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1. 发明授权

US06840257B2 Proportional valve with shape memory alloy actuator 失效
标题翻译：比例阀与形状记忆合金执行机构
公开(公告)号：US06840257B2
公开(公告)日：2005-01-11
申请号：US10477625
申请日：2001-05-08
申请人： Paolo Dario , Maria Chiara Carrozza , Alberto Arena
发明人： Paolo Dario , Maria Chiara Carrozza , Alberto Arena
IPC分类号： F16K31/00 , G05D23/08 , F16K31/02
CPC分类号： G05D23/08 , F16K31/002 , Y10T137/0363 , Y10T137/0396 , Y10T137/7761
摘要： A proportional valve is disclosed for controlling the outlet pressure of a fluid flowing therethrough. The valve comprises a valve body having an inlet port and an outlet port for the fluid. The valve also has an inner chamber, within which there is formed a valve seat that may be opened and closed variably by a shutter axially movable from and towards the valve seat. Movement of the shutter is controlled by a shape memory alloy (SMA) actuating member operating antagonistically to an elastic member, the temperature of the fluid being lower than the transition temperature of the shape memory alloy. The actuating member and the elastic member are connected to the body valve at opposite sides relative to the valve seat. A power control circuit is also provided for circulating an electric current through the actuating member so as to heat the same by Joule effect from a temperature lower than the transition temperature to one that is higher. At least one vent hole is formed in the valve body for putting a portion of the chamber upstream of the valve seat into fluid communication with the outside or a collection network. The actuating member is housed in that portion of chamber corresponding to the inlet port of the fluid, whereby a continuous flow of fluid around the actuating member is ensured for accelerating the cooling process. A closed-loop control circuit for the power control circuit controls the circulating current as a function of a pressure signal generated by fluid pressure sensing means and in such a way as to offset the retarding effect produced by the fluid during heating of the actuating member.
摘要翻译：公开了一种用于控制流过其中的流体的出口压力的比例阀。该阀包括具有用于流体的入口和出口的阀体。该阀还具有一个内室，在该内腔中形成一个阀座，该阀座可以通过可从阀座轴向移动的闸门来可变地打开和关闭。快门的移动由与弹性构件相对操作的形状记忆合金（SMA）致动构件控制，流体的温度低于形状记忆合金的转变温度。致动构件和弹性构件相对于阀座在相对侧连接到主体阀。还提供功率控制电路，用于使电流循环通过致动构件，以便通过焦耳效应从低于转变温度的温度加热到更高的温度。在阀体中形成至少一个通气孔，用于将腔室的一部分在阀座的上游与外部或收集网络流体连通。致动构件容纳在对应于流体的入口的室的那部分中，由此确保围绕致动构件的连续的流体流以加速冷却过程。用于功率控制电路的闭环控制电路根据由流体压力检测装置产生的压力信号来控制循环电流，并且以这样一种方式抵消由致动构件加热期间流体产生的阻滞效应。

2. 发明授权

US08704413B2 Electromagnetic step-by-step wobble-type micromotor 有权
标题翻译：电磁逐步摇摆式微电机
公开(公告)号：US08704413B2
公开(公告)日：2014-04-22
申请号：US13121129
申请日：2009-09-28
申请人： Cesare Stefanini , Paolo Dario , Maria Chiara Carrozza , Sarah De Cristofaro
发明人： Cesare Stefanini , Paolo Dario , Maria Chiara Carrozza , Sarah De Cristofaro
IPC分类号： H02K37/02 , H02K37/00 , H02K7/10
CPC分类号： H02K33/12 , H02K37/06 , H02K41/065
摘要： An electromagnetic step-by-step wobbling micromotor comprises an inner component and an annular component being external to the inner one. The outer component may be a stator and the inner component a rotor, or vice versa. The inner component has three or more poles with a winding on each pole, and an external surface facing an internal surface of the outer component. During the operation of the micromotor each winding is powered. The external and internal surfaces have toothed surfaces. Each tooth has a peak radius which is different from the valley radius.
摘要翻译：电磁逐步摆动微电机包括内部部件和在内部组件外部的环形部件。外部部件可以是定子，内部部件可以是转子，反之亦然。内部部件具有三个或更多个极，每个极上具有绕组，以及面向外部部件的内表面的外表面。在微电机的操作期间，每个绕组被供电。外表面和内表面都有齿面。每个齿的峰值半径不同于谷半径。

