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1. 发明申请

WO2013017875A3 CONTINUUM MANIPULATOR 审中-公开
标题翻译：连续操纵器
公开(公告)号：WO2013017875A3
公开(公告)日：2013-04-04
申请号：PCT/GB2012051860
申请日：2012-08-01
申请人： KING S COLLEGE LONDON , ATAOLLAHI ASGHAR , ALTHOEFER KASPAR , SCHAEFFTER TOBIAS RICHARD , RHODE KAWALDEEP
发明人： ATAOLLAHI ASGHAR , ALTHOEFER KASPAR , SCHAEFFTER TOBIAS RICHARD , RHODE KAWALDEEP
IPC分类号： A61M25/01
CPC分类号： A61M25/0138 , A61B1/00073 , A61B1/0056 , A61B1/0057 , A61B1/3132 , A61M25/0147
摘要： Embodiments of the present invention provide a continuum manipulator that can be used, for example, as a steerable catheter tip. The manipulator of the embodiments comprises a plurality of segments arranged in a stack, which is then able to bend in a range of directions away from the long axis of the stack. In one embodiment the segments include a helical portion which winds in the direction of the long axis of the stack, and can thus bend away from the long axis in any direction. In another embodiment the segments include a backbone portion with cantilevered rings extending from the backbone portion, separated by bending gaps which allow the segment to bend in a range of directions away from the backbone portion so that the bending gap between the rings closes. In some embodiments a carbon fibre rod is included as a backbone for the stack, to minimise hysteresis and improve repeatability of bending. In addition, in embodiments of the invention tendon control channels are provided formed within the segments, through which tendon control wires extend to apply compression and/or bending forces to the stack Having the control channels formed internally to the stack strengthens the stack and makes the stacked structure conform to the channel(s). In particular unwanted twisting of the tip of the stack can be prevented and torquability can be improved.
摘要翻译：本发明的实施例提供了可以用作例如导向导管尖端的连续统一机械手。实施例的操纵器包括布置成堆叠的多个段，其然后能够在离堆叠的长轴的方向范围内弯曲。在一个实施例中，段包括在堆叠的长轴的方向上卷绕的螺旋部分，并且因此可以在任何方向上远离长轴弯曲。在另一个实施例中，段包括具有从骨架部分延伸的悬臂环的骨架部分，其通过弯曲间隙分开，弯曲间隙允许该部分在远离骨架部分的一个方向上弯曲，使得环之间的弯曲间隙闭合。在一些实施例中，碳纤维棒被包括作为堆叠的骨架，以最小化滞后并提高弯曲的重复性。另外，在本发明的实施例中，提供了腱控制通道，其形成在段内，腱控制线通过该沟槽延伸以向堆叠施加压缩和/或弯曲力。将内部形成的控制通道加强到堆叠，并使堆叠结构符合通道。特别是可以防止堆叠的尖端的不期望的扭转，并且可以提高扭矩。

