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1. 发明授权

US07509886B2 Mechanical structure providing six degrees of freedom 有权
标题翻译：机械结构提供六个自由度
公开(公告)号：US07509886B2
公开(公告)日：2009-03-31
申请号：US10991644
申请日：2004-11-08
申请人： Ronen Ben Horin , Moshe Shoham , Hagay Bamberger
发明人： Ronen Ben Horin , Moshe Shoham , Hagay Bamberger
IPC分类号： B25J17/00
CPC分类号： B25J17/0266 , B25J7/00 , B25J9/0015 , Y10T74/20305 , Y10T74/20329
摘要： The invention relates to a mechanical structure which provides motion in six degrees of freedom, which comprises: (a) a main plate; (b) a base; (c) at least three supporting structures, each comprising a lower, bridge-like section supported by the base, and an upper section connected to said bridge section and to said main plate, wherein: (I) said bridge-like structure comprising two supporting plates, two intermediate plates, and one middle plate, all being serially connected one to another by means of four transversal hinges; (II) each pair of said supporting plates being slidable in linear displacement parallel to the base; (III) said upper section comprising two plates, a lower plate connected to said middle plate by means of a hinge transversal to said lower plate but longitudinal with respect to said middle plate, and an upper plate connected to said lower plate by means of a longitudinal hinge and to said main plate by means of a transversal hinge; (d) At least six linear motors connected each to a corresponding supporting plate, for applying a force thereon in order to effect a linear displacement of said plate; and (e) control means for determining the linear displacement of each linear motor.
摘要翻译：本发明涉及提供六自由度运动的机械结构，其包括：（a）主板; （b）基地; （c）至少三个支撑结构，每个支撑结构包括由基座支撑的下部桥状部分，以及连接到所述桥接部分和所述主板的上部部分，其中：（I）所述桥状结构包括两个支撑板，两个中间板和一个中间板，均通过四个横向铰链彼此串联连接; （II）每对所述支撑板可平行于所述底座的线性位移滑动; （III），所述上部部分包括两个板，下板通过横向于所述下板的铰链而相对于所述中间板纵向连接到所述中间板，并且上板通过连接到所述下板的上板纵向铰链，并通过横向铰链连接到所述主板; （d）至少六根线性电动机，每个至少连接到相应的支撑板上，用于在其上施加力以便实现所述板的线性位移; 和（e）用于确定每个线性电动机的线性位移的控制装置。

2. 发明申请

US20050132837A1 Mechanical structure providing six degrees of freedom 有权
标题翻译：机械结构提供六个自由度
公开(公告)号：US20050132837A1
公开(公告)日：2005-06-23
申请号：US10991644
申请日：2004-11-18
申请人： Ronen Ben Horin , Moshe Shoham , Hagay Bamberger
发明人： Ronen Ben Horin , Moshe Shoham , Hagay Bamberger
IPC分类号： B25J7/00 , B25J17/02 , B25J17/00
CPC分类号： B25J17/0266 , B25J7/00 , B25J9/0015 , Y10T74/20305 , Y10T74/20329
摘要： The invention relates to a mechanical structure which provides motion in six degrees of freedom, which comprises: (a) a main plate; (b) a base; (c) at least three supporting structures, each comprising a lower, bridge-like section supported by the base, and an upper section connected to said bridge section and to said main plate, wherein: (I) said bridge-like structure comprising two supporting plates, two intermediate plates, and one middle plate, all being serially connected one to another by means of four transversal hinges; (II) each pair of said supporting plates being slidable in linear displacement parallel to the base; (III) said upper section comprising two plates, a lower plate connected to said middle plate by means of a hinge transversal to said lower plate but longitudinal with respect to said middle plate, and an upper plate connected to said lower plate by means of a longitudinal hinge and to said main plate by means of a transversal hinge; (d) At least six linear motors connected each to a corresponding supporting plate, for applying a force thereon in order to effect a linear displacement of said plate; and (e) control means for determining the linear displacement of each linear motor.
摘要翻译：本发明涉及提供六自由度运动的机械结构，其包括：（a）主板; （b）基地; （c）至少三个支撑结构，每个支撑结构包括由基座支撑的下部桥状部分，以及连接到所述桥接部分和所述主板的上部部分，其中：（I）所述桥状结构包括两个支撑板，两个中间板和一个中间板，均通过四个横向铰链彼此串联连接; （II）每对所述支撑板可平行于所述底座的线性位移滑动; （III），所述上部部分包括两个板，下板通过横向于所述下板的铰链而相对于所述中间板纵向连接到所述中间板，并且上板通过连接到所述下板的上板纵向铰链，并通过横向铰链连接到所述主板; （d）至少六根线性电动机，每个至少连接到相应的支撑板上，用于在其上施加力以便实现所述板的线性位移; 和（e）用于确定每个线性电动机的线性位移的控制装置。

