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1. 发明授权

US4753128A Robot with spring pivot balancing mechanism 失效
标题翻译：机械手与弹簧枢轴平衡机构
公开(公告)号：US4753128A
公开(公告)日：1988-06-28
申请号：US23691
申请日：1987-03-09
申请人： Donald S. Bartlett , David I. Freed , William H. Poynter, Jr.
发明人： Donald S. Bartlett , David I. Freed , William H. Poynter, Jr.
IPC分类号： B25J19/00 , B66C23/72 , F16F1/06
CPC分类号： B25J19/0016 , Y10T16/84 , Y10T403/32704 , Y10T74/20
摘要： A robot including a balancing mechanism or balancer with a compression spring which flexes to compensate for the gravitational moment between an arm assembly and a base of the robot. The compression spring is chosen to have a force-deflection characteristic to account for the gravitational moment and the geometry of the mechanism. The arm assembly has a pivotal connection which pivotally supports the arm assembly on the base of the robot for movement about a pivotal axis. The mechanism can be adjusted for various arm assembly lengths and/or payloads. The mechanism includes a spring support, a connecting rod having a longitudinal axis and connected to the spring support for communicating motion of the spring support to the arm assembly at an attachment point offset from the pivotal axis. The resulting balancing mechanism is relatively compact, which lends itself to robotics applications where space is limited.
摘要翻译：包括具有压缩弹簧的平衡机构或平衡器的机器人，所述压缩弹簧弯曲以补偿臂组件和机器人的基座之间的重力矩。选择压缩弹簧以具有力 - 偏转特性来解释重力矩和机构的几何形状。臂组件具有枢转连接，其枢转地支撑臂组件在机器人的基部上围绕枢转轴线运动。可以针对各种臂组件长度和/或有效载荷调整机构。该机构包括弹簧支撑件，具有纵向轴线并连接到弹簧支撑件的连接杆，用于将弹簧支撑件以与枢转轴线偏置的附接点传递到臂组件。所产生的平衡机构相对紧凑，这适用于空间有限的机器人应用。

2. 发明授权

US4892457A Apparatus for mastering a robot 失效
标题翻译：掌握机器人的装置
公开(公告)号：US4892457A
公开(公告)日：1990-01-09
申请号：US217304
申请日：1988-07-11
申请人： Donald S. Bartlett , David I. Freed , William H. Poynter, Jr.
发明人： Donald S. Bartlett , David I. Freed , William H. Poynter, Jr.
IPC分类号： B25J9/16
CPC分类号： B25J9/1692
摘要： An apparatus for mastering a robot includes two balls, each of which has a spherical surface configured to simultaneously contact its respective set of mutually orthogonal locating surfaces of a fixture only when the robot is in a predetermined reference position and orientation. The fixture is mounted on a pedestal of the robot base in a fixed spatial position. One of the balls is mounted for movement with a free end of an outer arm of an arm assembly of the robot. The robot also includes a wrist mechanism. A first end of the wrist mechanism is connected to the free end of the outer arm and a second end of the wrist mechanism is adapted to support a tool. The second ball is mounted for movement with the second end of the wrist mechanism. First and second clamping mechanisms are associated with a fixture and their respective balls for clamping their respective balls so that the generally spherical surfce of each of the balls simultaneously contacts each of the surfaces of its set of locating surfaces to thereby secure the robot in the predetermined spatial position and orientation. Each of the clamping mechanisms includes a circular clamping surface having a center. Each clamping mechanism is supported for pivotal movement on the fixture about a pivot axis offset from its ball's center so that its clamping surface defines an eccentric cam. Preferably, the clamping surface is conical.
摘要翻译：用于掌握机器人的装置包括两个球，每个球具有球形表面，其被构造成仅当机器人处于预定的参考位置和取向时才能同时接触固定器的相应的相互正交的定位表面。夹具以固定的空间位置安装在机器人基座的基座上。其中一个球被安装成与机器人的臂组件的外臂的自由端一起移动。机器人还包括手腕机构。手腕机构的第一端连接到外臂的自由端，并且腕机构的第二端适于支撑工具。第二个球被安装成与手腕机构的第二端一起运动。第一和第二夹紧机构与夹具及其相应的球相关联，用于夹紧其各自的球，使得每个球的大致球形的凸起同时接触其组的定位表面的每个表面，从而将机器人固定在预定的空间位置和方位。每个夹紧机构包括具有中心的圆形夹紧表面。每个夹紧机构被支撑用于围绕枢转轴线偏离其球的中心的枢转运动，使得其夹紧表面限定偏心凸轮。优选地，夹紧表面是圆锥形的。

