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1. 发明授权

US08066632B2 Teleoperated endoscopic capsule equipped with active locomotion system 有权
标题翻译：远程手术内窥镜胶囊配有主动运动系统
公开(公告)号：US08066632B2
公开(公告)日：2011-11-29
申请号：US10598043
申请日：2005-02-17
申请人： Paolo Dario , Arianna Menciassi , Cesare Stefanini , Samuele Gorini , Giuseppe Pernorio , Dino Accoto
发明人： Paolo Dario , Arianna Menciassi , Cesare Stefanini , Samuele Gorini , Giuseppe Pernorio , Dino Accoto
IPC分类号： A61B1/00 , A61B1/04
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，其在动物体腔内部，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。

2. 发明申请

US20080091070A1 Teleoperated Endoscopic Capsule Equipped With Active Locomotion System 有权
标题翻译：电动内窥镜胶囊配备有活动的运动系统
公开(公告)号：US20080091070A1
公开(公告)日：2008-04-17
申请号：US10598043
申请日：2005-02-17
申请人： Paolo Dario , Arianna Menciassi , Cesare Stefanini , Samuele Gorini , Giuseppe Pernorio , Dino Accoto
发明人： Paolo Dario , Arianna Menciassi , Cesare Stefanini , Samuele Gorini , Giuseppe Pernorio , Dino Accoto
IPC分类号： A61B1/00
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，其在动物体腔内部，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. 发明授权

US08684911B2 Self-propelled endoscopic device 有权
标题翻译：自走式内窥镜装置
公开(公告)号：US08684911B2
公开(公告)日：2014-04-01
申请号：US11607754
申请日：2006-11-30
申请人： Samuele Gorini , Alberto Arena , Giuseppe Pernorio , Arianna Menciassi , Paolo Dario
发明人： Samuele Gorini , Alberto Arena , Giuseppe Pernorio , Arianna Menciassi , Paolo Dario
IPC分类号： A61B1/00
CPC分类号： A61B1/00156 , A61B1/00094 , A61B1/31 , A61M25/0116
摘要： An endoscopic device for autonomous locomotion through a selected body cavity in a predetermined direction, the device comprising a hollowed, cylindrical body that extends between two, preferably, the front and rear, end portions, respectively. The body is made of a relatively elastic material and includes an anchor for temporarily and alternately attaching the end portions to a wall portion of the body cavity in synch with corresponding axial extensions and contractions of the body. The body incorporates a reinforcement structure distributed along its length that is substantially rigid in a radial direction and yields in an axial direction, the structure specifically comprising either a plurality of relatively rigid rings or at least one helical spring.
摘要翻译：一种内窥镜装置，用于通过预定方向上的选定体腔自主运动，所述装置包括分别在两个，优选地，前端和后端部分之间延伸的中空的圆柱形主体。主体由相对弹性材料制成并且包括用于临时并交替地将端部附接到体腔的壁部的锚固件，与主体的相应的轴向延伸和收缩同步。主体包括沿其长度分布的加强结构，其沿径向方向基本上是刚性的，并且沿轴向方向产生，该结构具体包括多个相对刚性的环或至少一个螺旋弹簧。

4. 发明申请

US20070249906A1 Self-propelled endoscopic device with anchor system 审中-公开
标题翻译：自走内窥镜装置与锚系统
公开(公告)号：US20070249906A1
公开(公告)日：2007-10-25
申请号：US11648011
申请日：2006-12-28
申请人： Samuele Gorini , Alberto Arena , Giuseppe Pernorio , Arianna Menciassi , Paolo Dario
发明人： Samuele Gorini , Alberto Arena , Giuseppe Pernorio , Arianna Menciassi , Paolo Dario
IPC分类号： A61B1/005
CPC分类号： A61B1/00156 , A61B1/00094 , A61B1/31
摘要： A self-propelled endoscopic device with anchor system, comprising a tubular body of variable length extending between front end and rear end sections with respective anchors for securing the ends, temporarily and alternately, to a wall of a body cavity in synch with corresponding axial contractions and elongations of the tubular body that result from injection of compressed air and, hence, creation of a vacuum therein. Also provided is a pneumatic actuator of a mobile jaw of the anchors sliding axially on a multichannel support, wherein at least one suction hole is formed for generating a vacuum suitable for drawing surrounding tissue of the body cavity into the anchors. A relatively evenly perforated diaphragm is placed, coaxially with the support, at the suction hole and in a spaced relationship from the surface of the support, the width of the perforations being generally smaller than that of the suction hole.
摘要翻译：一种具有锚固系统的自推进式内窥镜装置，包括可变长度的管状体，其在前端部分和后端部分之间延伸，具有相应的锚固件，用于将端部临时并交替地固定到与相应的轴向收缩同步的体腔壁以及由注射压缩空气引起的管状体的伸长，从而在其中产生真空。还提供了一种气动致动器，其中锚固件的移动夹爪在多通道支撑件上轴向滑动，其中形成至少一个吸入孔，用于产生适于将体腔周围组织拉入锚固件的真空。相对均匀的穿孔隔膜与支撑件同轴地放置在吸入孔处并且与支撑件的表面以间隔开的方式放置，穿孔的宽度通常小于吸入孔的宽度。