3. 发明授权

US09510959B2 Stent for restenosis prevention 有权
标题翻译：支架用于再狭窄预防
公开(公告)号：US09510959B2
公开(公告)日：2016-12-06
申请号：US14008556
申请日：2012-03-28
申请人： Moshe Shoham , Amit Reches , Lucy Leshansky , Michael Groskop , Shachar Millis , Yishai Pentanovich
发明人： Moshe Shoham , Amit Reches , Lucy Leshansky , Michael Groskop , Shachar Millis , Yishai Pentanovich
IPC分类号： A61F2/852 , A61F2/91 , A61F2/30 , A61F2/06 , A61F2/07 , A61B17/00
CPC分类号： A61F2/852 , A61B2017/00411 , A61F2/06 , A61F2/07 , A61F2/91 , A61F2002/30079 , A61F2210/0076 , A61F2210/009 , A61F2230/0054
摘要： A device for use in reducing or preventing the occurrence of restenosis following procedures such as PTCA, in which a stent is used to hold a bodily lumen open. The device comprises a two layered stent, one lying within the other. Both stent layers have an open weave structure, such that they can expand to the correct dimensions after implantation. The outer stent layer is static and grips the inner wall of the lumen in which it is deployed in the usual manner. The inner layer stent is constructed such that it can be vibrated relative to the outer static stent layer. The inner layer stent may be made of a material which can be vibrated from an external source, such as a ferromagnetic material. This vibration prevents restenosis of the treated lumen. Alternatively, a vibrator, such as a piezoelectric device, can be installed on the inner stent layer.
摘要翻译：一种用于减少或预防再狭窄发生的装置，其中PTCA等方法使用支架来保持体腔开放。该装置包括两层支架，一个位于另一个中。两个支架层具有开放的编织结构，使得它们可以在植入后扩展到正确的尺寸。外支架层是静态的，并以通常的方式夹紧其内部部分的内壁。内层支架被构造成能够相对于外部静态支架层振动。内层支架可以由可以从诸如铁磁材料的外部源振动的材料制成。这种振动可防止经处理的管腔再狭窄。或者，可以在内支架层上安装诸如压电装置的振动器。

4. 发明授权

US08348861B2 Controlled steering of a flexible needle 有权
标题翻译：柔性针的控制转向
公开(公告)号：US08348861B2
公开(公告)日：2013-01-08
申请号：US12303456
申请日：2007-06-05
申请人： Daniel Glozman , Moshe Shoham
发明人： Daniel Glozman , Moshe Shoham
IPC分类号： A61B5/103
CPC分类号： A61B17/3478 , A61B17/3403 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2034/102 , A61B2034/107 , A61B2034/2051 , A61B2034/304 , A61B2090/376
摘要： A robotic system for steering a flexible needle during insertion into soft-tissue using imaging to determine the needle position. The control system calculates a needle tip trajectory that hits the desired target while avoiding potentially dangerous obstacles en route. Using an inverse kinematics algorithm, the maneuvers required of the needle base to cause the tip to follow this trajectory are calculated, such that the robot can perform controlled needle insertion. The insertion of a flexible needle into a deformable tissue is modeled as a linear beam supported by virtual springs, where the stiffness coefficients of the springs varies along the needle. The forward and inverse kinematics of the needle are solved analytically, enabling both path planning and correction in real-time. The needle shape is detected by image processing performed on fluoroscopic images. The stiffness properties of the tissue are calculated from the measured shape of the needle.
摘要翻译：一种机器人系统，用于在插入软组织期间使用成像确定针位置来转向柔性针。控制系统计算点击所需目标的针尖轨迹，同时避免在途中潜在的危险障碍物。使用逆运动学算法，计算针座所需的使尖端跟随该轨迹的动作，使得机器人可以执行受控针插入。将柔性针插入可变形组织中被建模为由虚拟弹簧支撑的线性梁，其中弹簧的刚度系数沿着针头变化。分析解决了针的正向和反向运动学，实现了路径规划和校正。通过在荧光镜图像上进行的图像处理来检测针形状。根据针的测量形状计算组织的刚度特性。