3. 发明授权

US08623045B2 Instrument with sealing device and methods of advancing fluid therethrough 有权
标题翻译：具有密封装置的仪器和使流体通过其的方法
公开(公告)号：US08623045B2
公开(公告)日：2014-01-07
申请号：US13535616
申请日：2012-06-28
申请人： David I. Freed , Malka S. Berndt , Michael J. Magill , Otto E. Anderhub , Osiris A. Nunez , Boris Kesler , Gerardo S. Martin , Christopher D. Endara , James M. Zardeskas , Oscar Carrillo , Satish Sharma
发明人： David I. Freed , Malka S. Berndt , Michael J. Magill , Otto E. Anderhub , Osiris A. Nunez , Boris Kesler , Gerardo S. Martin , Christopher D. Endara , James M. Zardeskas , Oscar Carrillo , Satish Sharma
IPC分类号： A61B17/00 , A61B18/18 , A61B17/32
CPC分类号： A61B10/04 , A61B10/06 , A61B17/29 , A61B17/3462
摘要： Embodiments of the invention include a medical instrument with a sealing device. In embodiments, the medical instrument is endoscopic device having a seal between an elongate shaft member and/or on a portion of a handle to, for example, prevent flow communication between a lumen of the elongate member and the external environment.
摘要翻译：本发明的实施例包括具有密封装置的医疗器械。在实施例中，医疗器械是具有在细长轴构件之间和/或手柄的一部分之间的密封的内窥镜装置，以例如防止细长构件的内腔与外部环境之间的流动连通。

4. 发明申请

US20110213206A1 FIBER OPTIC IMAGING CATHETER 审中-公开
标题翻译：光纤成像导管
公开(公告)号：US20110213206A1
公开(公告)日：2011-09-01
申请号：US13041520
申请日：2011-03-07
申请人： Michael P. Boutillette , David Micky Graves , M. Kevin Richardson , David I. Freed , Paul M. Scopton
发明人： Michael P. Boutillette , David Micky Graves , M. Kevin Richardson , David I. Freed , Paul M. Scopton
IPC分类号： A61B1/005
CPC分类号： A61B1/0057 , A61B1/00071 , A61B1/00096 , A61B1/00103 , A61B1/00135 , A61B1/00165 , A61B1/0051 , A61B1/0052 , A61B1/015 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/0607 , A61B1/07 , A61B2090/061 , A61B2090/306 , A61B2090/3614 , A61B2090/3937
摘要： A steerable imaging catheter is provided, including an elongated catheter tube, at least one steering cable extending along the catheter tube to control the movement of the distal end thereof, and a fiber optic cable extending along the catheter tube. The fiber optic cable transmits illumination light from its proximal end to its distal end and transmits an image from its distal end to its proximal end. In one embodiment, two or more steering cables are used, and the catheter tube is configured to have greater flexibility near its distal end than its proximal end so as to concentrate the movement (flexing) of the catheter tube at its distal end. The use of two or more steering cables, together with the catheter tube having varying flexibility, permit better control of the distal end of the catheter tube while reducing undue twisting of the remainder of the catheter tube.
摘要翻译：提供了一种可操纵的成像导管，包括细长的导管管，至少一个转导电缆，其沿着导管管延伸以控制其远端的运动，以及沿导管管延伸的光缆。光纤电缆将照明光从其近端传输到其远端，并将图像从其远端传送到其近端。在一个实施例中，使用两个或更多个转向电缆，并且导管管被配置为在其远端附近具有比其近端更大的灵活性，以便集中导管管在其远端处的运动（弯曲）。使用两个或更多个转向电缆以及具有不同柔性的导管管允许更好地控制导管的远端，同时减少导管的其余部分的不适当的扭转。