5. 发明授权

US08663159B2 Endoscopic device 有权
标题翻译：内窥镜装置
公开(公告)号：US08663159B2
公开(公告)日：2014-03-04
申请号：US13139070
申请日：2008-12-10
申请人： Samuele Gorini , Giuseppe Pernorio , Alberto Arena
发明人： Samuele Gorini , Giuseppe Pernorio , Alberto Arena
IPC分类号： A61B1/00 , A61M31/00
CPC分类号： A61M25/0122 , A61B1/00156 , A61B1/0055 , A61B1/31
摘要： An endoscopic device capable of autonomous locomotion through a body cavity in a pre-established direction of displacement is described. The endoscopic device comprises a tubular body that extends between a front end portion and a rear end portion and a reinforcement structure distributed along the length of the tubular body. Each end portion includes an anchoring means for temporarily and alternately attaching the end portions to a wall of the body cavity.
摘要翻译：描述了能够以预先确定的位移方向通过体腔自主运动的内窥镜装置。内窥镜装置包括在前端部和后端部之间延伸的管状体和沿管状体的长度分布的加强结构。每个端部包括用于暂时且交替地将端部附接到体腔的壁的锚固装置。

6. 发明申请

US20110245613A1 ENDOSCOPIC DEVICE 有权
标题翻译：内窥镜装置
公开(公告)号：US20110245613A1
公开(公告)日：2011-10-06
申请号：US13139070
申请日：2008-12-10
申请人： Samuele Gorini , Giuseppe Pernorio , Alberto Arena
发明人： Samuele Gorini , Giuseppe Pernorio , Alberto Arena
IPC分类号： A61B1/00
CPC分类号： A61M25/0122 , A61B1/00156 , A61B1/0055 , A61B1/31
摘要： An endoscopic device capable of autonomous locomotion through a body cavity with a pre-established direction of displacement, comprising a tubular body (1) made of an elastic material extending between two, front (2) and rear (3) end portions respectively comprising pneumatically actuated anchoring means (4) for temporarily and alternately attaching said end portions to the wall of the body cavity in synchronism with corresponding axial extensions and contractions of the tubular body. The tubular body incorporates a reinforcement structure (6, 7) distributed along its length that is substantially rigid in the radial direction and yielding in the axial direction. The tubular body wall is formed by superimposed inner (9) and outer (10) layers, the reinforcement structure being incorporated therebetween. Through openings (11, 12, 13) are formed on the outer layer for allowing air possibly entered between the inner layer and the outer layer from the inside of the tubular body to be discharged to the outside.
摘要翻译：一种内窥镜装置，其能够通过具有预先确定的位移方向的体腔进行自主运动，所述内窥镜装置包括由弹性材料制成的管状体（1），所述管状体在两个前部（2）和后部（3）端部之间分别包括气动致动的锚固装置（4），用于与管状体的对应的轴向延伸和收缩同步地暂时且交替地将所述端部附接到体腔的壁。管状体包括沿其长度分布的加强结构（6,7），该加强结构在径向上基本上是刚性的并且在轴向上产生。管状体壁由叠加的内部（9）和外部（10）层形成，加强结构被结合在其间。通过开口（11,12,13）形成在外层上，用于允许从管状体的内部可能进入内层和外层之间的空气排出到外部。

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