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1. 发明申请

US20130231561A1 DEVICE FOR ASSISTING WITH THE HANDLING OF AN INSTRUMENT OR TOOL 审中-公开
标题翻译：用于对仪器或工具的处理进行辅助的设备
公开(公告)号：US20130231561A1
公开(公告)日：2013-09-05
申请号：US13410727
申请日：2012-03-02
申请人： Anja Marx , Guillaume Morel , Marie-Aude Vitrani , Serge Louis Wilfrid Muller , Rãzvan Gabriel Iordache
发明人： Anja Marx , Guillaume Morel , Marie-Aude Vitrani , Serge Louis Wilfrid Muller , Rãzvan Gabriel Iordache
IPC分类号： A61B8/00 , G05B13/02
CPC分类号： A61B8/4209 , A61B8/4218 , B25J9/1679 , G05B13/02 , G05B2219/36432
摘要： A device for assisting with the handling of an instrument or tool, the device comprising a jointed mechanical structure on a support, wherein an instrument or tool may be attached, motor drives configured to actuate the jointed mechanical structure, according to a number of degrees of freedom of less than that which the structure provides to the instrument or tool, and an automatic control, wherein the automatic control drives the motor drives in order to facilitate the meeting of a constraint on position and/or velocity parameters of the instrument or tool, which constraint the motor drives by themselves, independently of handling by an operator, cannot entirely meet.
摘要翻译：一种用于协助处理仪器或工具的装置，所述装置包括在支撑件上的接合的机械结构，其中可以附接仪器或工具，电动机驱动器被配置为致动接合的机械结构，根据多个度数自由度小于结构提供给仪器或工具的自由度，以及自动控制，其中自动控制驱动电机驱动器，以便于满足对仪器或工具的位置和/或速度参数的约束，独立于操作人员处理的电动机自身的限制不能完全满足。

2. 发明授权

US09795361B2 Device for assisting with the handling of an instrument or tool 有权
公开(公告)号：US09795361B2
公开(公告)日：2017-10-24
申请号：US13410727
申请日：2012-03-02
申请人： Anja Marx , Guillaume Morel , Marie-Aude Vitrani , Serge Louis Wilfrid Muller , R{hacek over (a)}zvan Gabriel Iordache
发明人： Anja Marx , Guillaume Morel , Marie-Aude Vitrani , Serge Louis Wilfrid Muller , R{hacek over (a)}zvan Gabriel Iordache
IPC分类号： A61B8/00 , G05B13/02
CPC分类号： A61B8/4209 , A61B8/4218 , B25J9/1679 , G05B13/02 , G05B2219/36432
摘要： A device for assisting with the handling of an instrument or tool, the device comprising a jointed mechanical structure on a support, wherein an instrument or tool may be attached, motor drives configured to actuate the jointed mechanical structure, according to a number of degrees of freedom of less than that which the structure provides to the instrument or tool, and an automatic control, wherein the automatic control drives the motor drives in order to facilitate the meeting of a constraint on position and/or velocity parameters of the instrument or tool, which constraint the motor drives by themselves, independently of handling by an operator, cannot entirely meet.

