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1. 发明授权

US08182476B2 In vivo accessories for minimally invasive robotic surgery 有权
标题翻译：用于微创机器人手术的体内附件
公开(公告)号：US08182476B2
公开(公告)日：2012-05-22
申请号：US12727060
申请日：2010-03-18
申请人： Christopher A. Julian , Daniel T. Wallace , Frederick H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
发明人： Christopher A. Julian , Daniel T. Wallace , Frederick H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
IPC分类号： A61B18/18
CPC分类号： A61B18/18 , A61B1/00149 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/06061 , A61B17/062 , A61B17/064 , A61B17/068 , A61B17/11 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B17/32053 , A61B17/54 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B90/36 , A61B90/361 , A61B2017/00252 , A61B2017/00287 , A61B2017/00362 , A61B2017/00473 , A61B2017/00477 , A61B2017/0243 , A61B2017/1107 , A61B2017/1135 , A61B2017/2825 , A61B2017/2829 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929 , A61B2017/2931 , A61B2017/2937 , A61B2017/294 , A61B2017/2946 , A61B2034/305 , B66C23/48
摘要： Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical clips for use with a clip applier, single working member accessories such as a blade which can be grasped and manipulated by a grasping tool for cutting, sheath accessories that fit over working members of a tool, flow tubes for providing suction or introducing a fluid into the surgical site, and a retraction member resiliently biased to retract a tissue to expose an area in the surgical site for treatment. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.
摘要翻译：手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。体内附件的实例包括紧固附件，例如用于夹子施放器的手术夹子，单个工作构件附件，例如可被抓取工具抓握并操纵的刀片，用于切割，护套附件适合工具的工作构件用于提供抽吸或将流体引入手术部位的流动管，以及弹性偏压以缩回组织以露出外科手术部位中用于治疗的区域的缩回构件。附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。

2. 发明授权

US07722599B2 In vivo accessories for minimally invasive robotic surgery 有权
标题翻译：用于微创机器人手术的体内附件
公开(公告)号：US07722599B2
公开(公告)日：2010-05-25
申请号：US11522852
申请日：2006-09-18
申请人： Christopher A. Julian , Daniel T. Wallace , Frederick H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
发明人： Christopher A. Julian , Daniel T. Wallace , Frederick H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
IPC分类号： A61B17/00
CPC分类号： A61B18/18 , A61B1/00149 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/06061 , A61B17/062 , A61B17/064 , A61B17/068 , A61B17/11 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B17/32053 , A61B17/54 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B90/36 , A61B90/361 , A61B2017/00252 , A61B2017/00287 , A61B2017/00362 , A61B2017/00473 , A61B2017/00477 , A61B2017/0243 , A61B2017/1107 , A61B2017/1135 , A61B2017/2825 , A61B2017/2829 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929 , A61B2017/2931 , A61B2017/2937 , A61B2017/294 , A61B2017/2946 , A61B2034/305 , B66C23/48
摘要： Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical clips for use with a clip applier, single working member accessories such as a blade which can be grasped and manipulated by a grasping tool for cutting, sheath accessories that fit over working members of a tool, flow tubes for providing suction or introducing a fluid into the surgical site, and a retraction member resiliently biased to retract a tissue to expose an area in the surgical site for treatment. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.
摘要翻译：手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。体内附件的实例包括紧固附件，例如用于夹子施放器的手术夹子，单个工作构件附件，例如可被抓取工具抓握并操纵的刀片，用于切割，护套附件适合工具的工作构件用于提供抽吸或将流体引入手术部位的流动管，以及弹性偏压以缩回组织以露出外科手术部位中用于治疗的区域的缩回构件。附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。