3. 发明授权

US5906591A Endoscopic robot 失效
标题翻译：内镜机器人
公开(公告)号：US5906591A
公开(公告)日：1999-05-25
申请号：US967306
申请日：1997-10-21
申请人： Paolo Dario , Maria Chiara Carrozza , Andrea Pietrabissa , Bernardo Magnani , Lucia Lencioni
发明人： Paolo Dario , Maria Chiara Carrozza , Andrea Pietrabissa , Bernardo Magnani , Lucia Lencioni
IPC分类号： A61B1/00 , A61B1/01 , A61B17/00 , A61B19/00 , A61M25/01 , A61M25/04 , A61M37/00 , A61B1/22
CPC分类号： A61B1/00151 , A61B1/12 , A61B17/00234 , A61B34/30 , A61B2017/00345 , A61B2034/303 , A61M25/0116 , A61M25/04
摘要： An endoscopic robot (1), designed for being inserted into a body cavity (C)f a patient and advanced therein in a prefixed direction (A) with a so-called inchworm-like motion, comprising a variable length segment (2) and aspiration means (12, 13) for selectively producing a pneumatic vacuum (V) between the robot (1) and the body cavity (C) at the robot ends (3, 4) sufficient to produce a substantial anchorage to the body cavity walls, thereby allowing the inchworm-like motion and avoiding, at the same time, any pushing action against the body cavity walls which causes discomfort and pain to the patient.
摘要翻译：一种内窥镜机器人（1），其被设计成插入到患者的体腔（C）中并且以预定的方向（A）以所谓的蚯蚓状运动推进，包括可变长度段（2）和用于在机器人端（3,4）处选择性地在机器人（1）和体腔（C）之间产生气动真空（V）的抽吸装置（12,13），其足以产生对体腔壁的实质锚固，从而允许类似蚯蚓的运动，并且同时避免对身体腔壁施加任何推动作用，从而对患者造成不适和疼痛。

4. 发明申请

US20110210627A1 ELECTROMAGNETIC STEP-BY-STEP WOBBLE-TYPE MICROMOTOR 有权
标题翻译：电磁级逐步型微型电机
公开(公告)号：US20110210627A1
公开(公告)日：2011-09-01
申请号：US13121129
申请日：2009-09-28
申请人： Cesare Stefanini , Paolo Dario , Maria Chiara Carrozza , Sarah De Cristofaro
发明人： Cesare Stefanini , Paolo Dario , Maria Chiara Carrozza , Sarah De Cristofaro
IPC分类号： H02K37/02 , H02K15/00
CPC分类号： H02K33/12 , H02K37/06 , H02K41/065
摘要： An electromagnetic step-by-step wobbling micromotor comprises an inner component and an annular component being external to the inner one. The outer component may be a stator and the inner component a rotor, or vice versa. The inner component has three or more poles with a winding on each pole, and an external surface facing an internal surface of the outer component. During the operation of the micromotor each winding is powered. The external and internal surfaces have toothed surfaces. Each tooth has a peak radius which is different from the valley radius.
摘要翻译：电磁逐步摆动微电机包括内部部件和在内部组件外部的环形部件。外部部件可以是定子，内部部件可以是转子，反之亦然。内部部件具有三个或更多个极，每个极上具有绕组，以及面向外部部件的内表面的外表面。在微电机的操作期间，每个绕组被供电。外表面和内表面都有齿面。每个齿的峰值半径不同于谷半径。

5. 发明申请

US20070179339A1 Self-propelled endoscopic device 有权
标题翻译：自走式内窥镜装置
公开(公告)号：US20070179339A1
公开(公告)日：2007-08-02
申请号：US11607754
申请日：2006-11-30
申请人： Samuele Gorini , Alberto Arena , Giuseppe Pemorio , Arianna Menciassi , Paolo Dario
发明人： Samuele Gorini , Alberto Arena , Giuseppe Pemorio , 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 body cavity with a predetermined direction, the device comprising a tubular body constructed of a relatively elastic material that extends between two, preferably, the front and rear, end portions, respectively. The tubular body 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 tubular body. The tubular 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：一种用于通过具有预定方向的体腔自主运动的内窥镜装置，所述装置包括由相对弹性材料构成的管状体，所述管状体分别在两个，优选地，前端和后端部之间延伸。管状体包括用于临时并交替地将端部附接到体腔的壁部分的锚固件，与管状体的相应轴向延伸部和收缩同步。管状体包括沿其长度分布的加强结构，该加强结构在径向方向上基本上是刚性的，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。