3. 发明授权

US09895197B2 Device for guiding a medical instrument inserted into a natural duct or an artificial duct of a patient 有权
公开(公告)号：US09895197B2
公开(公告)日：2018-02-20
申请号：US14348323
申请日：2012-09-28
申请人： Cecile Poquet , Pierre Mozer , Michael Baumann , Marie-Aude Vitrani , Guillaume Morel , Antoine Leroy , Patrick Henri
发明人： Cecile Poquet , Pierre Mozer , Michael Baumann , Marie-Aude Vitrani , Guillaume Morel , Antoine Leroy , Patrick Henri
IPC分类号： A61B34/00 , A61B19/00 , A61B90/50 , A61B10/02 , A61B17/00 , A61B18/00 , A61B90/00 , A61B34/20
CPC分类号： A61B34/74 , A61B10/0241 , A61B90/50 , A61B2017/00199 , A61B2017/00203 , A61B2017/00274 , A61B2017/00398 , A61B2017/00694 , A61B2018/00547 , A61B2034/2065 , A61B2090/065 , A61B2090/08021 , A61B2090/0808 , A61B2090/508
摘要： A device for guiding a medical instrument (2) inserted into a natural duct (101) or an artificial duct of a patient in order to bring at least a distal end (1) of the instrument in proximity to an internal organ (100). The device includes an articulated arm (3) with a plurality of degrees of freedom, for moving a proximal end (4) of the instrument, and a controlled blocking mechanism (7) for blocking the degrees of freedom of the articulated arm. The blocking mechanism is designed in such a way that, for at least one of the degrees of freedom, a blockage imposed on the degree of freedom can be released when an outer stress exerted on the instrument (2) exceeds a predetermined threshold.

4. 发明申请

US20140296876A1 DEVICE FOR GUIDING A MEDICAL INSTRUMENT INSERTED INTO A NATURAL DUCT OR AN ARTIFICAL DUCT OF A PATIENT 有权
标题翻译：用于引导插入自然导管或患者的人工管道的医用仪器的装置
公开(公告)号：US20140296876A1
公开(公告)日：2014-10-02
申请号：US14348323
申请日：2012-09-28
申请人： Cécile Poquet , Pierre Mozer , Michael Baumann , Marie-Aude Vitrani , Guillaume Morel , Antoine Leroy , Patrick Henri
发明人： Cécile Poquet , Pierre Mozer , Michael Baumann , Marie-Aude Vitrani , Guillaume Morel , Antoine Leroy , Patrick Henri
IPC分类号： A61B19/00
CPC分类号： A61B34/74 , A61B10/0241 , A61B90/50 , A61B2017/00199 , A61B2017/00203 , A61B2017/00274 , A61B2017/00398 , A61B2017/00694 , A61B2018/00547 , A61B2034/2065 , A61B2090/065 , A61B2090/08021 , A61B2090/0808 , A61B2090/508
摘要： The invention relates to a device for guiding a medical instrument (2) inserted into a natural duel (101) or an artificial duct of a patient in order to bring at least a distal end (1) of the instrument in proximity to an internal organ (100), the device comprising an articulated arm (3) with a plurality of degrees of freedom, for moving a proximal end (4) of the instrument, and controlled blocking means (7) for blocking the degrees of freedom of the articulated arm. According to the invention, the blocking means are designed in such a way that, for at Mast one of the degrees of freedom, a blockage imposed on said degree of freedom can be enforced when an outer stress exerted on the instrument (2) exceeds a predetermined threshold.
摘要翻译：本发明涉及一种用于引导插入自然决斗（101）或患者人造管道的医疗器械（2）的装置，以便将器械的至少远端（1）带到内部器官附近（100），所述装置包括具有多个自由度的铰接臂（3），用于移动所述器械的近端（4），以及用于阻挡所述关节臂的自由度的受控阻挡装置（7）。根据本发明，阻挡装置被设计成使得当对于自由度中的一个时，施加在所述仪器（2）上的外部应力超过所述自由度时，可以强制施加在所述自由度上的阻塞预定阈值。