3. 发明授权

US08551116B2 In vivo accessories for minimally invasive robotic surgery 有权
标题翻译：用于微创机器人手术的体内附件
公开(公告)号：US08551116B2
公开(公告)日：2013-10-08
申请号：US13454312
申请日：2012-04-24
申请人： Christopher A. Julian , Daniel T. Wallace , Frederick H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
发明人： Christopher A. Julian , Daniel T. Wallace , Frederick H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
IPC分类号： A61B19/00
CPC分类号： A61B18/18 , A61B1/00149 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/06061 , A61B17/062 , A61B17/064 , A61B17/068 , A61B17/11 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B17/32053 , A61B17/54 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B90/36 , A61B90/361 , A61B2017/00252 , A61B2017/00287 , A61B2017/00362 , A61B2017/00473 , A61B2017/00477 , A61B2017/0243 , A61B2017/1107 , A61B2017/1135 , A61B2017/2825 , A61B2017/2829 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929 , A61B2017/2931 , A61B2017/2937 , A61B2017/294 , A61B2017/2946 , A61B2034/305 , B66C23/48
摘要： Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.
摘要翻译：手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。

4. 发明申请

US20120259345A1 IN VIVO ACCESORIES FOR MINIMALLY INVASIVE ROBOTIC SURGERY 有权
公开(公告)号：US20120259345A1
公开(公告)日：2012-10-11
申请号：US13454312
申请日：2012-04-24
申请人： Christopher A. Julian , Daniel T. Wallace , Frederick H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
发明人： Christopher A. Julian , Daniel T. Wallace , Frederick H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
IPC分类号： A61B19/00
CPC分类号： A61B18/18 , A61B1/00149 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/06061 , A61B17/062 , A61B17/064 , A61B17/068 , A61B17/11 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B17/32053 , A61B17/54 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B90/36 , A61B90/361 , A61B2017/00252 , A61B2017/00287 , A61B2017/00362 , A61B2017/00473 , A61B2017/00477 , A61B2017/0243 , A61B2017/1107 , A61B2017/1135 , A61B2017/2825 , A61B2017/2829 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929 , A61B2017/2931 , A61B2017/2937 , A61B2017/294 , A61B2017/2946 , A61B2034/305 , B66C23/48
摘要： Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.
摘要翻译：手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。

5. 发明申请

US20100198215A1 IN VIVO ACCESSORIES FOR MINIMALLY INVASIVE ROBOTIC SURGERY 有权
标题翻译： IN VIVO配件为最小的入侵机器人手术
公开(公告)号：US20100198215A1
公开(公告)日：2010-08-05
申请号：US12727060
申请日：2010-03-18
申请人： Christopher A. Julian , Daniel T. Wallace , Frederic H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
发明人： Christopher A. Julian , Daniel T. Wallace , Frederic H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
IPC分类号： A61B18/18
CPC分类号： A61B18/18 , A61B1/00149 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/06061 , A61B17/062 , A61B17/064 , A61B17/068 , A61B17/11 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B17/32053 , A61B17/54 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B90/36 , A61B90/361 , A61B2017/00252 , A61B2017/00287 , A61B2017/00362 , A61B2017/00473 , A61B2017/00477 , A61B2017/0243 , A61B2017/1107 , A61B2017/1135 , A61B2017/2825 , A61B2017/2829 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929 , A61B2017/2931 , A61B2017/2937 , A61B2017/294 , A61B2017/2946 , A61B2034/305 , B66C23/48
摘要： Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical clips for use with a clip applier, single working member accessories such as a blade which can be grasped and manipulated by a grasping tool for cutting, sheath accessories that fit over working members of a tool, flow tubes for providing suction or introducing a fluid into the surgical site, and a retraction member resiliently biased to retract a tissue to expose an area in the surgical site for treatment. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.
摘要翻译：手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。体内附件的实例包括紧固附件，例如用于夹子施放器的手术夹子，单个工作构件附件，例如可被抓取工具抓握并操纵的刀片，用于切割，护套附件适合工具的工作构件用于提供抽吸或将流体引入手术部位的流动管，以及弹性偏压以缩回组织以露出外科手术部位中用于治疗的区域的缩回构件。附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。