5. 发明授权

US08317688B2 Multi-view endoscopic imaging system 有权
标题翻译：多视图内窥镜成像系统
公开(公告)号：US08317688B2
公开(公告)日：2012-11-27
申请号：US12739746
申请日：2008-10-26
申请人： Daniel Glozman , Noam Hassidov , Moshe Shoham
发明人： Daniel Glozman , Noam Hassidov , Moshe Shoham
IPC分类号： A61B1/06
CPC分类号： A61B1/05 , A61B1/00096 , A61B1/00177 , A61B1/00181 , A61B1/00183 , A61B1/0615 , A61B1/0623 , G02B23/2461 , H04N2005/2255
摘要： Endoscopic illumination and imaging systems for enabling observation of both the forward and rearward directions in a lumen using only a single imaging device. According to one implementation, the system utilizes the effects of a partially reflective mirror to respectively transmit and reflect light from the different portions of the lumen or cavity, and uses separate groups of illumination sources to illuminate one or the other section of the lumen, such that the illuminated section is preferentially imaged by virtue of its increased light level. In a second implementation, electrically switched mirrors are used, having properties switched between a transmissive and a partially reflective state, such that the mirror can be switched between imaging the regions forward of the camera when in a transmissive state, and imaging the regions rearward of the camera when in a reflective state. A mechanically swiveled mirror is described for the same purpose.
摘要翻译：内窥镜照明和成像系统，用于仅使用单个成像装置即可在内腔中观察前后方向。根据一个实施方案，该系统利用部分反射镜的作用分别透射和反射来自内腔或空腔的不同部分的光，并且使用单独的照明源组来照射腔的一个或另一个部分，照明部分由于其增加的光水平而优先成像。在第二实施例中，使用电开关镜，具有在透射和部分反射状态之间切换的特性，使得在处于透射状态时可以在摄像机前方的区域成像之间切换反射镜，相机处于反光状态时。为了相同的目的描述了机械旋转镜。

6. 发明申请

US20110276095A1 Double Threaded Orthopedic Screw 审中-公开
标题翻译：双螺纹矫形螺钉
公开(公告)号：US20110276095A1
公开(公告)日：2011-11-10
申请号：US13133657
申请日：2009-12-09
申请人： Yossef Bar , Eli Zehavi , Brian Hewko , Moshe Shoham
发明人： Yossef Bar , Eli Zehavi , Brian Hewko , Moshe Shoham
IPC分类号： A61B17/88 , A61B17/86
CPC分类号： A61B17/863 , A61B17/70
摘要： An orthopedic screw having a thread with two parts, a distal and a proximal part, each having a different thread configuration. The distal section has a thread with outer dimension and pitch suitable for entry into cancellous bone, while the proximal section has a composite thread comprising (i) a first thread of the same or slightly larger outer diameter as the cancellous thread in the distal section, having the same pitch thereof, and lying on the same helix, and (ii) another thread having a smaller outer diameter but the same pitch as the first thread, but disposed on a helix displaced from that of the first thread, such that it lies between the crests of the first thread. This screw enables optimum fixation strength in a bone or bones having a harder cortical outer section and a softer cancellous inner section. The screw may have an unthreaded central section.
摘要翻译：具有两部分的螺纹的矫形螺钉，远端和近端部分，每个具有不同的螺纹构型。远侧部分具有适于进入松质骨的外部尺寸和节距的螺纹，而近侧部分具有复合螺纹，其包括（i）与远侧部分中的松质线相同或略大的外径的第一螺纹，具有相同的间距并且位于相同的螺旋上，和（ii）具有比第一螺纹更小的外径但是相同螺距的另一螺纹，但是设置在与第一螺纹的螺旋线相同的螺旋上，使得其位于在第一线程的顶点之间。该螺钉使骨骼或具有较硬的皮质外部部分和较软质松质骨内部部分的骨骼具有最佳的固定强度。螺钉可能有一个无螺纹的中心部分。

