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1. 发明申请

US20070034046A1 Pneumatic stepper motor 有权
标题翻译：气动步进电机
公开(公告)号：US20070034046A1
公开(公告)日：2007-02-15
申请号：US11359815
申请日：2006-02-22
申请人： Dan Stoianovici , Alexandru Patriciu , Dumitru Mazilu , Doru Petrisor , Louis Kavoussi
发明人： Dan Stoianovici , Alexandru Patriciu , Dumitru Mazilu , Doru Petrisor , Louis Kavoussi
IPC分类号： F16H35/00
CPC分类号： F01C1/10 , F16H1/32 , F16H35/00 , F16H2001/325 , F16H2001/327 , Y10T74/19
摘要： A stepper motor suitable for use in a medical imaging environment has (a) a cylindrical central gear having two ends with a center line extending between these ends, and an external surface with circumferentially distributed and radially directed teeth, (b) a means for mounting the central gear such that it is constrained to move in rotational motion about its centerline, (c) a cylindrical hoop gear having a bore with an internal surface having circumferentially distributed and radially directed teeth, (d) a means for mounting the hoop gear such that it is constrained to move in translational-circular motion about the central gear's centerline, wherein this central gear is further configured to fit within the hoop gear's bore in such a manner that a plurality of the central gear and hoop gear teeth intermesh, and wherein these hoop gear teeth are further configured so as to cooperate with the central gear teeth so that the planetary movement of the hoop gear teeth causes the central gear to rotate, and (e) a means for applying a fluid pressure driven force to specified points on the hoop gear so as to cause its movement.
摘要翻译：适用于医学成像环境的步进电机具有（a）圆柱形中心齿轮，其两端具有在其两端之间延伸的中心线和具有周向分布和径向指向的齿的外表面，（b）用于安装的装置中心齿轮使得其被限制在围绕其中心线的旋转运动中移动;（c）具有孔的圆柱形环形齿轮，其具有带有周向分布和径向指向的齿的内表面，（d）用于将环形齿轮它被限制在关于中心齿轮的中心线的平移圆周运动中移动，其中该中心齿轮进一步构造成以使得多个中心齿轮和环形齿轮齿相互啮合的方式装配在环形齿轮的孔内，并且其中这些环形齿轮齿进一步构造成与中心齿轮齿配合，使得环形齿轮齿的行星运动导致中心齿以及（e）用于将流体压力驱动力施加到环形齿轮上的特定点以使其运动的装置。

2. 发明授权

US10315046B2 Multi-imager compatible robot for image-guided interventions and fully automated brachytherapy seed 有权
公开(公告)号：US10315046B2
公开(公告)日：2019-06-11
申请号：US12085972
申请日：2006-12-04
申请人： Dan Stoianovici , Alexandru Patriciu , Dumitru Mazilu , Doru Petrisor , Louis R. Kavoussi
发明人： Dan Stoianovici , Alexandru Patriciu , Dumitru Mazilu , Doru Petrisor , Louis R. Kavoussi
IPC分类号： A61N5/10 , A61B34/30 , A61B17/34 , A61B10/02 , A61B17/00 , A61B90/00
摘要： Featured is a robot and a needle delivery apparatus. Such a robot comprises a plurality of actuators coupled to control locating any of number of intervention specific medical devices such as intervention specific needle injectors. Such a robot is usable with image guided interventions using any of a number of types of medical imaging devices or apparatuses including MRI. The end-effector can include an automated low needle delivery apparatus that is configured for dose radiation seed brachytherapy injection. Also featured is an automated seed magazine for delivering seeds to such an needle delivery apparatus adapted for brachytherapy seed injection.

3. 发明授权

US09610131B2 Rotating needle driver and apparatuses and methods related thereto 有权
公开(公告)号：US09610131B2
公开(公告)日：2017-04-04
申请号：US12613180
申请日：2009-11-05
申请人： Dan Stoianovici , Doru Petrisor , Dumitru Mazilu , Alexandru Patriciu , Lucian Gheorghe Gruionu
发明人： Dan Stoianovici , Doru Petrisor , Dumitru Mazilu , Alexandru Patriciu , Lucian Gheorghe Gruionu
IPC分类号： A61F11/00 , A61B34/00 , A61B34/30 , A61B90/11 , A61B10/02
CPC分类号： A61B34/70 , A61B10/0233 , A61B34/30 , A61B90/11
摘要： Featured is a medical instrument driver, a robotic apparatus embodying such a medical instrument driver and methods related thereto for inserting a medical instrument into tissue of a mammal (e.g., human). Such medical instruments include medical needles, biopsy needles, trocars, cutters and introducers. Such a medical instrument driver according to the present invention is configured and arranged so that medical instrument is rotated as it is being moved longitudinally for insertion into the tissue such that the medical instrument is spiraling as it pierces and traverses the tissue to the target area.

