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1. 发明申请

WO2002100281A1 AUXILIARY FORCEPS FOR HAND-ASSISTED LAPAROSCOPIC SURGERY (HALS) 审中-公开
标题翻译：手术辅助手术辅助手术（HALS）
公开(公告)号：WO2002100281A1
公开(公告)日：2002-12-19
申请号：PCT/IT2001/000298
申请日：2001-06-12
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S.ANNA , PIETRABISSA, Andrea , STEFANINI, Cesare , MENCIASSI, Arianna , DARIO, Paolo
发明人： PIETRABISSA, Andrea , STEFANINI, Cesare , MENCIASSI, Arianna , DARIO, Paolo
IPC分类号： A61B17/28
CPC分类号： A61B17/2841 , A61B17/29 , A61B17/2909 , A61B17/30 , A61B18/1442 , A61B2017/00265 , A61B2017/00438 , A61B2017/2945 , A61B2018/1432 , A61B2090/08021
摘要： An auxiliary forceps for video-assisted minimally-invasive surgery, such as the hand-assisted laparoscopic surgery, intended to be operated by the surgeon's non-dominant hand inserted in an incision for entering a patient body natural cavity, comprising: two actuating plates (1a, 1b) elastically hinged to each other and having a shape and size suitable for being operated by holding them with the tips of two fingers: two jaws (2a, b; 20a, b) each extending from a respective of the actuating plates; means (14) for temporarily connecting the forceps to the surgeon's hand for maintaining the forceps at an adjustable distance from the hand not greater than a prefixed value; means (15, 22) for housing the jaws close to each other, within which the jaws are engaged when, during operation, said forceps is not used.
摘要翻译：用于视频辅助微创手术的辅助镊子，例如手动辅助腹腔镜手术，其旨在由插入切口中的外科医生的非优势手操作以进入患者身体自然腔，包括：两个致动板 1a，1b）彼此弹性地铰接并且具有适于通过用两个手指的尖端保持它们来操作的形状和尺寸：每个从相应的致动板延伸的两个钳口（2a，b; 20a，b）用于将镊子暂时连接到外科医生的手上用于将镊子保持在距离手可调距离不大于预定值的装置（14）; 用于在操作期间在不使用所述钳子的情况下将钳口彼此靠近的装置（15,22）。

2. 发明申请

WO2005082248A1 TELEOPERATED ENDOSCOPIC CAPSULE EQUIPPED WITH ACTIVE LOCOMOTION SYSTEM 审中-公开
标题翻译：带有活动位置系统的远端内窥镜胶囊
公开(公告)号：WO2005082248A1
公开(公告)日：2005-09-09
申请号：PCT/IB2005/000398
申请日：2005-02-17
申请人： DARIO, Paolo , MENCIASSI, Arianna , STEFANINI, Cesare , GORINI, Samuele , PERNORIO, Giuseppe , ACCOTO, Dino
发明人： DARIO, Paolo , MENCIASSI, Arianna , STEFANINI, Cesare , GORINI, Samuele , PERNORIO, Giuseppe , ACCOTO, Dino
IPC分类号： A61B5/07
CPC分类号： A61B1/00156 , A61B1/041 , A61B34/72
摘要： A teleoperated endoscopic capsule for diagnostic and therapeutic purposes inside an animal body cavity, comprising a body (1) with a plurality of locomotion modules (5) placed on its surface, suitable for moving said body in the body cavity. The capsule also comprises an energy source inside said body and a microcontroller in the body (1) for actuating the locomotion modules (5) on the basis of commands teletransmitted by an operator. A video camera is then provided for capturing images controlled by said microcontroller and a transceiver system for receiving the commands teletransmitted by the operator and for transmitting the images gained through the video camera.
摘要翻译：一种用于诊断和治疗目的的远程操作的内窥镜胶囊，其在动物体腔内，包括具有放置在其表面上的多个运动模块（5）的主体（1），适于在体腔中移动所述身体。所述胶囊还包括在所述主体内的能量源和所述主体（1）中的微控制器，用于基于由操作员发送的命令来致动所述移动模块（5）。然后提供摄像机用于捕获由所述微控制器控制的图像和收发器系统，用于接收由操作员发送的命令，并用于发送通过摄像机获得的图像。

