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1. 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。

2. 发明申请

WO2013027182A1 CAPSULE FOR LOCAL THERAPY BY MEANS OF AN ENDOLUMINAL PLASTER IN THE GASTROINTESTINAL SYSTEM 审中-公开
标题翻译：用于胃肠道系统中的内消旋塑料的局部治疗的胶囊
公开(公告)号：WO2013027182A1
公开(公告)日：2013-02-28
申请号：PCT/IB2012/054239
申请日：2012-08-22
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , PENSABENE, Virginia , SINIBALDI, Edoardo , MENCIASSI, Arianna , DARIO, Paolo , QUAGLIA, Claudio , VALDASTRI, Pietro
发明人： PENSABENE, Virginia , SINIBALDI, Edoardo , MENCIASSI, Arianna , DARIO, Paolo , QUAGLIA, Claudio , VALDASTRI, Pietro
IPC分类号： A61B1/04 , A61B1/00 , A61B5/06 , A61B1/273
CPC分类号： A61B1/00016 , A61B1/00029 , A61B1/00071 , A61B1/041 , A61B1/2736 , A61B5/061 , A61B5/07 , A61B5/4839
摘要： The present invention refers to the field of local therapies in the gas trointestinal system. In particular, it refers to a swallowable capsule for local therapy at a target site, said capsule comprising a capsule body with a longitudinal axis and equipped with image sensor means, said capsule further comprising a driving and orienting wireless system adapted to interact with an external unit for receiving information and the driving of said capsule, wherein said capsule comprises a compartment formed in said capsule body, said compartment housing a polymeric film means, said capsule also comprising supporting and releasing means for moving said polymeric film means according to a direction of application perpendicular to said longitudinal axis, from a retracted position where said polymeric film means are contained inside said compartment, to an extracted position where said polymeric film means is projected from said compartment to make contact with said target.
摘要翻译：本发明涉及气体肠道系统中的局部疗法领域。特别地，它是指用于在目标部位进行局部治疗的吞咽胶囊，所述胶囊包括具有纵向轴线的胶囊主体并配备有图像传感器装置，所述胶囊还包括驱动和定向的无线系统，其适于与外部用于接收信息和所述胶囊的驱动的单元，其中所述胶囊包括形成在所述胶囊主体中的隔室，所述隔室容纳聚合物膜装置，所述胶囊还包括用于根据所述胶囊主体的方向移动所述聚合物膜装置的支撑和释放装置垂直于所述纵向轴线的应用，其中所述聚合物膜装置被包含在所述隔室内的缩回位置到所述提取位置，其中所述聚合物膜装置从所述隔间突出以与所述目标接触。

3. 发明申请

WO2010044053A3 HYBRID ACTIVE LOCOMOTION TELEOPERATED ENDOSCOPIC CAPSULE 审中-公开
公开(公告)号：WO2010044053A3
公开(公告)日：2010-04-22
申请号：PCT/IB2009/054491
申请日：2009-10-13
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , MENCIASSI, Arianna , DARIO, Paolo , VALDASTRI, Pietro , QUAGLIA, Claudio , BUSELLI, Elisa , SIMI, Massimiliano
发明人： MENCIASSI, Arianna , DARIO, Paolo , VALDASTRI, Pietro , QUAGLIA, Claudio , BUSELLI, Elisa , SIMI, Massimiliano
IPC分类号： A61B1/273 , A61B1/31
摘要： A teleoperated endoscopic capsule for performing diagnostic and therapeutic activities in the gastro-intestinal tract of a patient, comprising a capsule body (1) extending longitudinally with a forward end (1a) and a rear end (1b), locomotion/orientation means (5) responsive to the action of a magnetic field controlled from the outside of the patient, image acquisition means (4) for acquiring images of at least predefined portions of the gastro-intestinal tract arranged at least at the forward end (1a) of the body (1), a power source (18), microprocessor means (16) for controlling the operation of the capsule, and means for receiving/transmitting signals(16, 17) from and towards an outside operator for transferring the acquired images and for sending control signals. Auxiliary locomotion means (6, 13, 15) are houseable inside the capsule in a rest condition and extendable from it to modify the external profile of the capsule. Sensors (23, 24) detect a stopped locomotion condition of the capsule and send a signal to the microprocessor means (16) to generate an actuation signal of the auxiliary locomotion means (6,13,15).

4. 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。

5. 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。

6. 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。

7. 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。

8. 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。

9. 发明申请

WO2011058505A1 A MINIATURIZED MICROROBOTIC DEVICE FOR LOCOMOTION IN A LIQUID ENVIRONMENT 审中-公开
标题翻译：用于在液体环境中定位的微型微型装置（MINIATURIZED MICROROBOTIC DEVICE FOR LOCOMOTION IN A LIQUID ENVIRONMENT）
公开(公告)号：WO2011058505A1
公开(公告)日：2011-05-19
申请号：PCT/IB2010/055104
申请日：2010-11-10
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , VALDASTRI, Pietro , CACCAVARO, Sebastiano , TORTORA, Giuseppe , MENCIASSI, Arianna , DARIO, Paolo
发明人： VALDASTRI, Pietro , CACCAVARO, Sebastiano , TORTORA, Giuseppe , MENCIASSI, Arianna , DARIO, Paolo
IPC分类号： A61B5/07 , A63H23/04
CPC分类号： A61B5/07 , A61B1/00016 , A61B1/05 , A61B5/6835 , A61B5/6861 , A63H23/04 , A63H29/22 , A63H33/26
摘要： A miniaturized microrobotic device for autonomous locomotion in a liquid environment, comprising a control unit (8) and a power source (2), containing means for generating a variable magnetic field (4, 5) and flexible elements (6) arranged along the external surface of its housing and fixed with one of their ends (6a) to said housing. The opposite end of the flexible elements is free to move and has a magnetised or magnetisable portion (6b), interacting with said variable magnetic field to cause a reciprocating bending and elastic backward, radial movement of the flexible elements (6), said movement generating thrust forces on the surrounding liquid capable of producing the device propulsion.
摘要翻译：一种用于在液体环境中自主运动的微型微型装置，包括控制单元（8）和电源（2），包含用于产生可变磁场（4,5）的装置和沿外部设置的柔性元件（6）其壳体的表面并且其端部（6a）中的一个固定到所述壳体。柔性元件的相对端自由移动并且具有与所述可变磁场相互作用的磁化或可磁化部分（6b），以引起柔性元件（6）的往复弯曲和弹性向后径向移动，所述移动产生能够产生装置推进的周围液体的推力。

10. 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。

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