7. 发明申请

US20110112549A1 ULTRASOUND GUIDED ROBOT FOR FLEXIBLE NEEDLE STEERING 有权
标题翻译：超声引导机器人用于柔性针头转向
公开(公告)号：US20110112549A1
公开(公告)日：2011-05-12
申请号：US12994864
申请日：2009-05-31
申请人： Zipi Neubach , Moshe Shoham
发明人： Zipi Neubach , Moshe Shoham
IPC分类号： A61B19/00
CPC分类号： A61B90/11 , A61B8/485 , A61B17/3403 , A61B34/20 , A61B34/30 , A61B2017/3409 , A61B2017/3413 , A61B2034/107 , A61B2034/2063 , A61B2034/2065 , A61B2034/301 , A61B2090/378
摘要： A robotic system for flexible needle steering under ultrasound imaging. A robot is used to steer the needle along a predetermined curved trajectory by maneuvering the needle base. The needle tip position is detected by an ultrasound sensor and the tracking error of the needle tip from a predetermined needle path is input to a controller which solves the inverse kinematic based on the needle position, and the needle and tissue properties. The control algorithm uses a novel method to detect the elastic properties of the tissue by analyzing tissue motion at the region in front of the needle tip. The inverse kinematic solution may be performed on a model of the needle as a flexible beam having laterally connected virtual springs to simulate lateral forces exerted by the tissue elasticity. The system is able to direct the needle to a target within the tissue while circumventing forbidden regions.
摘要翻译：一种机器人系统，用于超声波成像下的柔性针头转向。机器人用于通过操纵针座来沿着预定的弯曲轨迹转动针头。针尖位置由超声波传感器检测，针尖从预定针路径的跟踪误差输入到基于针位置解决反向运动学的控制器以及针和组织性质。控制算法采用新颖的方法，通过分析针尖前方区域的组织运动来检测组织的弹性特性。反向运动解决方案可以在针的模型上作为具有横向连接的虚拟弹簧的柔性梁执行，以模拟由组织弹性施加的横向力。系统能够将针引导到组织内的靶，同时避开禁区。

8. 发明申请

US20100022947A1 INFLATABLE CHAMBER DEVICE FOR MOTION THROUGH A PASSAGE 有权
标题翻译：可通过通道进行运动的可充气室设备
公开(公告)号：US20100022947A1
公开(公告)日：2010-01-28
申请号：US12526512
申请日：2008-02-12
申请人： Noam Hassidov , Daniel Glozman , Moshe Shoham
发明人： Noam Hassidov , Daniel Glozman , Moshe Shoham
IPC分类号： A61M31/00
CPC分类号： F01B19/00 , A61B17/12045 , A61B17/12136 , A61B2017/00557 , A61B2017/12127 , A61B2017/22055 , A61B2090/306 , A61B2090/3614 , A61M25/0122
摘要： A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, and incorporating a number of novel aspects. To enable easy insertion and use, the rigidity of the device is increased by means of rigid inserts in the balloons, or by use of stiff springs between segments. The working channel can be attached to the distal chamber of the device, such that it is pulled from the leading end of the device during inflation, rather than being pulled from the trailing end of the device during deflation. Lumen wall inspection or treatment facilities are enabled by means of a camera or treatment arm mounted between two distally positioned balloons, the device is able to provide observation capabilities to the lumen wall, yet without becoming excessively dirty by exposure to the front end of the device, as in prior art camera units.
摘要翻译：一种用于通过内腔运动的自推进装置，包括一组串联布置的可充气室，并且结合了许多新颖的方面。为了易于插入和使用，通过气球中的刚性插入件或通过在段之间使用刚性弹簧来增加装置的刚性。工作通道可以附接到装置的远端腔室，从而在充气期间从工具的前端拉出工作通道，而不是在放气期间从装置的后端拉出。腔壁检查或治疗设施通过安装在两个远端定位的气球之间的相机或治疗臂来实现，该装置能够向管腔壁提供观察能力，而不会因暴露于装置的前端而变得过分脏，如在现有技术的相机单元中。

