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1. 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。

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

US07021173B2 Remote center of motion robotic system and method 有权
公开(公告)号：US07021173B2
公开(公告)日：2006-04-04
申请号：US10359284
申请日：2003-02-06
申请人： Dan Stoianovici , Louis L. Whitcomb , Dumitru Mazilu , Russell H. Taylor , Louis R. Kavoussi
发明人： Dan Stoianovici , Louis L. Whitcomb , Dumitru Mazilu , Russell H. Taylor , Louis R. Kavoussi
IPC分类号： B25J17/00
CPC分类号： B25J18/007 , A61B34/30 , A61B34/71 , A61B2034/305 , A61B2034/715 , A61B2090/506 , B25J9/06 , B25J9/102 , B25J9/104 , B25J17/025 , Y10T74/20317 , Y10T74/20323 , Y10T74/20329
摘要： A remote center of motion robotic system including a base unit and a plurality of linking units. The base unit is rotatable about a first axis. The plurality of linking units are coupled with one another. At least two of the linking units are kept parallel to each another during motion. The plurality of linking units are coupled with that base unit at a first end. The plurality of linking units are rotatable about a second axis by changing an angle between each of the plurality of links.

4. 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.

5. 发明授权

US07822466B2 Robot for computed tomography interventions 有权
标题翻译：机器人计算机断层扫描干预
公开(公告)号：US07822466B2
公开(公告)日：2010-10-26
申请号：US10423028
申请日：2003-04-25
申请人： Dan Stoianovici , Dumitru Mazilu , Louis R. Kavoussi
发明人： Dan Stoianovici , Dumitru Mazilu , Louis R. Kavoussi
IPC分类号： A61B5/05
CPC分类号： A61B34/30 , A61B34/70 , A61B90/11 , A61B2017/3409 , A61B2090/372 , A61B2090/506 , Y10T74/20207
摘要： A system and method for CT guided instrument targeting including a radiolucent instrument driver; a robot and a control box. The robot includes a robotic module that positions the radiolucent driver about two directions coincident a predetermined point. The control device is connected to the robot and the radiolucent instrument driver. The control driver sends a robot control signal to the robot that causes the robotic module to place the radiolucent instrument driver in a desired orientation with respect to the predetermined point. After the radiolucent instrument driver is in the desired orientation, the control device sends a driver control signal to the radiolucent instrument driver that causes the radiolucent driver to insert a medical instrument or device through the predetermined point to a location proximate a target point in a patient.
摘要翻译： CT导引仪器瞄准的系统和方法，包括射线透射仪器驱动器; 机器人和控制箱。该机器人包括一个机器人模块，该机器人模块将射线可触发驱动器的两个方向定位成与预定点一致。控制装置连接到机器人和射线可透过性仪器驱动器。控制驱动器向机器人发送机器人控制信号，该机器人控制信号使机器人模块相对于预定点将射线可透过器械驱动器放置在期望的方位。在射线可透过性仪器驱动器处于所需的方向之后，控制装置向射线可透过器械驱动器发送驱动器控制信号，该驱动器控制信号使得射线可透过性驱动器将医疗器械或器件通过预定点插入患者的目标点附近的位置。

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

US07086309B2 Planetary-harmonic motor 有权
标题翻译：行星谐波电机
公开(公告)号：US07086309B2
公开(公告)日：2006-08-08
申请号：US10666213
申请日：2003-09-18
申请人： Dan Stoianovici , Louis R. Kavoussi
发明人： Dan Stoianovici , Louis R. Kavoussi
IPC分类号： F16H33/00
CPC分类号： F03C1/04 , F16H49/001 , Y10T74/19
摘要： A motor suitable for use in a medical imaging environment has (a) a centrally located means for actuating a radial wave, (b) a deformable flexspline having an inner surface and a toothed outer surface with a first specified number of teeth, and (c) a circular spline having a toothed inner surface with a second specified number of teeth which is different than the first specified number of teeth in the flexspline, wherein the actuation means is operable so that the action of its radial wave causes at least one of the flexspline teeth to engage at a point the toothed side of the circular spline in such a manner that an engagement point passes as a wave around the inner perimeter of the circular spine, with the movement of this engagement point causing the flexspline to rotate around its central axis.
摘要翻译：适用于医学成像环境的电动机具有（a）用于致动径向波的居中定位的装置，（b）具有内表面和具有第一指定数量齿的齿形外表面的可变形弹性线，（c ）圆形花键，其具有齿形内表面，具有与所述柔性线中的所述第一指定数量的齿不同的第二指定数量的齿，其中所述致动装置可操作，使得其径向波的作用导致挠性齿齿以圆形花键的齿面接合在一点上，使得接合点作为围绕圆脊脊的内周边的波而通过，随着该接合点的运动使得柔性线绕其中心旋转轴。

8. 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。

9. 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。

10. 发明申请

US20100240989A1 ROBOT FOR COMPUTED TOMOGRAPHY INTERVENTIONS 有权
标题翻译：机器人计算机图像干预
公开(公告)号：US20100240989A1
公开(公告)日：2010-09-23
申请号：US10423028
申请日：2003-04-25
申请人： Dan Stoianovici , Dumitru Mazilu , Louis R. Kavoussi
发明人： Dan Stoianovici , Dumitru Mazilu , Louis R. Kavoussi
IPC分类号： A61B5/05
CPC分类号： A61B34/30 , A61B34/70 , A61B90/11 , A61B2017/3409 , A61B2090/372 , A61B2090/506 , Y10T74/20207
摘要： A system and method for CT guided instrument targeting including a radiolucent instrument driver; a robot and a control box. The robot includes a robotic module that positions the radiolucent driver about two directions coincident a predetermined point. The control device is connected to the robot and the radiolucent instrument driver. The control driver sends a robot control signal to the robot that causes the robotic module to place the radiolucent instrument driver in a desired orientation with respect to the predetermined point. After the radiolucent instrument driver is in the desired orientation, the control device sends a driver control signal to the radiolucent instrument driver that causes the radiolucent driver to insert a medical instrument or device through the predetermined point to a location proximate a target point in a patient.
摘要翻译： CT导引仪器瞄准的系统和方法，包括射线透射仪器驱动器; 机器人和控制箱。该机器人包括一个机器人模块，该机器人模块将射线可触发驱动器的两个方向定位成与预定点一致。控制装置连接到机器人和射线可透过性仪器驱动器。控制驱动器向机器人发送机器人控制信号，该机器人控制信号使机器人模块相对于预定点将射线可透过器械驱动器放置在期望的方位。在射线可透过性仪器驱动器处于所需方向之后，控制装置向射线可透过器械驱动器发送驱动器控制信号，该驱动器控制信号使得射线可透过驱动器将医疗器械或装置通过预定点插入患者的目标点附近的位置。

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