to the user's mouth are provided; The apparatus also comprises programming and control means of the functions thereof including a mouth operable control (11) placed at the outlet end of the conveying means (10, 104).

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