9. 发明申请

US20090149867A1 CONTROLLED STEERING OF A FLEXIBLE NEEDLE 有权
标题翻译：柔性针的控制转向
公开(公告)号：US20090149867A1
公开(公告)日：2009-06-11
申请号：US12303456
申请日：2007-06-05
申请人： Daniel Glozman , Moshe Shoham
发明人： Daniel Glozman , Moshe Shoham
IPC分类号： A61B19/00 , A61B5/05
CPC分类号： A61B17/3478 , A61B17/3403 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2034/102 , A61B2034/107 , A61B2034/2051 , A61B2034/304 , A61B2090/376
摘要： A robotic system for steering a flexible needle during insertion into soft-tissue using imaging to determine the needle position. The control system calculates a needle tip trajectory that hits the desired target while avoiding potentially dangerous obstacles en route. Using an inverse kinematics algorithm, the maneuvers required of the needle base to cause the tip to follow this trajectory are calculated, such that the robot can perform controlled needle insertion. The insertion of a flexible needle into a deformable tissue is modeled as a linear beam supported by virtual springs, where the stiffness coefficients of the springs varies along the needle. The forward and inverse kinematics of the needle are solved analytically, enabling both path planning and correction in real-time. The needle shape is detected by image processing performed on fluoroscopic images. The stiffness properties of the tissue are calculated from the measured shape of the needle.
摘要翻译：一种机器人系统，用于在插入软组织期间使用成像确定针位置来转向柔性针。控制系统计算点击所需目标的针尖轨迹，同时避免在途中潜在的危险障碍物。使用逆运动学算法，计算针座所需的使尖端跟随该轨迹的动作，使得机器人可以执行受控针插入。将柔性针插入可变形组织中被建模为由虚拟弹簧支撑的线性梁，其中弹簧的刚度系数沿着针头变化。分析解决了针的正向和反向运动学，实现了路径规划和校正。通过在荧光镜图像上进行的图像处理来检测针形状。根据针的测量形状计算组织的刚度特性。

10. 发明授权

US09675748B2 Device for prevention of shunt stenosis 有权
公开(公告)号：US09675748B2
公开(公告)日：2017-06-13
申请号：US14348610
申请日：2012-09-27
申请人： Adi Shechtman , Moshe Shoham , Harel Gadot
发明人： Adi Shechtman , Moshe Shoham , Harel Gadot
IPC分类号： A61M25/00 , A61M1/36 , A61M25/01 , A61B17/3207 , A61M25/10
CPC分类号： A61M1/0078 , A61B17/320725 , A61M1/3655 , A61M1/367 , A61M25/0116 , A61M25/0155 , A61M25/1011 , A61M25/104 , A61M2025/1072 , A61M2025/109 , A61M2025/1097 , A61M2209/10
摘要： A method and a kit for the prevention of venous stenosis associated with the use of hemodialysis AV shunts. The kit may use a bifurcated needle for providing access to the shunt or blood vessel. One of the arms is used for returning the blood to the subject after dialysis treatment, while the other arm is used for inserting a device for cleaning the vein, the device being either an autonomous crawling device, or a passive tethered device moved down the vein by the blood flow. The autonomous crawling device may be a series of sequentially inflatable chambers, the stenosis being cleared by pressure from the outer walls of the chambers when inflated and moved. The passive device may be an element having a flexible disc-like structure, whose flexible peripheral edge slides along the inner walls of the blood vessel, compressing or clearing the material attached thereto.

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