5. 发明授权

US06938814B2 Full thickness resectioning device 有权
公开(公告)号：US06938814B2
公开(公告)日：2005-09-06
申请号：US10731652
申请日：2003-12-09
申请人： Satish K. Sharma , David I. Freed , Nicholas Patronik , Jeffrey M. Wendlandt
发明人： Satish K. Sharma , David I. Freed , Nicholas Patronik , Jeffrey M. Wendlandt
IPC分类号： A61B17/32 , A61B17/00 , A61B17/04 , A61B17/072 , A61B17/115 , A61B17/28
CPC分类号： A61B17/07207 , A61B17/00234 , A61B17/29 , A61B17/320016 , A61B2017/00353 , A61B2017/07221 , A61B2017/0725 , A61B2017/2905
摘要： A full thickness resection device comprises a control handle including an actuator wherein, when the device is in an operative position within a body lumen of a patient, the control handle remains outside the patient's body and a working head assembly coupled to a control handle by a flexible sheath, wherein, when the device is in the operative position; the working head assembly is located within a body lumen of the patient adjacent to a portion of tissue to be treated, the working head assembly including a tissue stapling mechanism including first and second tissue stapling members moveable relative to one another in combination with a first cable extending from the actuator through the flexible sheath to the first tissue stapling member so that, when the actuator is operated to draw the first cable proximally from the sheath, the first tissue stapling member is moved in a first direction relative to the second tissue stapling member.

6. 发明授权

US4983071A Pipe bursting and replacement apparatus and method 失效
标题翻译：管道爆破更换装置及方法
公开(公告)号：US4983071A
公开(公告)日：1991-01-08
申请号：US524231
申请日：1990-05-15
申请人： Allan T. Fisk , David I. Freed , Thomas A. Mann
发明人： Allan T. Fisk , David I. Freed , Thomas A. Mann
IPC分类号： F16L55/18 , B23D21/02 , E21B7/20 , E21B7/30 , E21B29/00 , E21D9/06 , F16L1/024 , F16L55/165
CPC分类号： E21B7/30 , E21B29/00 , E21B7/205 , F16L55/1658
摘要： Tool for slitting and laterally expanding underground steel gas mains and inserting replacement plastic piping into the spread apart pipeline has a forward end cylindrical portion mounting a single, rearwardly angled blade to make only one line of cut, and a conical pipe spreader portion at its rearward end. The conical spreader portion is eccentrically disposed with respect to the forward end cylindrical portion. A single roller type pipe slitter aligned with the fixed blade may be mounted on a removable extension of the forward end cylindrical portion, to initially groove and weaken the pipe along the intended line of cut. A pneumatically operated impact ram is attached to the rearward end of the tool, as is the leading end of the replacement piping. A wire cable pulls the tool through the underground pipe, thereby grooving, slitting and laterally expanding the pipe. The spacing of the roller slitter in advance of the fixed knife blade is dimensionally related to the length of any coupling or clamp as may be anticipated along the line of cut, and the spacing distance of the fixed knife blade forwardly of the conical spreader portion is related to the cone angle of the latter to increase hoop tension immediately in front of the fixed blade as the cutting proceeds.
摘要翻译：用于切割和横向扩展地下钢管燃气管道的工具并将更换的塑料管道插入扩展的管道中具有前端圆柱形部分，其安装单个向后倾斜的叶片以仅形成一条切割线，并且在其后方形成锥形管扩展部分结束。圆锥形吊具部分相对于前端圆柱形部分偏心地设置。与固定刀片对准的单个辊式管道分切机可以安装在前端圆柱形部分的可移除的延伸部上，以沿着预定的切割线开始凹槽和减弱管道。气动冲击冲头连接到工具的后端，替换管道的前端也是如此。线缆通过地下管道拉动工具，从而开槽，切割和横向膨胀管道。固定刀片之前的滚筒分切机的间距与沿着切割线所预期的任何联接器或夹具的长度尺寸上有关，并且固定刀片在锥形扩张器部分向前的间隔距离是与后者的锥角相关，以在切割进行时立即增加固定刀片前方的箍紧力。