3. 发明申请

WO2012011132A1 SYSTEM FOR CONTROLLED ADMINISTRATION OF A SUBSTANCE FROM A HUMAN-BODY-IMPLANTED INFUSION DEVICE 审中-公开
标题翻译：用于人体植入式输注装置的物质的受控管理系统
公开(公告)号：WO2012011132A1
公开(公告)日：2012-01-26
申请号：PCT/IT2010/000319
申请日：2010-07-20
申请人： SCUOLA SUPERIORE Dl STUDI UNIVERSITARI E Dl PERFEZIONAMENTO SANT'ANNA , RICOTTI, Leonardo , ASSAF, Tareq , STEFANINI, Cesare , MENCIASSI, Arianna
发明人： RICOTTI, Leonardo , ASSAF, Tareq , STEFANINI, Cesare , MENCIASSI, Arianna
IPC分类号： A61M5/142 , A61M5/172 , A61M39/04
CPC分类号： A61M5/1723 , A61M5/14276 , A61M39/04 , A61M2205/3507 , A61M2205/502 , A61M2205/8206 , A61M2209/045 , A61M2209/086
摘要： A system for the controlled administration of a substance by means of an infusion device implanted in the human body comprising an implantable unit (200) for detecting a shortage or an excess of such substance or a physiological parameter correlatable to the shortage or excess of such substance, an infusion group of this substance (100) implantable in the peritoneal cavity and comprising a central control unit (105) for processing data received from the detection unit (200) in order to generate command signals for the release of the substance in the intraperitoneal cavity, energy storage means (106) to power said infusion group (100). The system also comprises a carrier of said substance (500) adapted to be ingested in order to passively reach the duodenal lumen, made of perforable material resistant to gastric acids and with parts in magnetizable metal, and a refilling device (103) for refilling the infusion group (100) with said substance, comprising a magnetic reversible docking group (113) for said carrier (500), facing the duodenal lumen and actuable when said carrier reaches a predetermined distance therefrom, and means (120) for drawing the substance from said carrier communicating with suction means (110) of said infusion group (100).
摘要翻译：用于通过植入人体内的输注装置对物质进行受控管理的系统，包括用于检测短缺或过量的这种物质的可植入单元（200）或与该物质的短缺或过量相关的生理参数，该植入物体（100）的输注组，其可植入腹腔内，并包括用于处理从检测单元（200）接收的数据的中央控制单元（105），以产生用于释放腹膜内物质的指令信号空腔，能量存储装置（106）以对所述输注组（100）供电。该系统还包括适于摄取的所述物质（500）的载体，以便被动地到达十二指肠腔，由抗胃酸的可穿透材料和可磁化金属中的部分制成，以及用于再填充具有所述物质的输注组（100），包括用于所述载体（500）的磁性可逆对接组（113），面向十二指肠腔并且当所述载体到达预定距离时可致动，以及用于将物质从所述载体与所述输注组（100）的抽吸装置（110）通信。