6. 发明授权

US07125403B2 In vivo accessories for minimally invasive robotic surgery 有权
公开(公告)号：US07125403B2
公开(公告)日：2006-10-24
申请号：US10116504
申请日：2002-04-03
申请人： Christopher A. Julian , Daniel T. Wallace , Frederic H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
发明人： Christopher A. Julian , Daniel T. Wallace , Frederic H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B18/18 , A61B1/00149 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/06061 , A61B17/062 , A61B17/064 , A61B17/068 , A61B17/11 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B17/32053 , A61B17/54 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B90/36 , A61B90/361 , A61B2017/00252 , A61B2017/00287 , A61B2017/00362 , A61B2017/00473 , A61B2017/00477 , A61B2017/0243 , A61B2017/1107 , A61B2017/1135 , A61B2017/2825 , A61B2017/2829 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929 , A61B2017/2931 , A61B2017/2937 , A61B2017/294 , A61B2017/2946 , A61B2034/305 , B66C23/48
摘要： Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical clips for use with a clip applier, single working member accessories such as a blade which can be grasped and manipulated by a grasping tool for cutting, sheath accessories that fit over working members of a tool, flow tubes for providing suction or introducing a fluid into the surgical site, and a retraction member resiliently biased to retract a tissue to expose an area in the surgical site for treatment. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.

7. 发明授权

US06309397B1 Accessories for minimally invasive robotic surgery and methods 有权
标题翻译：用于微创机器人手术和方法的附件
公开(公告)号：US06309397B1
公开(公告)日：2001-10-30
申请号：US09453978
申请日：1999-12-02
申请人： Christopher A. Julian , Daniel T. Wallace , Frederic H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
发明人： Christopher A. Julian , Daniel T. Wallace , Frederic H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
IPC分类号： A61B1900
CPC分类号： A61B17/062 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/064 , A61B17/068 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B2017/00265 , A61B2017/00349 , A61B2017/00362 , A61B2017/00477 , A61B2017/2825 , A61B2017/2829 , A61B2017/2931 , A61B2034/305
摘要： Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical clips for use with a clip applier, single working member accessories such as a blade which can be grasped and manipulated by a grasping tool for cutting, sheath accessories that fit over working members of a tool, flow tubes for providing suction or introducing a fluid into the surgical site, and a retraction member resiliently biased to retract a tissue to expose an area in the surgical site for treatment. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.
摘要翻译：手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。体内附件的实例包括紧固附件，例如用于夹子施放器的手术夹子，单个工作构件附件，例如可被抓取工具抓握并操纵的刀片，用于切割，护套附件适合工具的工作构件用于提供抽吸或将流体引入手术部位的流动管，以及弹性偏压以缩回组织以露出外科手术部位中用于治疗的区域的缩回构件。附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。

8. 发明授权

US06620174B2 Surgical manipulator for a telerobotic system 有权
标题翻译：用于远程操作系统的手术操纵器
公开(公告)号：US06620174B2
公开(公告)日：2003-09-16
申请号：US10124573
申请日：2002-04-16
申请人： Joel F. Jensen , John W. Hill
发明人： Joel F. Jensen , John W. Hill
IPC分类号： A61B1900
CPC分类号： A61B19/2203 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/71 , A61B90/50 , A61B2017/00477 , A61B2017/3445 , A61B2034/301 , A61B2034/305 , A61B2090/0813 , A61B2090/506 , B25J3/04 , B25J15/04 , B25J18/04 , Y10T403/581 , Y10T403/587
摘要： The present invention provides a method of performing an endoscopic surgical procedure on a target site within a body cavity of a patient. In one embodiment, the method comprises operatively coupling moveable actuator pins of a surgical instrument with a driver of a robotic arm to releasably couple the surgical instrument to the robotic arm. A distal portion of said surgical instrument is introduced through a percutaneous penetration into the body cavity within the patient. The surgical instrument can be pivoted about the percutaneous penetration by moving a proximal portion of said instrument outside the body cavity with a plurality of degrees of freedom of movement using the robotic arm.
摘要翻译：本发明提供了一种在患者体腔内的目标部位进行内窥镜手术的方法。在一个实施例中，该方法包括将外科器械的可移动致动器销与机器臂的驱动器可操作地联接，以将外科器械可释放地联接到机器臂。所述手术器械的远侧部分通过经皮穿透进入患者体内的体腔。通过使用机器手臂以多个运动自由度将所述器械的近端部分移动到体腔外部，可以围绕经皮穿透枢转手术器械。