7. 发明授权

US08231652B2 Instrument with sealing device and methods of advancing fluid therethrough 有权
标题翻译：具有密封装置的仪器和使流体通过其的方法
公开(公告)号：US08231652B2
公开(公告)日：2012-07-31
申请号：US10831760
申请日：2004-04-26
申请人： David I. Freed , Malka S. Berndt , Michael J. Magill , Otto E. Anderhub , Osiris A. Nunez , Boris Kesler , Gerardo S. Martin , Christopher D. Endara , James M. Zardeskas , Oscar Carrillo , Satish Sharma
发明人： David I. Freed , Malka S. Berndt , Michael J. Magill , Otto E. Anderhub , Osiris A. Nunez , Boris Kesler , Gerardo S. Martin , Christopher D. Endara , James M. Zardeskas , Oscar Carrillo , Satish Sharma
IPC分类号： A61B17/00 , A61B18/18 , A61B17/32
CPC分类号： A61B10/04 , A61B10/06 , A61B17/29 , A61B17/3462
摘要： Embodiments of the invention include a medical instrument with a sealing device. In embodiments, the medical instrument is an endoscopic device having a seal between an elongate shaft member and/or on a portion of a handle to, for example, prevent flow communication between a lumen of the elongate member and the external environment.
摘要翻译：本发明的实施例包括具有密封装置的医疗器械。在实施例中，医疗器械是内窥镜装置，其具有在细长轴构件之间和/或手柄的一部分之间的密封，以例如防止细长构件的内腔与外部环境之间的流动连通。

8. 发明授权

US07922654B2 Fiber optic imaging catheter 有权
标题翻译：光纤成像导管
公开(公告)号：US07922654B2
公开(公告)日：2011-04-12
申请号：US10914411
申请日：2004-08-09
申请人： Michael P. Boutillette , David Micky Graves , M. Kevin Richardson , David I. Freed , Paul M. Scopton
发明人： Michael P. Boutillette , David Micky Graves , M. Kevin Richardson , David I. Freed , Paul M. Scopton
IPC分类号： A61B1/06
CPC分类号： A61B1/0057 , A61B1/00071 , A61B1/00096 , A61B1/00103 , A61B1/00135 , A61B1/00165 , A61B1/0051 , A61B1/0052 , A61B1/015 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/0607 , A61B1/07 , A61B2090/061 , A61B2090/306 , A61B2090/3614 , A61B2090/3937
摘要： A steerable imaging catheter is provided, including an elongated catheter tube, at least one steering cable extending along the catheter tube to control the movement of the distal end thereof, and a fiber optic cable extending along the catheter tube. The fiber optic cable transmits illumination light from its proximal end to its distal end and transmits an image from its distal end to its proximal end. In one embodiment, two or more steering cables are used, and the catheter tube is configured to have greater flexibility near its distal end than its proximal end so as to concentrate the movement (flexing) of the catheter tube at its distal end. The use of two or more steering cables, together with the catheter tube having varying flexibility, permit better control of the distal end of the catheter tube while reducing undue twisting of the remainder of the catheter tube.
摘要翻译：提供了一种可操纵的成像导管，包括细长的导管管，至少一个转导电缆，其沿着导管管延伸以控制其远端的运动，以及沿导管管延伸的光缆。光纤电缆将照明光从其近端传输到其远端，并将图像从其远端传送到其近端。在一个实施例中，使用两个或更多个转向电缆，并且导管管被配置为在其远端附近具有比其近端更大的灵活性，以便集中导管管在其远端处的运动（弯曲）。使用两个或更多个转向电缆以及具有不同柔性的导管管允许更好地控制导管的远端，同时减少导管的其余部分的不适当的扭转。