5. 发明申请

US20150057499A1 MINIATURIZED SCANNING SYSTEM 有权
标题翻译：微型扫描系统
公开(公告)号：US20150057499A1
公开(公告)日：2015-02-26
申请号：US14394241
申请日：2013-04-08
申请人： Mustafa Suphi Erden , Benoit Rosa , Jérôme Szewczyk , Guillaume Morel , Clément Vidal , Patrick Henri , Nicolas Boularot
发明人： Mustafa Suphi Erden , Benoit Rosa , Jérôme Szewczyk , Guillaume Morel , Clément Vidal , Patrick Henri , Nicolas Boularot
IPC分类号： A61B1/005 , A61B1/00
CPC分类号： A61B1/0057 , A61B1/00133 , A61B1/00165 , A61B1/00172 , A61B5/0062 , A61B5/0068 , A61B5/0084 , G02B6/0008 , G02B6/04 , G02B2006/0098
摘要： A miniaturized scanning system to generate movement of a flexible device positioned at a distal part of a medical tool. The miniaturized scanning system includes an inner shaft with a longitudinal axis, adapted to guide said flexible device along the longitudinal axis, an abutment comprising an external surface and adapted to maintain said device, and a pusher mechanism adapted to engage with said abutment. The miniaturized scanning system includes at least one end portion adapted to contact said external surface of the abutment at a contact point, wherein said end portion is configured to translate along said longitudinal axis of the inner shaft and wherein the translation of said end portion results in a bending of the device in a bending plane defined by the longitudinal axis of the inner shaft and said contact point.
摘要翻译：一种微型扫描系统，用于产生位于医疗工具的远端部分的柔性装置的运动。小型化扫描系统包括具有纵向轴线的内轴，其适于沿着纵向轴线引导所述柔性装置，包括外表面并适于维持所述装置的支座以及适于与所述支座接合的推动器机构。小型化扫描系统包括适于在接触点处接触邻接件的所述外表面的至少一个端部部分，其中所述端部部分构造成沿着所述内轴的所述纵向轴线平移，并且其中所述端部部分的平移导致该装置在由内轴和所述接触点的纵向轴线限定的弯曲平面中的弯曲。

6. 发明申请

US20120083770A1 SURGICAL INSTRUMENT 有权
标题翻译：手术器械
公开(公告)号：US20120083770A1
公开(公告)日：2012-04-05
申请号：US13260910
申请日：2010-04-02
申请人： Jamie Paik , Guillaume Morel , Clément Vidal , Patrick Henri
发明人： Jamie Paik , Guillaume Morel , Clément Vidal , Patrick Henri
IPC分类号： A61B17/00
CPC分类号： A61B17/29 , A61B2017/003 , A61B2017/00309 , A61B2017/00323 , A61B2017/0069 , A61B2017/2905 , A61B2017/2908 , A61B2017/2927 , A61B2017/2929 , A61B2017/2947
摘要： The invention relates to a surgical instrument (100; 200) comprising: an elongated arm (111; 207) according to a longitudinal axis and having a distal end (105; 204) mounted with a pivot joint on the elongated arm according to an axis substantially orthogonal to the longitudinal axis; a drive shaft (103; 3), substantially coaxial with the elongated arm, comprising means forming a universal joint (104; 206) facing the pivot joint; and, distal tool (9) securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degrees of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool, characterised in that the means forming a universal joint comprise a flexible drive sleeve (104; 206).
摘要翻译：本发明涉及一种外科器械（100; 200），包括：根据纵向轴线的细长臂（111; 207），并具有远端（105; 204），所述远端根据轴线在所述细长臂上安装有枢转接头基本上垂直于纵向轴线; 与所述细长臂基本同轴的驱动轴（103; 3）包括形成面向所述枢转接头的万向接头（104; 206）的装置; 并且远端工具（9）牢固地紧固在驱动轴上并可旋转地安装在细长臂的远端的延伸部分中并且在其延伸部分中，使得远端工具具有彼此独立且彼此独立的两个旋转自由度，一个围绕基本上垂直于所述细长臂的纵向轴线的轴线，另一个围绕与所述远端工具的自身轴线基本共线的轴线，其特征在于，形成万向接头的装置包括柔性驱动套筒（104; 206））。

