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1. 发明授权

US09731096B2 Catheter or guide wire manipulating device for vascular intervention 有权
公开(公告)号：US09731096B2
公开(公告)日：2017-08-15
申请号：US14770223
申请日：2013-06-25
申请人： INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES
发明人： Guibin Bian , Zengguang Hou , Xiaoliang Xie , Long Cheng , Min Tan , Zhenqiu Feng , Xiaohu Zhou
IPC分类号： A61M31/00 , A61M25/01 , A61M25/09 , A61B19/00 , A61B34/20
CPC分类号： A61M25/0105 , A61B19/2203 , A61B34/10 , A61B34/20 , A61M25/0113 , A61M25/09041
摘要： A catheter or guide wire manipulating device for vascular intervention is provided, comprising a thumb component (3), a forefinger component (4), a driving component (1) and a catheter/guide wire support component (2); the thumb component comprises a roller (7) configured to advance or retreat the catheter/guide wire; the thumb component (3) is configured to drive the catheter/guide wire to rotate clockwise or counterclockwise through a combination motion of the components; the forefinger component (4) is configured to cooperate with the thumb component (3) to implement the rotation and the advancement of the catheter/guide wire by moving manually away from the thumb component, and returning by a pull force of a spring (23) after being released; the driving component (1) is configured to drive the thumb component (3) and the forefinger component (4); the catheter/guide wire support component (2) comprises a Y adapter fixation configured to install a Y adapter and an entry support configured to support and guide the catheter/guide wire into a mechanism.

2. 发明授权

US10596056B2 Upper limb rehabilitation robot system 有权
公开(公告)号：US10596056B2
公开(公告)日：2020-03-24
申请号：US15326132
申请日：2014-07-15
申请人： Institute of Automation Chinese Academy of Sciences
发明人： Zengguang Hou , Liang Peng , Weiqun Wang , Long Cheng , Guibin Bian , Xiaoliang Xie
IPC分类号： A61H1/00 , A63B23/12 , A63B24/00 , A63B21/00 , A63B21/005 , A61H1/02 , A63B23/035 , A63B71/06 , G09B5/02
摘要： The present invention discloses an upper limb rehabilitation robot system comprising a computer (8) and a rehabilitation robot (7), wherein the computer (8) is used for performing information interaction (11) with the rehabilitation robot (7), recording training information, sending control command to the rehabilitation robot (7), showing the virtual training environment, providing rehabilitation training visual feedback (14), and showing the control interface and rehabilitation training information; wherein the rehabilitation robot (7), acting as a system actuator, is connected to the computer (8) for receiving the control command from the computer (8) to complete the motion control and terminal force output, and sending sensor data to the computer (8) at the same time. The upper limb rehabilitation robot system according to the present invention may provide a various ways of active and passive training of upper limb rehabilitation, which can enhance enthusiasm for trainings of a patient and increase the efficiency of rehabilitation.

3. 发明申请

US20180133088A1 Multi-Posture Lower Limb Rehabilitation Robot 审中-公开
公开(公告)号：US20180133088A1
公开(公告)日：2018-05-17
申请号：US15559819
申请日：2015-03-20
申请人： Institute of Automation Chinese Academy of Sciences
发明人： Zengguang Hou , Weiqun Wang , Long Peng , Xu Liang , Liang Peng , Long Cheng , Xiaoliang Xie , Guibin Bian , Min Tan , Lincong Luo
IPC分类号： A61H1/02 , A63B21/00 , A63B21/005
摘要： The application presents a multi-posture lower limb rehabilitation robot, which includes a robot base and a training bed. The training bed comprises two sets of leg mechanisms, a seat, a seat width adjustment mechanism, a mechanism for adjusting the gravity center of human body, a back cushion, a weight support system and a mechanism for adjusting the back cushion angle. The robot base comprises a mechanism for adjusting the bed angle. The mechanisms for adjusting the angles of bed and back cushion can be used together to provide paralysis patients with multiple training modes of lying, sitting, and standing postures. Each leg mechanism comprises hip, knee, and ankle joints, which are driven by electric motors; angle and force sensors are installed on each joint, and can be used to identify patients' motion intention to provide patients with active and assistant training. The mechanism for adjusting the gravity center of human body, the leg mechanisms, and the weight support system can be used together to implement human natural walking gait to improve the training effect.

