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1. 发明授权

US11457904B2 Reduced diameter steerable instrument 有权
公开(公告)号：US11457904B2
公开(公告)日：2022-10-04
申请号：US16763112
申请日：2018-11-15
申请人： Steerable Instruments NV
发明人： Frank Dewaele , Bart Blanckaert , Cyriel Mabilde , Lieven Maene , Alain Kalmar
IPC分类号： A61B17/00 , A61B34/30 , A61M25/01
摘要： A longitudinal steerable tool (100) having a proximal (20) and distal (40) end comprising a sub-region that is a proximal amplifier region, PAR, (136) wherein the LMs (110) are arranged around a fictive tube (180) exhibiting size-decremental plane sections in a distal direction, and comprising a sub-region that is a distal attenuating region, DAR, (138) wherein the LMs (110) are arranged around a fictive tube (180) exhibiting size-incremental plane sections in a distal direction. Further provided is a longitudinal steerable tool (100) having a sheath unit (430) disposed at least partially over each of a bendable proximal part (130) and/or bendable distal part (134), the sheath unit (430) having less compliance in a radial direction compared with in an axial direction.

2. 发明授权

US10542878B2 Guide for steering wires for a steering mechanism for a steerable tool 有权
公开(公告)号：US10542878B2
公开(公告)日：2020-01-28
申请号：US15528779
申请日：2015-12-08
申请人： Steerable Instruments NV
发明人： Frank Dewaele , Cyriel Mabilde , Bart Blanckaert , Alain Kalmar , Lieven Maene
IPC分类号： A61B1/05 , A61B1/005 , A61M25/01 , A61B17/00
摘要： The invention relates to a longitudinal member, LM, guide (300) for guiding a set of LMs (110) for a mechanical transmission system, MTS, (100) for a steerable tool (500), which LM guide (300) comprises a body (302) having a proximal side (342), a distal side (344) and an outside edge (316), wherein the body (302) of the LM guide (300) comprises a set of channels (310) arranged around a fictive tube (320), each channel (310) passing from the proximal side (342) to the distal side (344) of the body (302), configured to retain an LM (110) of the set in a fixed radial position around the fictive tube (32), being connected to the outside edge (316) of the body (302) via a slot (314), wherein the slot has a width (326) narrower than the channel (310) width (320).

3. 发明申请

US20210204941A1 CONTROLLABLE STEERABLE FUSING DEVICE 有权
公开(公告)号：US20210204941A1
公开(公告)日：2021-07-08
申请号：US17059911
申请日：2019-05-29
申请人： Steerable Instruments NV
发明人： Frank Dewaele , Cyriel Mabilde , Bart Blanckaert , Lieven Maene , Alain Kalmar
IPC分类号： A61B17/072 , A61B34/30 , A61B34/00 , A61B17/00
摘要： Provided is a steerable fusing device (50) comprising: a steerable instrument (100) having a proximal end (20) and a distal (40) end comprising a shaft (130), a bendable proximal part (120) and a bendable distal part (140), the steerable instrument (100) configured such that the bendable distal part (140) bends responsive to bending of the bendable proximal part (120), fusing head (302) attached in fixed rotational relation to the bendable distal part (140) configured for fusing tissue captured between jaws (310, 320) of the fusing head (300), wherein the fusing head (300) is rotatable when the bendable distal part (140) is in a bent position by a complementary rotation of the bendable proximal part (120).

4. 发明申请

US20180146841A1 GUIDE FOR STEERING WIRES FOR A STEERING MECHANISM FOR A STEERABLE TOOL 审中-公开
公开(公告)号：US20180146841A1
公开(公告)日：2018-05-31
申请号：US15528779
申请日：2015-12-08
申请人： Steerable Instruments NV
发明人： Frank Dewaele , Cyriel Mabilde , Bart Blanckaert , Alain Kalmar , Lieven Maene
IPC分类号： A61B1/005 , A61M25/01
摘要： The invention relates to a longitudinal member, LM, guide (300) for guiding a set of LMs (110) for a mechanical transmission system, MTS, (100) for a steerable tool (500), which LM guide (300) comprises a body (302) having a proximal side (342), a distal side (344) and an outside edge (316), wherein the body (302) of the LM guide (300) comprises a set of channels (310) arranged around a fictive tube (320), each channel (310) passing from the proximal side (342) to the distal side (344) of the body (302), configured to retain an LM (110) of the set in a fixed radial position around the fictive tube (32), being connected to the outside edge (316) of the body (302) via a slot (314), wherein the slot has a width (326) narrower than the channel (310) width (320).