7. 发明授权

US08845622B2 Surgical instrument 有权
标题翻译：手术器械
公开(公告)号：US08845622B2
公开(公告)日：2014-09-30
申请号：US13260910
申请日：2010-04-02
申请人： Jamie Paik , Guillaume Morel , Clément Vidal , Patrick Henri
发明人： Jamie Paik , Guillaume Morel , Clément Vidal , Patrick Henri
IPC分类号： A61B17/00 , A61B19/00 , A61B1/00 , A61B17/29
CPC分类号： A61B17/29 , A61B2017/003 , A61B2017/00309 , A61B2017/00323 , A61B2017/0069 , A61B2017/2905 , A61B2017/2908 , A61B2017/2927 , A61B2017/2929 , A61B2017/2947
摘要： The invention relates to a surgical instrument (100; 200) comprising: an elongated arm (111; 207) according to a longitudinal axis and having a distal end (105; 204) mounted with a pivot joint on the elongated arm according to an axis substantially orthogonal to the longitudinal axis; a drive shaft (103; 3), substantially coaxial with the elongated arm, comprising means forming a universal joint (104; 206) facing the pivot joint; and, distal tool (9) securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degrees of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool, characterized in that the means forming a universal joint comprise a flexible drive sleeve (104; 206).
摘要翻译：本发明涉及一种外科器械（100; 200），包括：根据纵向轴线的细长臂（111; 207），并具有远端（105; 204），所述远端根据轴线在所述细长臂上安装有枢转接头基本上垂直于纵轴; 与所述细长臂基本同轴的驱动轴（103; 3）包括形成面向所述枢转接头的万向接头（104; 206）的装置; 并且远端工具（9）牢固地紧固在驱动轴上并可旋转地安装在细长臂的远端的延伸部分中并且在其延伸部分中，使得远端工具具有彼此独立且彼此独立的两个旋转自由度，一个围绕基本上垂直于所述细长臂的纵向轴线的轴线，另一个围绕与所述远端工具的自身轴线基本共线的轴线，其特征在于，形成万向接头的装置包括柔性驱动套筒（104; 206））。

8. 发明授权

US08961499B2 Surgical instrument 有权
标题翻译：手术器械
公开(公告)号：US08961499B2
公开(公告)日：2015-02-24
申请号：US13260909
申请日：2010-04-02
申请人： Jamie Paik , Guillaume Morel , Clément Vidal , Patrick Henri , Hervé Collet
发明人： Jamie Paik , Guillaume Morel , Clément Vidal , Patrick Henri , Hervé Collet
IPC分类号： A61B17/00 , A61B19/00 , A61B1/00 , A61B17/29
CPC分类号： A61B17/29 , A61B2017/00314 , A61B2017/00323 , A61B2017/0069 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929
摘要： A surgical instrument having an elongated arm and a distal end mounted with a pivot joint on the elongated arm. A drive shaft substantially coaxial with the elongated arm forms a universal joint facing the pivot joint. A distal tool is securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degree of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool. The elongated arm includes a plurality of linking elements mounted in series to form the pivot joint. The universal joint is a Cardan joint.
摘要翻译：一种具有细长臂和远端的外科器械，其在细长臂上安装有枢转接头。与细长臂基本同轴的驱动轴形成面向枢转接头的万向接头。远端工具被牢固地紧固在驱动轴上并可旋转地安装在细长臂的远端的延伸部分中并且在伸长臂的远端的延伸部中，使得远端工具具有彼此独立且独立的两个旋转自由度，基本上垂直于细长臂的纵向轴线，另一个围绕与远端工具的自身轴线基本共线的轴线。细长臂包括多个串联安装以形成枢转接头的连接元件。万向节是万丹联合。