4. 发明授权

US11209843B1 Control method for flexible carbon cantilever beam actuated by smart material 有权
公开(公告)号：US11209843B1
公开(公告)日：2021-12-28
申请号：US17372554
申请日：2021-07-12
申请人： INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES
发明人： Hongjun Yang , Min Tan , Zengguang Hou , Junzhi Yu , Long Cheng , Zhengxing Wu , Wei He , Zhijie Liu , Tairen Sun
IPC分类号： G05D17/02 , G06F17/11 , G01L1/04 , C08J5/04
摘要： A control method, system and device for a flexible carbon cantilever beam actuated by a smart material is provided. The new control method, system and device aims to solve the problems of control overflow and instability that are likely to occur in the distributed parameter system constructed in the prior art. The method includes: acquiring an elastic displacement of the flexible carbon cantilever beam in real time as input data; and obtaining, based on the input data, a control torque through a distributed parameter model constructed in advance, and performing vibration control on the flexible carbon cantilever beam. The new control method, system and device improves the control accuracy and stability of the distributed parameter system.

5. 发明授权

US10722416B2 Multi-posture lower limb rehabilitation robot 有权
公开(公告)号：US10722416B2
公开(公告)日：2020-07-28
申请号：US15559819
申请日：2015-03-20
申请人： Institute of Automation Chinese Academy of Sciences
发明人： Zengguang Hou , Weiqun Wang , Long Peng , Xu Liang , Liang Peng , Long Cheng , Xiaoliang Xie , Guibin Bian , Min Tan , Lincong Luo
IPC分类号： A61H1/02 , A61H1/00 , A61H3/00 , A63B23/04 , A61H3/04 , A63B21/00
摘要： The application presents a multi-posture lower limb rehabilitation robot, which includes a robot base and a training bed. The training bed comprises two sets of leg mechanisms, a seat, a seat width adjustment mechanism, a mechanism for adjusting the gravity center of human body, a back cushion, a weight support system and a mechanism for adjusting the back cushion angle. The robot base comprises a mechanism for adjusting the bed angle. The mechanisms for adjusting the angles of bed and back cushion can be used together to provide paralysis patients with multiple training modes of lying, sitting, and standing postures. Each leg mechanism comprises hip, knee, and ankle joints, which are driven by electric motors; angle and force sensors are installed on each joint, and can be used to identify patients' motion intention to provide patients with active and assistant training. The mechanism for adjusting the gravity center of human body, the leg mechanisms, and the weight support system can be used together to implement human natural walking gait to improve the training effect.

6. 发明授权

US10252029B2 Catheter or guide wire manipulating device with two-point-clamping for vascular intervention 有权
公开(公告)号：US10252029B2
公开(公告)日：2019-04-09
申请号：US14770232
申请日：2013-06-25
申请人： INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES
发明人： Zengguang Hou , Guibin Bian , Xiaoliang Xie , Long Cheng , Min Tan , Zhenqiu Feng , Xiaohu Zhou
IPC分类号： A61M31/00 , A61M37/00 , A61M25/01 , A61M25/09 , A61B34/30
摘要： A catheter or guide wire manipulating device with two-point-clamping for vascular intervention is provided, comprising a thumb component (3), a forefinger component (4), a driving component (1) and a catheter/guide wire support component (2); the thumb component (3) comprises a pair of rollers (9, 10) configured to advance or retreat the catheter/guide wire; the thumb component (3) is configured to drive the catheter/guide wire to rotate clockwise or counterclockwise through a combination motion of the components; the forefinger component (4) is configured to implement the rotation and the advancement of the catheter/guide wire by moving manually away from the thumb component (3), and returning by a pull force of a spring (27) after being released; the driving component (2) is configured to drive the thumb component (3) and the forefinger component (4); the catheter/guide wire support component comprises a Y adapter fixation configured to install a Y adapter and an entry support configured to support and guide the catheter/guide wire into a mechanism.