9. 发明授权

US07559451B2 Full thickness resectioning device 有权
标题翻译：全厚切割装置
公开(公告)号：US07559451B2
公开(公告)日：2009-07-14
申请号：US11192575
申请日：2005-07-29
申请人： Satish K. Sharma , David I. Freed , Nicholas Patronik , Jeffrey M. Wendlandt
发明人： Satish K. Sharma , David I. Freed , Nicholas Patronik , Jeffrey M. Wendlandt
IPC分类号： A61B17/04
CPC分类号： A61B17/07207 , A61B17/00234 , A61B17/29 , A61B17/320016 , A61B2017/00353 , A61B2017/07221 , A61B2017/0725 , A61B2017/2905
摘要： A full thickness resection device comprises a control handle including an actuator wherein, when the device is in an operative position within a body lumen of a patient, the control handle remains outside the patient's body and a working head assembly coupled to a control handle by a flexible sheath, wherein, when the device is in the operative position; the working head assembly is located within a body lumen of the patient adjacent to a portion of tissue to be treated, the working head assembly including a tissue stapling mechanism including first and second tissue stapling members moveable relative to one another in combination with a first cable extending from the actuator through the flexible sheath to the first tissue stapling member so that, when the actuator is operated to draw the first cable proximally from the sheath, the first tissue stapling member is moved in a first direction relative to the second tissue stapling member.
摘要翻译：全厚度切除装置包括包括致动器的控制手柄，其中当所述装置处于患者的体腔内的操作位置时，所述控制手柄保持在患者身体外部，并且工作头组件通过柔性护套，其中当所述装置处于操作位置时; 所述工作头组件位于所述患者的身体腔内，邻近所述待治疗组织的一部分，所述工作头组件包括组织缝合机构，所述组织缝合机构包括可相对于彼此移动的第一和第二组织缝合构件，从所述致动器延伸穿过所述柔性护套到所述第一组织装订构件，使得当所述致动器被操作以从所述护套向近侧拉出所述第一电缆时，所述第一组织装订构件相对于所述第二组织缝合构件在第一方向上移动。

10. 发明授权

US08608649B2 In-vivo visualization system 有权
标题翻译：体内可视化系统
公开(公告)号：US08608649B2
公开(公告)日：2013-12-17
申请号：US13041624
申请日：2011-03-07
申请人： John O. McWeeney , Benjamin E. Morris , David W. Robertson , David I. Freed , James F. Schuerman , John B. Golden , Jozef Slanda , Brian Keith Wells , Jesse Leonard Farris, III , Michael S. H. Chu , Oscar R. Carrillo, Jr. , Todd A. Hall , Yem Chin , Mark L. Adams
发明人： John O. McWeeney , Benjamin E. Morris , David W. Robertson , David I. Freed , James F. Schuerman , John B. Golden , Jozef Slanda , Brian Keith Wells , Jesse Leonard Farris, III , Michael S. H. Chu , Oscar R. Carrillo, Jr. , Todd A. Hall , Yem Chin , Mark L. Adams
IPC分类号： A61B1/00
CPC分类号： A61B1/00117 , A61B1/00071 , A61B1/00103 , A61B1/00135 , A61B1/00154 , A61B1/00165 , A61B1/0052 , A61B1/008 , A61B1/0125 , A61B1/015 , A61B1/018 , A61B1/04 , A61B1/0607 , A61B1/07 , A61B1/273 , A61B1/307 , A61B6/06 , A61M25/0068 , A61M25/0136 , A61M25/0147 , A61M25/0662
摘要： Several embodiments of the present invention are generally directed to medical visualization systems that comprise combinations of disposable and reusable components, such as catheters, functional handles, hubs, optical devices, etc. Other embodiments of the present invention are generally directed to features and aspects of an in-vivo visualization system that comprises an endoscope having a working channel through which a catheter having viewing capabilities is routed. the catheter may obtain viewing capabilities by being constructed as a vision catheter or by having a fiberscope or other viewing device selectively routed through one of its channels. The catheter is preferably of the steerable type so that the distal end of the catheter may be steered from its proximal end as it is advanced with the body. A suitable use for the in-vivo visualization system includes but is not limited to diagnosis and/or treatment of the duodenum, and particularly the biliary tree.
摘要翻译：本发明的几个实施例通常涉及包括一次性和可重复使用的部件（例如导管，功能手柄，轮毂，光学装置等）的组合的医学可视化系统。本发明的其它实施例通常涉及特征和方面一种体内可视化系统，其包括具有工作通道的内窥镜，通过该工作通道布置具有观察能力的导管。导管可以通过构造为视觉导管或通过使纤维镜或其他观察装置选择性地穿过其通道之一来获得观察能力。导管优选地是可操纵的类型，使得导管的远端当其与身体前进时可以从其近端转向。用于体内可视化系统的合适用途包括但不限于十二指肠，特别是胆汁树的诊断和/或治疗。

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