4. 发明申请

US20120076681A1 PNEUMATIC STEPPER MOTOR 有权
标题翻译：气动步进电机
公开(公告)号：US20120076681A1
公开(公告)日：2012-03-29
申请号：US13270692
申请日：2011-10-11
申请人： Dan Stoianovici , Alexandru Patriciu , Dumitru Mazilu , Doru Petrisor , Louis R. Kavoussi
发明人： Dan Stoianovici , Alexandru Patriciu , Dumitru Mazilu , Doru Petrisor , Louis R. Kavoussi
IPC分类号： F01C1/063
CPC分类号： F01C1/10 , F16H1/32 , F16H35/00 , F16H2001/325 , F16H2001/327 , Y10T74/19
摘要： A stepper motor suitable for use in a medical imaging environment has (a) a cylindrical central gear having an external surface with circumferentially distributed and radially directed teeth, (b) a shaft for mounting the central gear such that it is constrained to move in rotational motion about its centerline, (c) a cylindrical hoop gear having a bore with an internal surface having circumferentially distributed and radially directed teeth, (d) level arm crank mechanisms for mounting the hoop gear such that it is constrained to move in translational-circular motion about the central gear's centerline, wherein this central gear is further configured to fit within the hoop gear's bore in such a manner that a plurality of the central gear and hoop gear teeth intermesh and cooperate so that the planetary movement of the hoop gear causes the central gear to rotate, and (e) piston mechanisms for applying a fluid pressure driven force to specified points on the hoop gear so as to cause its movement.
摘要翻译：适用于医疗成像环境的步进电机具有（a）圆柱形中心齿轮，其具有周向分布和径向指向的齿的外表面，（b）用于安装中心齿轮的轴，使得其被限制为旋转运动关于其中心线的运动，（c）具有孔的圆柱形环形齿轮，其内表面具有周向分布和径向指向的齿;（d）水平臂曲柄机构，用于安装环形齿轮，使得其被限制为平移圆形关于中央齿轮的中心线的运动，其中该中心齿轮进一步构造成以这样的方式配合在环形齿轮的孔中，使得多个中心齿轮和环形齿轮啮合并配合，使得环形齿轮的行星运动导致中心齿轮旋转，和（e）活塞机构，用于将流体压力驱动力施加到环形齿轮上的特定点，以使其m 流氓。

5. 发明授权

US10024160B2 Pneumatic stepper motor 有权
公开(公告)号：US10024160B2
公开(公告)日：2018-07-17
申请号：US13270692
申请日：2011-10-11
申请人： Dan Stoianovici , Alexandru Patriciu , Dumitru Mazilu , Doru Petrisor , Louis R. Kavoussi
发明人： Dan Stoianovici , Alexandru Patriciu , Dumitru Mazilu , Doru Petrisor , Louis R. Kavoussi
IPC分类号： F16H35/00 , F01C1/10 , F16H1/32
CPC分类号： F01C1/10 , F16H1/32 , F16H35/00 , F16H2001/325 , F16H2001/327 , Y10T74/19
摘要： A stepper motor suitable for use in a medical imaging environment has (a) a cylindrical central gear having an external surface with circumferentially distributed and radially directed teeth, (b) a shaft for mounting the central gear such that it is constrained to move in rotational motion about its centerline, (c) a cylindrical hoop gear having a bore with an internal surface having circumferentially distributed and radially directed teeth, (d) level arm crank mechanisms for mounting the hoop gear such that it is constrained to move in translational-circular motion about the central gear's centerline, wherein this central gear is further configured to fit within the hoop gear's bore in such a manner that a plurality of the central gear and hoop gear teeth intermesh and cooperate so that the planetary movement of the hoop gear causes the central gear to rotate, and (e) piston mechanisms for applying a fluid pressure driven force to specified points on the hoop gear so as to cause its movement.