5. 发明申请

US20210369359A1 CONTROLLABLE STEERABLE INSTRUMENT 有权
公开(公告)号：US20210369359A1
公开(公告)日：2021-12-02
申请号：US16762704
申请日：2018-11-15
申请人： Steerable Instruments NV
发明人： Bart Blanckaert , Frank Dewaele , Cyriel Mabilde , Lieven Maene , Alain Kalmar
IPC分类号： A61B34/30 , A61B34/00 , B25J9/16
摘要： A steerable instrument (100) controllable by a robotic arm (200), having a proximal end (20) and a distal (40) end comprising: a cylindrical shaft (130), a cylindrical bendable proximal part (120) and a cylindrical bendable distal part (140), a connector (110) configured for dismountable attachment to the robotic arm (200), attached in fixed rotational relation to the bendable proximal part (120), an end effector (150) attached in fixed rotational relation to the bendable distal part (140), the steerable instrument (100) configured such that: the bendable distal part (140) bends responsive to bending of the bendable proximal part (120), and the end effector (150) is rotatable when the bendable distal part (140) is in a bent position by a complementary rotation of the connector (110), the shaft (130) is pivotable around a fulcrum zone (134) on the shaft (130) and changes direction responsive to a complementary movement of the connector (110), thereby providing control of the shaft (130) direction, bending of the bendable distal part (140), and rotation of the end effector (150) through robotic movement of the connector (110).

6. 发明申请

US20210196409A1 TOOL WITH TORQUE-ACTUATED END EFFECTOR 有权
公开(公告)号：US20210196409A1
公开(公告)日：2021-07-01
申请号：US17059609
申请日：2019-05-27
申请人： Steerable Instruments NV
发明人： Bart Blanckaert , Cyriel Mabilde , Frank Dewaele
IPC分类号： A61B34/30 , B25J9/10 , B25J9/16
摘要： Provided is a system comprising a tool (50) and a stator unit (500). The tool (50) comprises an instrument (100, 102) having a proximal end (20) and a distal (40) end, an end effector (300) at the distal end (40) actuated by torque, and a rotor unit (400) body (410) having at least two cammed surfaces to provide the torque. The stator unit (500) comprises a plurality of stator pushers (530-Ua, 530-Va, 530-Wa, 530-Ub, 530-Vb, 530-Wb, 530-Uc, 530-Vc, 530-Wc) configured for movement in a direction radial to a centre of rotation (405) of the body (410) of the rotor unit (400) and for the application of the radial force, whereby movement of the stator pushers induces rotation of the body (410) around the axis of rotation (210).

7. 发明授权

US10792061B2 Motion amplifier for a steering mechanism of a steerable tool 有权
公开(公告)号：US10792061B2
公开(公告)日：2020-10-06
申请号：US15503060
申请日：2015-12-08
申请人： Steerable Instruments NV
发明人： Frank Dewaele , Cyriel Mabilde , Bart Blanckaert , Alain Kalmar , Lieven Maene
IPC分类号： A61B17/29 , A61B17/00 , A61B34/30
摘要： The present invention relates to mechanical transmission system (100, MTS) having a proximal (20) and distal end (40), for a longitudinal steerable tube (500), which MTS (100) comprises a set of longitudinal members, LM, (110) arranged in a longitudinal direction around a fictive tube (180) maintained at an essentially constant circumferential and radial position with respect to the fictive tube (180) and being slidable relative to the fictive tube (180), and has a transmission bendable proximal part (134, TBPP), transmission bendable distal part (130, TBDP), and transmission shaft region, TSR (132) between the TBDP (130) and TBPP (134) wherein movements of the TBPP (134) are transmitted to the TBDP (130) along the TSR (132) by the LMs (110), wherein the MTS (100) comprises a sub-region that is a transmission amplifier region, TAR, (135) in which the fictive tube (180) contains at least one plane-section (182) larger than that (184) of the TBDP (130).