4. 发明申请

WO2012070016A1 PROCESS FOR THE PREPARATION OF BIOCOMPATIBLE, FREE-STANDING NANOFILMS OF CONDUCTIVE POLYMERS 审中-公开
标题翻译：制备生物降解的自由基导电聚合物纳米微粒的方法
公开(公告)号：WO2012070016A1
公开(公告)日：2012-05-31
申请号：PCT/IB2011/055288
申请日：2011-11-24
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , GRECO, Francesco , MATTOLI, Virgilio , DARIO, Paolo , MENCIASSI, Arianna , ZUCCA, Alessandra
发明人： GRECO, Francesco , MATTOLI, Virgilio , DARIO, Paolo , MENCIASSI, Arianna , ZUCCA, Alessandra
IPC分类号： C08J7/02 , B82Y30/00
CPC分类号： C08J7/02 , B82Y30/00 , C08J7/08 , Y10T428/31533
摘要： The invention concerns a process for the preparation of nanofilms of conductive polymers, through the formation of support layers of other polymers. The present process has advantageous properties such as cost-effectiveness, speed of execution and use of relatively simple instruments; and it also allows to obtain free-standing nanofilms, i.e. nanofilms that are stable and able to support themselves without the need for any support. The present nanofilms al so have further advantageous characteristics, such as strength, flexibility, ability to adhere to different substrates, and high biocompatibility, which make them suitable for numerous different technological applications, in particular in the biomedical field.
摘要翻译：本发明涉及通过形成其它聚合物的支撑层来制备导电聚合物的纳米膜的方法。本方法具有成本效益，执行速度和使用相对简单的仪器等优点; 并且它还允许获得独立的纳米薄膜，即稳定且能够支持自身而不需要任何支撑物的纳米薄膜。本发明的纳米薄膜具有更强的特性，例如强度，柔韧性，粘附于不同基材的能力以及高生物相容性，这使得它们适用于许多不同的技术应用，特别是生物医学领域。

5. 发明申请

WO2012035157A1 MAGNETIC LEVITATION ENDOSCOPIC DEVICE 审中-公开
标题翻译：磁感应内窥镜装置
公开(公告)号：WO2012035157A1
公开(公告)日：2012-03-22
申请号：PCT/EP2011/066149
申请日：2011-09-16
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , SIMI, Massimiliano , VALDASTRI, Pietro , MENCIASSI, Arianna , DARIO, Paolo
发明人： SIMI, Massimiliano , VALDASTRI, Pietro , MENCIASSI, Arianna , DARIO, Paolo
IPC分类号： A61B1/005 , A61B1/313 , A61B1/00
CPC分类号： A61B1/313 , A61B1/00158 , A61B1/0055
摘要： Endoscopic system, comprising an endoscopic device 1 moved by a magnetic levitation system comprising a first 2 and a second 3 module connected by means of a flexible joint 4 and each bearing one or more permanent magnets 21, 22, 31, 32, the second module 3 further being provided with a motor 34 for the actuation of the internal magnets 31, 32 thereof; and means 61, 62, 7 for generating a first and a second external magnetic field, adapted to respectively interact with the magnets of the first and of the second module with the aim of producing a desired magnetic field surrounding the second module 3 for an efficient working of the levitation system in orienting the second module 3 with respect to the first module 2.
摘要翻译：内窥镜系统，包括由磁悬浮系统移动的内窥镜装置1，该磁悬浮系统包括通过柔性关节4连接的第一和第二模块，并且每个轴承具有一个或多个永磁体21,22,31,32，第二模块 3还设置有用于致动其内部磁体31,32的马达34; 以及用于产生适于分别与第一和第二模块的磁体相互作用的第一和第二外部磁场的装置61,62,7，目的是产生围绕第二模块3的期望的磁场，用于有效地悬挂系统在使第二模块3相对于第一模块2定向时的工作。