7. 发明申请

US20170209327A1 Upper limb rehabilitation robot system 审中-公开
公开(公告)号：US20170209327A1
公开(公告)日：2017-07-27
申请号：US15326132
申请日：2014-07-15
申请人： Institute of Automation Chinese Academy of Sciences
发明人： Zengguang Hou , Liang Peng , Weiqun Wang , Long Cheng , Guibin Bian , Xiaoliang Xie
IPC分类号： A61H1/00 , A63B23/12 , G09B5/02 , A61H1/02
CPC分类号： A61H1/00 , A61H1/02 , A61H1/0274 , A61H2201/0176 , A61H2201/14 , A61H2201/1635 , A61H2201/1659 , A61H2201/5007 , A61H2201/5028 , A61H2201/5038 , A61H2201/5043 , A61H2201/5061 , A63B21/00178 , A63B21/00192 , A63B21/005 , A63B21/0051 , A63B21/0058 , A63B21/159 , A63B21/4035 , A63B21/4047 , A63B23/03525 , A63B23/03541 , A63B23/12 , A63B23/1209 , A63B24/0087 , A63B71/0622 , A63B2024/0093 , A63B2071/0647 , A63B2071/065 , A63B2071/0655 , A63B2220/51 , A63B2220/54 , A63B2225/107 , G09B5/02
摘要： The present invention discloses an upper limb rehabilitation robot system comprising a computer (8) and a rehabilitation robot (7), wherein the computer (8) is used for performing information interaction (11) with the rehabilitation robot (7), recording training information, sending control command to the rehabilitation robot (7), showing the virtual training environment, providing rehabilitation training visual feedback (14), and showing the control interface and rehabilitation training information; wherein the rehabilitation robot (7), acting as a system actuator, is connected to the computer (8) for receiving the control command from the computer (8) to complete the motion control and terminal force output, and sending sensor data to the computer (8) at the same time. The upper limb rehabilitation robot system according to the present invention may provide a various ways of active and passive training of upper limb rehabilitation, which can enhance enthusiasm for trainings of a patient and increase the efficiency of rehabilitation.

8. 发明申请

US20160184552A1 CATHETER OR GUIDE WIRE MANIPULATING DEVICE WITH TWO-POINT-CLAMPING FOR VASCULAR INTERVENTION 审中-公开
标题翻译：导管或指导用于血管闭塞的两点钳夹的手术装置
公开(公告)号：US20160184552A1
公开(公告)日：2016-06-30
申请号：US14770232
申请日：2013-06-25
申请人： INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES
发明人： Zengguang Hou , Guibin Bian , Xiaoliang Xie , Long Cheng , Min Tan , Zhenqiu Feng , Xiaohu Zhou
IPC分类号： A61M25/01 , A61M25/09
CPC分类号： A61M25/0113 , A61B2034/301 , A61M25/09041
摘要： A catheter or guide wire manipulating device with two-point-clamping for vascular intervention is provided, comprising a thumb component (3), a forefinger component (4), a driving component (1) and a catheter/guide wire support component (2); the thumb component (3) comprises a pair of rollers (9, 10) configured to advance or retreat the catheter/guide wire; the thumb component (3) is configured to drive the catheter/guide wire to rotate clockwise or counterclockwise through a combination motion of the components; the forefinger component (4) is configured to implement the rotation and the advancement of the catheter/guide wire by moving manually away from the thumb component (3), and returning by a pull force of a spring (27) after being released; the driving component (2) is configured to drive the thumb component (3) and the forefinger component (4); the catheter/guide wire support component comprises a Y adapter fixation configured to install a Y adapter and an entry support configured to support and guide the catheter/guide wire into a mechanism.
摘要翻译：提供了一种具有用于血管介入的两点夹紧的导管或导线操纵装置，包括拇指部件（3），食指部件（4），驱动部件（1）和导管/导丝支撑部件（2））; 拇指部件（3）包括一对构造成使导管/导丝前进或后退的辊（9,10）拇指部件（3）构造成通过组件的组合运动来驱动导管/导丝器顺时针或逆时针旋转; 食指部件（4）被构造成通过手动移动远离拇指部件（3）来实现导管/引导线的旋转和前进，并且在释放之后通过弹簧（27）的拉力返回; 驱动部件（2）构造成驱动拇指部件（3）和食指部件（4）; 导管/引导线支撑部件包括构造成安装Y适配器和入口支撑件的Y适配器固定件，其配置成将导管/导丝支撑并引导到机构中。

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