6. 发明申请

US20100041938A1 MULTI-IMAGER COMPATIBLE ROBOT FOR IMAGE-GUIDED INTERVENTIONS AND FULLY AUTOMATED BRACHYTHERAPY SEED 审中-公开
标题翻译：用于图像导向干预和全自动BRACHYTHERAPY SEED的多图像兼容机器人
公开(公告)号：US20100041938A1
公开(公告)日：2010-02-18
申请号：US12085972
申请日：2006-12-04
申请人： Dan Stoianovici , Alexandru Patriciu , Dumitru Mazilu , Doru Petrisor , Louis R. Kavoussi
发明人： Dan Stoianovici , Alexandru Patriciu , Dumitru Mazilu , Doru Petrisor , Louis R. Kavoussi
IPC分类号： A61M36/00 , G01D5/30 , A61B19/00
CPC分类号： A61N5/1007 , A61B10/0233 , A61B17/3468 , A61B34/30 , A61B2017/00544 , A61B2034/304 , A61B2090/062 , A61N2005/101 , A61N2005/1011
摘要： Featured is a robot and a needle delivery apparatus. Such a robot comprises a plurality of actuators coupled to control locating any of number of intervention specific medical devices such as intervention specific needle injectors. Such a robot is usable with image guided interventions using any of a number of types of medical imaging devices or apparatuses including MRI. The end-effector can include an automated low needle delivery apparatus that is configured for dose radiation seed brachytherapy injection. Also featured is an automated seed magazine for delivering seeds to such an needle delivery apparatus adapted for brachytherapy seed injection.
摘要翻译：特色是一个机器人和一个针送出装置。这样的机器人包括多个致动器，其耦合以控制定位任意数量的干预特定医疗装置，例如干预专用针注射器。这样的机器人可用于使用多种类型的医学成像装置或包括MRI的装置中的任何一种的图像引导干预。末端执行器可以包括被配置用于剂量辐射种子近距离放射治疗注射的自动化低针递送装置。还有一种自动种子杂志，用于将种子输送到适于近距离放射治疗种子注射的针式输送装置中。

7. 发明授权

US08061262B2 Pneumatic stepper motor 有权
标题翻译：气动步进电机
公开(公告)号：US08061262B2
公开(公告)日：2011-11-22
申请号：US11359815
申请日：2006-02-22
申请人： Dan Stoianovici , Alexandru Patriciu , Dumitru Mazilu , Doru Petrisor , Louis R. Kavoussi
发明人： Dan Stoianovici , Alexandru Patriciu , Dumitru Mazilu , Doru Petrisor , Louis R. Kavoussi
IPC分类号： F16H47/04
CPC分类号： F01C1/10 , F16H1/32 , F16H35/00 , F16H2001/325 , F16H2001/327 , Y10T74/19
摘要： A stepper motor suitable for use in a medical imaging environment has (a) a cylindrical central gear having an external surface with circumferentially distributed and radially directed teeth, (b) a shaft for mounting the central gear such that it is constrained to move in rotational motion about its centerline, (c) a cylindrical hoop gear having a bore with an internal surface having circumferentially distributed and radially directed teeth, (d) level arm crank mechanisms for mounting the hoop gear such that it is constrained to move in translational-circular motion about the central gear's centerline, wherein this central gear is further configured to fit within the hoop gear's bore in such a manner that a plurality of the central gear and hoop gear teeth intermesh and cooperate so that the planetary movement of the hoop gear causes the central gear to rotate, and (e) piston mechanisms for applying a fluid pressure driven force to specified points on the hoop gear so as to cause its movement.
摘要翻译：适用于医疗成像环境的步进电机具有（a）圆柱形中心齿轮，其具有周向分布和径向指向的齿的外表面，（b）用于安装中心齿轮的轴，使得其被限制为旋转运动关于其中心线的运动，（c）具有孔的圆柱形环形齿轮，其内表面具有周向分布和径向指向的齿;（d）水平臂曲柄机构，用于安装环形齿轮，使得其被限制为平移圆形关于中央齿轮的中心线的运动，其中该中心齿轮进一步构造成以这样的方式配合在环形齿轮的孔中，使得多个中心齿轮和环形齿轮啮合并配合，使得环形齿轮的行星运动导致中心齿轮旋转，和（e）活塞机构，用于将流体压力驱动力施加到环形齿轮上的特定点，以使其m 流氓。