6. 发明申请

WO2012164517A1 ROBOTIC PLATFORM FOR MINI-INVASIVE SURGERY 审中-公开
标题翻译：微型手术机器人平台
公开(公告)号：WO2012164517A1
公开(公告)日：2012-12-06
申请号：PCT/IB2012/052739
申请日：2012-05-31
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , VALDASTRI, Pietro , DI NATALI, Christian , SIMI, Massimiliano , RANZANI, Tommaso , MENCIASSI, Arianna , DARIO, Paolo
发明人： VALDASTRI, Pietro , DI NATALI, Christian , SIMI, Massimiliano , RANZANI, Tommaso , MENCIASSI, Arianna , DARIO, Paolo
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B34/71 , A61B90/30 , A61B2017/00464 , A61B2017/00477 , A61B2017/00876 , A61B2034/302 , A61B2034/731 , G05B15/02
摘要： Robotic platform for mini-invasive surgery comprising robotic arms (4a, 4b) suitable to be placed in the body of a patient, introduced through a single access port, which are an extension of external robotic manipulators (19). The continuity between external (1) and internal (4a, 4b) robotic arms is guaranteed by means of a trans- abdominal magnetic connection (6) between the internal robotic arm integral with the external one. The trans-abdominal magnetic coupling not only guarantees a stable anchoring, but most of all it transfers degrees of freedom to the internal robotic arms, inducing the motion of internal magnets by means of the automatized motion of external magnets. It is also possible to reposition the internal robotic arms without requiring having to additionally perform incisions on the abdomen. Using the external robotic arms allows translating the internal ones on the entire abdomen thus providing a working space not bound to the point of insertion and theoretically unlimited.
摘要翻译：用于微创手术的机器人平台包括适于放置在患者体内的机器人臂（4a，4b），通过作为外部机器人操纵器（19）的延伸部的单个进入口引入。外部（1）和内部（4a，4b）机械手臂之间的连续性通过与外部机械臂整合的内部机械手臂之间的腹部磁性连接（6）来保证。跨腹磁耦合不仅可以保证稳定的锚固，而且最重要的是将内部机械臂的自由度转移，通过外部磁体的自动化运动来引起内部磁体的运动。也可以重新定位内部机器人手臂，而无需另外在腹部进行切口。使用外部机器人手臂允许翻译整个腹部的内部机器人手臂，从而提供不限于插入点的理论上无限制的工作空间。

7. 发明申请

WO2010046823A1 ENDOLUMINAL ROBOTIC SYSTEM 审中-公开
标题翻译：内镜机器人系统
公开(公告)号：WO2010046823A1
公开(公告)日：2010-04-29
申请号：PCT/IB2009/054561
申请日：2009-10-16
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , DARIO, Paolo , CUSCHIERI, Alfred , MENCIASSI, Arianna , VALDASTRI, Pietro , HARADA, Kanako
发明人： DARIO, Paolo , CUSCHIERI, Alfred , MENCIASSI, Arianna , VALDASTRI, Pietro , HARADA, Kanako
IPC分类号： A61B1/05 , A61B1/273 , A61B5/07 , A61B17/00 , A61B17/04 , A61B19/00 , B25J7/00
CPC分类号： A61B34/30 , A61B34/72 , A61B2017/306 , A61B2034/303 , A61B2034/304
摘要： A micro-robotic platform and a method for deploying the platform in a body cavity for performing endoluminal surgical interventions in a fully bimanual fashion. The platform comprises a first (1) and a second (2) surgical robot each provided with a surgical tool (5, 6) and being configured to be attached to the body cavity wall. The first and the second surgical robot each comprises a first (11 ) and a second (12) snake-like robotic unit, the first snake-like robotic unit (11 ) comprising a first central unit (13) and first articulated attachment means (7a, b; 8a, b; 9) extending from said first central unit (13) for attaching the first central unit to the body cavity wall. The second snake-like robotic unit (12) comprises a second central unit (14), second articulated attachment means (7c; 8c; 9) for attaching the second central unit to the body cavity wall and an articulated arm (3, 4) bearing the surgical tool (5, 6), the second articulated attachment means and the articulated arm extending from the second central unit. Releasable connection means (15) are provided on the first and second central units (13, 14) to connect the first central unit to the second central unit releasably to form each of the first and second surgical robot within the body cavity deployed in such a way to allow a surgical procedure to be performed in a true bimanual way.
摘要翻译：一种微机器人平台和一种在体腔内部署平台的方法，用于以完全双目的方式进行腔内外科手术。平台包括第一（1）和第二（2）外科手术机器人，每个手术机器人设有外科手术工具（5,6）并被配置为附接到体腔壁。第一和第二外科手术机器人每个包括第一（11）和第二（12）蛇形机器人单元，第一蛇状机器人单元（11）包括第一中心单元（13）和第一铰接附接装置 7a，b; 8a，b; 9），其从所述第一中心单元（13）延伸，用于将所述第一中心单元附接到所述体腔壁。第二蛇形机器人单元（12）包括第二中心单元（14），用于将第二中心单元附接到体腔壁的第二铰接附接装置（7c; 8c; 9）和铰接臂（3,4）承载所述手术工具（5,6），所述第二铰接附接装置和所述铰接臂从所述第二中心单元延伸。可释放的连接装置（15）设置在第一和第二中心单元（13,14）上，以将第一中心单元与第二中央单元可释放地连接，以在体腔内的每个第一外科手术机器人和第二外科手术机构中部署方式允许外科手术以真正的双手方式进行。

