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1. 发明授权

US09696700B2 Mechanical teleoperated device for remote manipulation 有权
公开(公告)号：US09696700B2
公开(公告)日：2017-07-04
申请号：US14233184
申请日：2012-07-25
申请人： Ricardo Beira , Lionel Flaction
发明人： Ricardo Beira , Lionel Flaction
IPC分类号： G05B19/18 , G05B15/02 , A61B17/00 , A61B17/29 , B25J3/02 , B25J13/02 , A61B34/37 , A61B34/00 , A61B90/50 , A61B90/00
CPC分类号： G06F19/3418 , A61B17/00234 , A61B17/29 , A61B34/25 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/77 , A61B90/37 , A61B2017/291 , A61B2034/715 , A61B2090/372 , A61B2090/506 , B25J3/02 , B25J13/02 , G05B15/02 , G06F19/00
摘要： A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated.

2. 发明授权

US10092359B2 Mechanical manipulator for surgical instruments 有权
公开(公告)号：US10092359B2
公开(公告)日：2018-10-09
申请号：US13878924
申请日：2011-10-11
申请人： Ricardo Beira , Reymond Clavel , Hannes Bleuler
发明人： Ricardo Beira , Reymond Clavel , Hannes Bleuler
IPC分类号： A61B19/00 , F16H19/08 , A61B34/00 , A61B34/30 , A61B90/00 , A61B17/29
摘要： A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, scarless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition). The unique design of the proposed system provides an intuitive user interface to achieve such enhanced maneuverability, allowing each joint of a teleoperated slave system to be driven by controlling the position of a mechanically connected master unit.

3. 发明申请

US20130304084A1 MECHANICAL MANIPULATOR FOR SURGICAL INSTRUMENTS 审中-公开
标题翻译：手术器械机械手术器械
公开(公告)号：US20130304084A1
公开(公告)日：2013-11-14
申请号：US13878924
申请日：2011-10-11
申请人： Ricardo Beira , Reymond Clavel , Hannes Bleuler
发明人： Ricardo Beira , Reymond Clavel , Hannes Bleuler
IPC分类号： A61B19/00 , F16H19/08
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/71 , A61B2017/2906 , A61B2090/371 , F16H19/08 , Y10T74/18848
摘要： A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, scarless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition). The unique design of the proposed system provides an intuitive user interface to achieve such enhanced manoeuvrability, allowing each joint of a teleoperated slave system to be driven by controlling the position of a mechanically connected master unit.
摘要翻译：一种基于新的电缆驱动机械传动的新型机械系统能够提供足够的灵巧性，刚度，速度，精度和有效载荷来驱动多自由度微型操纵器。除了用于多种铰接手术器械和机器人系统以进行手术或涉及远程操作的其他应用的可能性外，还可以设计出一种全新的全机械手术器械，其具有常规腹腔镜检查（低成本，触觉反馈，高结合单口手术（单切口，无疤痕手术，通过腹腔的几个象限导航）和机器人手术（更大的自由度，短学习曲线，高刚度，高精度，增加的直觉）的优点。所提出的系统的独特设计提供了直观的用户界面，以实现这种增强的机动性，允许通过控制机械连接的主单元的位置来驱动远程操作的从系统的每个关节。

4. 发明申请

US20130190774A1 MECHANICAL POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS 审中-公开
标题翻译：手术器械机械定位系统
公开(公告)号：US20130190774A1
公开(公告)日：2013-07-25
申请号：US13816324
申请日：2011-08-11
申请人： Ricardo Beira , Clavel Reymond , Hannes Bleuler
发明人： Ricardo Beira , Clavel Reymond , Hannes Bleuler
IPC分类号： A61B19/00
CPC分类号： A61B34/70 , A61B34/30 , A61B34/72 , A61B2034/302 , A61B2090/506
摘要： An external manipulator for positioning surgical instruments within the abdominal cavity, comprising a hybrid kinematics with a parallel structure, able to provide four, active or passive, positional degrees of freedom to a endoscopic unit, placed in the distal end of an instrument shaft. Due to this specific kinematics, the instrument shaft is able to perform two rotations, one translation, and a fourth orientation degree of freedom about a remote centre of rotation, coincident with the surgical incision port. Because of its unique design and kinematics, the proposed mechanism is highly compact, stiff and its dexterity fulfils the workspace specifications for surgical procedures.
摘要翻译：一种用于将手术器械定位在腹腔内的外部操纵器，包括具有平行结构的混合运动学，其能够向放置在器械轴的远端中的内窥镜单元提供四个主动或被动的位置自由度。由于这种特殊的运动学，仪器轴能够与外科切口相一致地进行两个旋转，一个平移以及一个第四取向自由度。由于其独特的设计和运动学特性，所提出的机制非常紧凑，刚性好，其灵巧度达到外科手术的工作空间规格。

5. 发明申请

US20140195010A1 MECHANICAL TELEOPERATED DEVICE FOR REMOTE MANIPULATION 有权
标题翻译：用于远程操作的机械遥控装置
公开(公告)号：US20140195010A1
公开(公告)日：2014-07-10
申请号：US14233184
申请日：2012-07-25
申请人： Ricardo Beira , Lionel Flaction
发明人： Ricardo Beira , Lionel Flaction
IPC分类号： G05B15/02
CPC分类号： G06F19/3418 , A61B17/00234 , A61B17/29 , A61B34/25 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/77 , A61B90/37 , A61B2017/291 , A61B2034/715 , A61B2090/372 , A61B2090/506 , B25J3/02 , B25J13/02 , G05B15/02 , G06F19/00
摘要： A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated.
摘要翻译：用于远程操作的机械远程操作装置包括具有通过多个从接头互连的多个从属链路的从单元; 连接到从属单元的端部执行器; 主单元，具有通过多个主接头互连的相应数量的主链节; 以及连接到主单元的远端的手柄。该装置还包括布置成将从属单元与主单元运动学地连接的第一装置，布置成将端部执行器与手柄运动学连接的第二装置，以及被配置为确保主单元的一个主链路被引导的机械约束装置沿着其纵向轴线，使得当机械远程操作装置被操作时，从属单元的对应从属链路总是沿着平行于被引导主链节的纵向轴线的虚拟轴线在远程操纵附近平移。

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