9. 发明授权

US5807378A Surgical manipulator for a telerobotic system 失效
标题翻译：用于远程操作系统的手术操纵器
公开(公告)号：US5807378A
公开(公告)日：1998-09-15
申请号：US944362
申请日：1997-10-06
申请人： Joel F. Jensen , John W. Hill
发明人： Joel F. Jensen , John W. Hill
IPC分类号： A61B17/00 , A61B17/28 , A61B17/34 , A61B19/00 , B25J3/04 , B25J15/04 , B25J18/04
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/71 , A61B90/50 , B25J15/04 , B25J18/04 , B25J3/04 , A61B17/29 , A61B2017/00477 , A61B2017/3445 , A61B2034/301 , A61B2034/305 , A61B2090/0813 , A61B2090/506 , Y10T403/581 , Y10T403/587
摘要： The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The assembly comprises a base (6) fixable by passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder (4) movably mounted on the base. The instrument holder comprises a chassis (6) and an instrument support (70) movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly (7) is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The assembly is attached to a remote center positioner (300) for constraining the instrument to rotate about a point coincident with the entry incision and an inclinometer (350) for preventing gravitational forces acting on the system's mechanisms from being felt by the surgeon.
摘要翻译：本发明涉及用于在远程操作系统中保持和操纵外科器械（14）的操纵器组件（2）。该组件包括可由被动或动力驱动的定位装置固定到诸如手术台的表面的基座（6）和可移动地安装在基座上的器械支架（4）。仪器夹持器包括底盘（6）和可移动地安装在主体上并具有可与外科器械接合的界面的仪器支架（70），以将仪器可释放地安装到仪器架上。驱动组件（7）可操作地联接到仪器保持器，用于为仪器提供至少两个自由度。仪器架可与基座和驱动组件分离，以便保持器可以消毒。组件还包括安装在保持器的远侧的力感测元件（52）和用于检测施加在外科器械上的力并向外科医生提供反馈的驱动组件。组件附接到远程中心定位器（300），用于约束器械围绕与入口切口重合的点旋转，并且用于防止作用在系统机构上的重力被外科医生感觉到的倾斜计（350）。

10. 发明授权

US4535716A Minesweeping 失效
标题翻译：扫雷
公开(公告)号：US4535716A
公开(公告)日：1985-08-20
申请号：US451907
申请日：1982-12-21
申请人： John W. Hill
发明人： John W. Hill
IPC分类号： B63G7/02 , B63G7/06 , B63G9/00
CPC分类号： B63G7/06
摘要： A magnetic mine sweep has at least one block of permanent magnet material connected on each side in flux conducting relationship to respective distributor elements, typically of mild steel, which are secured to respective steel pipes which are closed to form cavities for providing buoyancy and for distributing the flux for mine sweeping purposes. Rigid plastic foam can be provided in the cavities for reserve buoyancy and stiffening purposes. A non-magnetic shroud extends around the block of permanent magnet material.
摘要翻译：磁扫掠具有至少一块永久磁铁材料，其每侧连接有与通常为软钢的相应分配器元件的通量传导关系中的永久磁铁材料，所述分配器元件被固定到相应的钢管上，所述钢管被封闭以形成用于提供浮力并用于分配用于扫雷的通量。可以在空腔中提供刚性塑料泡沫，以保留浮力和加固目的。非磁性护罩围绕永磁材料块延伸。

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