8. 发明申请

WO2012080947A1 MAGNETICALLY GUIDED ROBOTIC DEVICE FOR ENDOSCOPIC PROCEDURES 审中-公开
标题翻译：用于内窥镜程序的磁性引导机器人
公开(公告)号：WO2012080947A1
公开(公告)日：2012-06-21
申请号：PCT/IB2011/055636
申请日：2011-12-13
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , VALDASTRI, Pietro , CIUTI, Gastone , MENCIASSI, Arianna , DARIO, Paolo
发明人： VALDASTRI, Pietro , CIUTI, Gastone , MENCIASSI, Arianna , DARIO, Paolo
IPC分类号： A61B1/04 , A61B1/12
CPC分类号： A61B1/041 , A61B1/00094 , A61B1/00158 , A61B1/121
摘要： An endoscopic device of the capsular type that is mobile and that can be oriented inside a body cavity, such as the gastrointestinal tract, through a magnetic coupling of the inner magnetic means (1 1 ) inside said body and means for generating a magnetic field (13) external to the patient, and a system for blowing (4, 5, 6) a gaseous fluid and sucking said fluid and/or material present in the body cavity. The device is designed to avoid both the drawbacks of the conventional flexible endoscopes, by reducing the invasiveness and the pain, thus increasing the patient's compliance, and the drawbacks of the capsular endoscopes, by improving their ability to control the movement and keeping the dimensions small. The endoscopic device further allows to carry out local therapeutic and/or surgical treatments of areas of the inspected gastrointestinal tract.
摘要翻译：通过内部内部磁性装置（11）的磁耦合和可产生磁场的装置，可移动的并且可以定向在体腔（例如胃肠道）内的囊状类型的内窥镜装置， 13），以及用于吹送（4,5,6）气态流体并吸入存在于体腔中的所述流体和/或材料的系统。该装置旨在通过改善传统的灵活内窥镜的缺点，通过改善其控制运动和保持尺寸的能力，通过减少侵入性和疼痛，从而增加患者的顺应性和荚膜内窥镜的缺点，。内窥镜装置还允许对被检查的胃肠道的区域进行局部治疗和/或手术治疗。