9. 发明申请

US20120022554A1 SURGICAL INSTRUMENT 有权
标题翻译：手术器械
公开(公告)号：US20120022554A1
公开(公告)日：2012-01-26
申请号：US13260909
申请日：2010-04-02
申请人： Jamie Paik , Guillaume Morel , Clément Vidal , Patrick Henri , Hervé Collet
发明人： Jamie Paik , Guillaume Morel , Clément Vidal , Patrick Henri , Hervé Collet
IPC分类号： A61B19/00
CPC分类号： A61B17/29 , A61B2017/00314 , A61B2017/00323 , A61B2017/0069 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929
摘要： The invention relates to a surgical instrument (1) comprising: an elongated arm (11; 307) according to a longitudinal axis and having a distal end (2; 305) mounted with a pivot joint on the elongated arm according to an axis substantially orthogonal to the longitudinal axis; a drive shaft (3) substantially coaxial with the elongated arm comprising means forming a universal joint facing the pivot joint; and, a distal tool (9) securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degree of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool; characterised in that the elongated arm comprises a plurality of linking elements mounted in series to form the pivot joint and in that the means forming a universal joint comprise a Cardan joint.
摘要翻译：本发明涉及一种手术器械（1），包括：根据纵向轴线的细长臂（11; 307），并具有远端（2; 305），所述远端（2; 305）根据轴线基本正交地安装在所述细长臂上的枢转接头到纵轴; 与所述细长臂基本同轴的驱动轴（3）包括形成面向所述枢转接头的万向接头的装置; 以及远程工具（9），其牢固地紧固在所述驱动轴上并且可旋转地安装在所述细长臂的远端的延伸部中并且在所述伸长臂的远端的延伸部中，使得所述远端工具具有彼此独立且独立的两个旋转自由度，一个围绕基本上垂直于细长臂的纵向轴线的轴线，另一个围绕与远端工具的自身轴线基本共线的轴线; 其特征在于，细长臂包括多个串联安装以形成枢转接头的连接元件，并且形成万向接头的装置包括卡丹接头。

10. 发明申请

US20110270270A1 METHOD FOR DETERMINING AN INSERTION TRAJECTORY OF A TOOL IN A DEFORMABLE TISSULAR MATRIX AND ROBOTIC SYSTEM EXECUTING THE METHOD 有权
标题翻译：用于确定可变矩阵矩阵中的工具的插入轨迹的方法和执行该方法的机器人系统
公开(公告)号：US20110270270A1
公开(公告)日：2011-11-03
申请号：US13099418
申请日：2011-05-03
申请人： LAURENCE VANCAMBERG , Anis Sahbani , Serge Muller , Guillaume Morel
发明人： LAURENCE VANCAMBERG , Anis Sahbani , Serge Muller , Guillaume Morel
IPC分类号： A61B19/00 , G06G7/48
CPC分类号： A61B34/10 , A61B10/02 , A61B34/20 , A61B2017/00716 , A61B2034/107
摘要： A method for determining an insertion trajectory of a tool for reaching a moving target object prior to its insertion into a tissular matrix is provided, the method comprising: acquiring images of the tissular matrix; constructing a three-dimensional representation of the tissular matrix; determining coordinates of the initial position of the target object and of the obstacles; determining at least one potential trajectory of the tool from the coordinates of the obstacles of the tissular matrix and of the initial position of the target object; simulating insertion of the tool in the tissular matrix to determine displacement of the target object within the tissular matrix during insertion of the tool up to the initial position of the target object along the potential trajectory; determining a new position of the target object based on the determined displacement; and determining the insertion trajectory for the new position of the target object.
摘要翻译：提供了一种用于确定用于在移动目标对象插入到组织矩阵之前到达移动目标对象的工具的插入轨迹的方法，所述方法包括：获取所述组织矩阵的图像; 构建组织矩阵的三维表示; 确定目标物体和障碍物的初始位置的坐标; 从所述组织矩阵的障碍物的坐标和所述目标对象的初始位置确定所述工具的至少一个潜在轨迹; 模拟所述工具在所述组织矩阵中的插入，以在所述工具插入到所述目标对象沿着所述潜在轨迹的初始位置时确定所述目标对象在所述组织矩阵内的位移; 基于确定的位移来确定目标对象的新位置; 以及确定目标对象的新位置的插入轨迹。

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