8. 发明授权

US11832997B2 Devices to enhance robotic arm tasks 有权
公开(公告)号：US11832997B2
公开(公告)日：2023-12-05
申请号：US16763396
申请日：2018-11-15
申请人： Steerable Instruments NV
发明人： Frank Dewaele , Lieven Maene , Bart Blanckaert , Cyriel Mabilde , Alain Kalmar
IPC分类号： A61B90/50 , A61B34/37 , A61B90/35 , A61M13/00 , A61B1/00 , A61B6/00 , A61B8/00 , A61B17/3201 , A61B17/3209 , A61B17/34 , A61B18/14 , A61B17/00 , A61B18/00 , A61M25/01
CPC分类号： A61B90/50 , A61B34/37 , A61B90/35 , A61M13/003 , A61B1/00158 , A61B6/4441 , A61B8/4444 , A61B17/3201 , A61B17/3209 , A61B17/3474 , A61B18/14 , A61B2017/00991 , A61B2018/00589 , A61B2217/005 , A61M25/0116
摘要： Provided is a stable mounting for a robotic arm, a tool changer for a robotic arm, a motion restrictor for a robotic-arm controlled steerable tool, a dispenser unit for applying a sterile drape over a robotic arm, and a tool radial actuation assembly (TRAA), a robotic arm fitting radial actuation assembly (FRAA).

9. 发明申请

US20200315738A1 DEVICES TO ENHANCE ROBOTIC ARM TASKS 审中-公开
公开(公告)号：US20200315738A1
公开(公告)日：2020-10-08
申请号：US16763396
申请日：2018-11-15
申请人： Steerable Instruments NV
发明人： Frank Dewaele , Lieven Maene , Bart Blanckaert , Cyriel Mabilde , Alain Kalmar
IPC分类号： A61B90/50 , A61B34/37 , A61B90/35 , A61M13/00
摘要： Provided is a stable mounting for a robotic arm, a tool changer for a robotic arm, a motion restrictor for a robotic-arm controlled steerable tool, a dispenser unit for applying a sterile drape over a robotic arm, and a tool radial actuation assembly (TRAA), a robotic arm fitting radial actuation assembly (FRAA).

10. 发明申请

US20200275983A1 STEERABLE TUBE 审中-公开
公开(公告)号：US20200275983A1
公开(公告)日：2020-09-03
申请号：US16594450
申请日：2019-10-07
申请人： STEERABLE INSTRUMENTS NV
发明人： Frank Dewaele , Cyriel Mabilde , Bart Blanckaert
IPC分类号： A61B34/00 , A61B1/01 , A61B1/00 , A61B1/005 , A61B1/008 , A61M25/01 , A61B17/29 , A61B17/32
摘要： A steerable tube (100), comprising a hollow elongate tubular member (1) having a proximal end (2), distal end (3), a wall surface disposed between said proximal (2) and distal end (4), a bend-resistive zone (6) flanked by a proximal bendable zone (4) that forms a controller and a distal bendable zone (5) that forms an effector that moves responsive to movements of the controller, whereby the wall of the tubular member (1) in the bend-resistive zone (6) comprises a structure that is a plurality of longitudinal slits (7), forming a plurality of longitudinal strips (8, 8′), the wall of the tubular member (1) in the proximal bendable zone (4) and the distal bendable zone (5) comprises a structure that is a plurality of longitudinal wires (9, 9′, 10, 10′), at least one strip (8) is in connection with a wire (9) in the proximal bendable zone (4) and a wire (10) in the distal bendable zone (5), such that translation by said wire (9) in the controller is transmitted via the strip (8) to said wire (10) in the effector, a proximal annular region (11) of the tubular member (1), proximal to the proximal bendable zone (4) to which the proximal wires (9) are anchored, a distal annular region (12) of the tubular member (1) distal to the distal bendable zone (5) to which the distal wires (10) are anchored.

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