9. 发明申请

WO2012028557A1 SWALLOWABLE CAPSULE FOR INSUFFLATION OF GASTROINTESTINAL TRACT 审中-公开
标题翻译：用于消除胃肠道疾病的易吸收性胶囊
公开(公告)号：WO2012028557A1
公开(公告)日：2012-03-08
申请号：PCT/EP2011/064764
申请日：2011-08-26
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , VANDERBILT UNIVERSITY , VALDASTRI, Pietro , CIUTI, Gastone , MENCIASSI, Arianna , DARIO, Paolo , WEBSTER, Robert J. III , SMITH, Byron F. , TOENNIES, Jenna J.
发明人： VALDASTRI, Pietro , CIUTI, Gastone , MENCIASSI, Arianna , DARIO, Paolo , WEBSTER, Robert J. III , SMITH, Byron F. , TOENNIES, Jenna J.
IPC分类号： A61B1/32 , A61B1/04 , A61B1/12
CPC分类号： A61M13/003 , A61B1/00158 , A61B1/015 , A61B1/041
摘要： A system for insufflating a body cavity comprising a swallowable capsule comprising a chamber (11) containing a fluid capable to generate biocompatible gas or vapour by phase transition or chemical reaction, the chamber (11) being formed with at least one orifice (7) for placing it in communication with the outside. The orifice (7) is blocked by a shutter (4, 6; 26) made of magnetic material and there are provided elastic means (8) able to generate an elastic force sufficient to keep said shutter sealingly engaged in the orifice. The system further comprises magnetic actuating means (12; 34) external to the body cavity for generating a magnetic force having strength sufficient to overcome the elastic force of the elastic means disengaging the shutter from the orifice.
摘要翻译：一种用于吹入体腔的系统，包括可吞咽胶囊，其包括容纳能够通过相变或化学反应产生生物相容性气体或蒸汽的流体的腔室（11），所述腔室（11）形成有至少一个孔口（7），用于将其与外部通信。孔（7）被由磁性材料制成的活门（4,6; 26）阻挡，并且设置有弹性装置（8），该弹性装置能够产生足以使所述活门密封地接合在孔口中的弹性力。该系统还包括在体腔外部的磁性致动装置（12; 34），用于产生具有足以克服弹性装置将闸板从孔口分离的弹力的强度的磁力。

10. 发明申请

WO2011135503A1 ROBOTIC APPARATUS FOR MINIMALLY INVASIVE SURGERY 审中-公开
标题翻译：微型手术手术器械
公开(公告)号：WO2011135503A1
公开(公告)日：2011-11-03
申请号：PCT/IB2011/051772
申请日：2011-04-22
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , SCARFOGLIERO, Umberto , QUAGLIA, Claudio , PICCIGALLO, Marco , TOGNARELLI, Selene , VALDASTRI, Pietro , MENCIASSI, Arianna , DARIO, Paolo
发明人： SCARFOGLIERO, Umberto , QUAGLIA, Claudio , PICCIGALLO, Marco , TOGNARELLI, Selene , VALDASTRI, Pietro , MENCIASSI, Arianna , DARIO, Paolo
IPC分类号： A61B19/00 , A61B1/313
CPC分类号： A61B19/2203 , A61B34/30 , A61B2017/2906 , A61B2034/305 , Y10T74/19907 , Y10T74/20305 , Y10T74/20335
摘要： A robotic arm (101, 102; 201, 202) especially suited for laparoscopic surgery, comprising a torsional joint (6) and a flexural joint (5) serially arranged, said joints (5, 6) providing respective degrees of freedom for said arm, the robotic arm receiving drive means (38, 39) for said flexural (5) and torsional (6) joints. The robotic arm further comprises transmission means (340, 350, 34-36) placed between the drive means (38, 39) and the joints (5, 6). The transmission means comprise a first (340) and a second (350) assembly of three gear wheels, preferably of the conical type, and a train of three additional gear wheels (34-36) preferably straight-cut gear wheels, which couple the first (340) and second (350) assembly to form a differential mechanism.
摘要翻译：特别适用于腹腔镜手术的机械臂（101,102; 201,202）包括扭转关节（6）和串联地设置的弯曲关节（5），所述关节（5,6）为所述臂提供相应的自由度所述机械手臂接收用于所述弯曲（5）和扭转（6）接头的驱动装置（38,39）。机器手臂还包括放置在驱动装置（38,39）和接头（5,6）之间的传动装置（340,350,34-36）。传动装置包括优选为锥形的三个齿轮的第一（340）和第二（350）组件，以及三个附加齿轮（34-36）的列，优选为直切齿轮，其连接第一（340）和第二（350）组件以形成差速机构。

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