6. 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。

7. 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。

8. 发明授权

US06939291B2 Endoscopic device for locomotion through the gastro-intestinal tract 有权
标题翻译：内窥镜装置通过胃肠道运动
公开(公告)号：US06939291B2
公开(公告)日：2005-09-06
申请号：US10469340
申请日：2001-02-28
申请人： Louis Phee Soo Jay , Alberto Arena , Arianna Menciassi , Paolo Dario
发明人： Louis Phee Soo Jay , Alberto Arena , Arianna Menciassi , Paolo Dario
IPC分类号： A61B1/00 , A61M25/01 , A61M25/08 , A61B1/04
CPC分类号： A61B1/00151 , A61B1/015 , A61M25/0116
摘要： An endoscopic device for locomotion in a body cavity according to a prefixed advancing direction (A) comprising at least a variable length intermediate section (1a, 21a) extending between a front end section (1b, 21b) and a rear end section (1c, 21c). First and second clamping means (7, 12, 27, 32) are integral to the front and rear section, for alternately grasping respective surrounding portions of wall (P) of the body cavity. Sucking means (13, 14, 37, 38) are associated to the first and second clamping means for creating a depression sufficient to cause the body cavity wall portions to collapse within the first and second clamping means while they are in an open condition. Means for actuating alternate extensions and retractions of the intermediate section and actuating means (6, 11, 26, 31) of the first and second clamping means are further provides for synchronous operation to generate a forward motion of the rear end section due to a retraction of the intermediate section, the wall portion (P) surrounding the first clamping means being firmly held therebetween, and to generate a forward motion of the front end section due to an extension of the intermediate section, the wall portion (P) surrounding the second clamping means being firmly held therebetween.
摘要翻译：一种用于根据预定行进方向（A）在体腔中运动的内窥镜装置，包括至少一个在前端部分（1b，21b）和后端部分（1b）之间延伸的可变长度的中间部分（1a，21a）部分（1c，21c）。第一和第二夹紧装置（7,12,27,32）与前部和后部成一体，用于交替地夹持体腔的相应的围绕部分（P）的部分。吸入装置（13,14,37,38）与第一和第二夹紧装置相关联，用于产生足够的凹陷，以使其在第一和第二夹持装置处于打开状态时使体腔壁部分在第一和第二夹紧装置内折叠。用于致动中间部分的交替延伸和缩回以及第一和第二夹持装置的致动装置（6,11,26,31）的装置进一步提供同步操作以产生后端部分由于缩回而向前的运动中间部分的周围的壁部（P）被牢固地保持在其间，并且由于中间部分的延伸而产生前端部分的向前运动，围绕第二夹持装置的壁部分（P）夹紧装置牢固地保持在其间。

9. 发明申请

US20140083230A1 ROBOT HAVING SOFT ARMS FOR LOCOMOTION AND GRIP PURPOSES 有权
标题翻译：机器人具有用于机车和车辆用途的软臂
公开(公告)号：US20140083230A1
公开(公告)日：2014-03-27
申请号：US14114833
申请日：2012-05-02
申请人： Marcello Calisti , Andrea Arienti , Michele Giorelli , Barbara Mazzolai , Cecilia Laschi , Paolo Dario
发明人： Marcello Calisti , Andrea Arienti , Michele Giorelli , Barbara Mazzolai , Cecilia Laschi , Paolo Dario
IPC分类号： B25J18/06
CPC分类号： B25J18/06 , B25J9/104 , B25J15/12 , Y10S901/21 , Y10T74/20323
摘要： A robot having an overall structure inspired by the Octopus vulgaris is described. The robot has soft arms joined in a radial manner to a central support. The soft arms have the capability of lengthening, shortening and wrapping around in a coil-shape manner. The extremely simple movements and coordination of the soft arms are effective because of the interaction between the single actions. For example during locomotion, while some arms act as a support for stability, the others provide for thrusting allowing the robot to advance. Once near the target, some arms provide for stability whereas the others can bend so as to wrap around and transport external entities.
摘要翻译：描述了具有由章鱼寻找的整体结构的机器人。机器人具有以径向方式连接到中央支撑件的软臂。软臂具有以线圈形式延长，缩短和缠绕的能力。由于单一动作之间的相互作用，软武器的极其简单的运动和协调是有效的。例如在运动过程中，虽然一些武器作为对稳定性的支持，但是其他的则提供了允许机器人前进的推力。一旦靠近目标，一些武器提供稳定性，而其他武器可以弯曲，以便包裹和运输外部实体。

10. 发明授权

US08401825B2 Methods and systems for data processing and their applications 有权
标题翻译：数据处理方法和系统及其应用
公开(公告)号：US08401825B2
公开(公告)日：2013-03-19
申请号：US12675650
申请日：2008-08-28
申请人： Luca Ascari , Ulisse Bertocchi , Paolo Corradi , Cecilia Laschi , Paolo Dario , Jonas Ambeck-Madsen , Hiromichi Yanagihara
发明人： Luca Ascari , Ulisse Bertocchi , Paolo Corradi , Cecilia Laschi , Paolo Dario , Jonas Ambeck-Madsen , Hiromichi Yanagihara
IPC分类号： G06F11/00
CPC分类号： B25J13/083 , B25J9/1612 , G05B2219/39505
摘要： A method (400) of processing signal outputs of a plurality of topologically distinct sensors in response to stimuli is described. The method comprises obtaining (402) a plurality of temporal sensor outputs in parallel. Thereafter, features are extracted (406), the features having dynamic behavior pattern. The extraction is performed in a topology consistent way by arithmetic processing in parallel of neighboring temporal sensor outputs. Furthermore, a quality of the extracted features is being determined.
摘要翻译：描述了响应于刺激处理多个拓扑不同的传感器的信号输出的方法（400）。该方法包括并行地获得（402）多个时间传感器输出。此后，提取特征（406），特征具有动态行为模式。通过相邻时间传感器输出并行的算术处理，以拓扑一致的方式执行提取。此外，正在确定提取的特征的质量。

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