8. 发明申请

US20100234856A1 ROTATING NEEDLE DRIVER AND APPARATUSES AND METHODS RELATED THERETO 有权
标题翻译：旋转针驱动器及其相关方法及方法
公开(公告)号：US20100234856A1
公开(公告)日：2010-09-16
申请号：US12613180
申请日：2009-11-05
申请人： Dan Stoianovici , Doru Petrisor , Dumitru Mazilu , Alexandru Patriciu , Lucian Gheorghe Gruionu
发明人： Dan Stoianovici , Doru Petrisor , Dumitru Mazilu , Alexandru Patriciu , Lucian Gheorghe Gruionu
IPC分类号： A61B19/00
CPC分类号： A61B34/70 , A61B10/0233 , A61B34/30 , A61B90/11
摘要： Featured is a medical instrument driver, a robotic apparatus embodying such a medical instrument driver and methods related thereto for inserting a medical instrument into tissue of a mammal (e.g., human). Such medical instruments include medical needles, biopsy needles, trocars, cutters and introducers. Such a medical instrument driver according to the present invention is configured and arranged so that medical instrument is rotated as it is being moved longitudinally for insertion into the tissue such that the medical instrument is spiraling as it pierces and traverses the tissue to the target area.
摘要翻译：特征是医疗器械驱动器，体现这种医疗器械驱动器的机器人装置及其相关方法，用于将医疗器械插入哺乳动物（例如人）的组织中。这种医疗器械包括医用针，活检针，套管针，刀具和导引器。根据本发明的这种医疗器械驱动器被构造和布置成使得医疗器械被纵向移动以旋转以插入到组织中，使得医疗器械在穿刺和穿过组织到目标区域时螺旋形。

9. 发明申请

US20050214727A1 Device and method for medical training and evaluation 失效
标题翻译：医疗培训和评估的设备和方法
公开(公告)号：US20050214727A1
公开(公告)日：2005-09-29
申请号：US11075835
申请日：2005-03-08
申请人： Dan Stoianovici , Dumitru Mazilu , Alexandru Patriciu , Louis Kavoussi
发明人： Dan Stoianovici , Dumitru Mazilu , Alexandru Patriciu , Louis Kavoussi
IPC分类号： G09B23/28
CPC分类号： G09B23/28
摘要： A training and/or evaluating device is provided particularly useful in performing laparoscopic procedures, radiological procedures, and precise surgeries that simulates the structure and dynamic motion of the corresponding anatomical structure on which the procedure takes place. The device includes an outer housing, which may be designed to mimic the body wall, in which one or more organs are located. Motion of the organ(s), as a result of respiration, pulmonary action, circulation, digestion and other factors present in a live body, is simulated in the device so as to provide accurate dynamic motion of the organs during a procedure.
摘要翻译：提供训练和/或评估装置在执行腹腔镜手术，放射学程序和精确手术时特别有用，该手术模拟了在其上发生手术的相应解剖结构的结构和动态运动。该装置包括外壳，其可被设计成模仿一个或多个器官所在的身体壁。在器官中模拟器官的运动，由于呼吸，肺动作，循环，消化等存在于活体中的因素，从而在手术过程中提供器官的精确动态运动。

10. 发明授权

US08403675B2 Device and method for medical training and evaluation 失效
标题翻译：医疗培训和评估的设备和方法
公开(公告)号：US08403675B2
公开(公告)日：2013-03-26
申请号：US11075835
申请日：2005-03-08
申请人： Dan Stoianovici , Dumitru Mazilu , Alexandru Patriciu , Louis R. Kavoussi
发明人： Dan Stoianovici , Dumitru Mazilu , Alexandru Patriciu , Louis R. Kavoussi
IPC分类号： G09B23/28
CPC分类号： G09B23/28
摘要： A training and/or evaluating device is provided particularly useful in performing laparoscopic procedures, radiological procedures, and precise surgeries that simulates the structure and dynamic motion of the corresponding anatomical structure on which the procedure takes place. The device includes an outer housing, which may be designed to mimic the body wall, in which one or more organs are located. Motion of the organ(s), as a result of respiration, pulmonary action, circulation, digestion and other factors present in a live body, is simulated in the device so as to provide accurate dynamic motion of the organs during a procedure.
摘要翻译：提供训练和/或评估装置在执行腹腔镜手术，放射学程序和精确手术时特别有用，该手术模拟了在其上发生手术的相应解剖结构的结构和动态运动。该装置包括外壳，其可被设计成模仿一个或多个器官所在的身体壁。在器官中模拟器官的运动，由于呼吸，肺动作，循环，消化等存在于活体中的因素，从而在手术过程中提供器官的精确动态运动。

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