2. 发明申请

WO2013017875A2 CONTINUUM MANIPULATOR 审中-公开
标题翻译：连续机械手
公开(公告)号：WO2013017875A2
公开(公告)日：2013-02-07
申请号：PCT/GB2012/051860
申请日：2012-08-01
申请人： KINGS COLLEGE LONDON , ATAOLLAHI, Asghar , ALTHOEFER, Kaspar , SCHAEFFTER, Tobias Richard , RHODE, Kawaldeep
发明人： ATAOLLAHI, Asghar , ALTHOEFER, Kaspar , SCHAEFFTER, Tobias Richard , RHODE, Kawaldeep
IPC分类号： A61M25/01
CPC分类号： A61M25/0138 , A61B1/00073 , A61B1/0056 , A61B1/0057 , A61B1/3132 , A61M25/0147
摘要： Embodiments of the present invention provide a continuum manipulator that can be used, for example, as a steerable catheter tip. The manipulator of the embodiments comprises a plurality of segments arranged in a stack, which is then able to bend in a range of directions away from the long axis of the stack. In one embodiment the segments include a helical portion which winds in the direction of the long axis of the stack, and can thus bend away from the long axis in any direction. In another embodiment the segments include a backbone portion with cantilevered rings extending from the backbone portion, separated by bending gaps which allow the segment to bend in a range of directions away from the backbone portion so that the bending gap between the rings closes. In some embodiments a carbon fibre rod is included as a backbone for the stack, to minimise hysteresis and improve repeatability of bending. In addition, in embodiments of the invention tendon control channels are provided formed within the segments, through which tendon control wires extend to apply compression and/or bending forces to the stack Having the control channels formed internally to the stack strengthens the stack and makes the stacked structure conform to the channel(s). In particular unwanted twisting of the tip of the stack can be prevented and torquability can be improved.
摘要翻译：本发明的实施例提供了可以用作例如可控导管尖端的连续机械手。实施例的操纵器包括布置在堆叠中的多个段，所述多个段然后能够在远离堆的长轴的一定范围的方向上弯曲。在一个实施例中，这些部分包括一个螺旋部分，该螺旋部分在该堆叠的长轴的方向上卷绕，并且因此可以在任何方向上远离长轴弯曲。在另一个实施方案中，所述片段包括具有从骨架部分延伸的悬臂环的骨架部分，其通过弯曲间隙分开，所述弯曲间隙允许片段在远离骨架部分的方向范围内弯曲，使得环之间的弯曲间隙闭合。在一些实施例中，碳纤维棒被包括作为堆叠的主干，以最小化滞后并提高弯曲的可重复性。此外，在本发明的实施例中，提供了腱控制通道，腱控制通道被设置在部段内，腱控制线通过该腱控制通道延伸以将压缩和/或弯曲力施加到堆叠。在堆叠内部形成控制通道增强了堆叠并且使得堆叠结构符合通道。特别是可以防止烟囱顶端发生不必要的扭曲，并且可以提高扭矩。

3. 发明申请

WO2010043997A1 FLOW INSENSITIVE MAGNETIZATION PREPARATION PULSE FOR T2* CONTRAST 审中-公开
标题翻译：用于T2 *对比度的流动敏感磁化准备脉冲
公开(公告)号：WO2010043997A1
公开(公告)日：2010-04-22
申请号：PCT/IB2009/054338
申请日：2009-10-05
申请人： KONINKLIJKE PHILIPS ELECTRONICS N.V. , PHILIPS INTELLECTUAL PROPERTY & STANDARDS GMBH , STEHNING, Christian , RAHMER, Jürgen Erwin , REMMELE, Stefanie , BLUME, Ulrike , SCHAEFFTER, Tobias Richard
发明人： STEHNING, Christian , RAHMER, Jürgen Erwin , REMMELE, Stefanie , BLUME, Ulrike , SCHAEFFTER, Tobias Richard
IPC分类号： G01R33/50
CPC分类号： G01R33/50 , A61B5/055 , G01R33/4828 , G01R33/5602
摘要： A magnetic resonance system comprises a magnetic resonance scanner (10) including a main magnet (12) generating a static magnetic field biasing nuclear spins toward aligning along a direction of the static magnetic field, magnetic field gradient coils (14), a radio frequency coil (16), and a controller (20, 22) configured to: (a) drive the radio frequency coil to selectively tip spins predominantly of short T2* out of the direction of the static magnetic field; (b) drive at least one of the magnetic field gradient coils and the radio frequency coil to dephase said spins predominantly of short T2* tipped out of the direction of the static magnetic field; and (c) drive the magnetic field gradient coils and the radio frequency coil to acquire magnetic resonance data that is predominantly T2* weighted due to preceding operations (a) and (b).
摘要翻译：磁共振系统包括磁共振扫描器（10），该磁共振扫描器（10）包括主磁体（12），该主磁体产生静磁场，该静磁场偏置核自旋以沿着静磁场的方向排列，磁场梯度线圈（14），射频线圈（16），以及控制器（20,22），其被配置为：（a）驱动所述射频线圈以选择性地使所述静止磁场方向上的主要具有短T2 *的自旋尖端; （b）驱动所述磁场梯度线圈和所述射频线圈中的至少一个，以使所述自旋以主要从所述静态磁场方向倾斜的短T2 *去除; 和（c）驱动磁场梯度线圈和射频线圈以获得由于先前操作（a）和（b）而主要为T2 *加权的磁共振数据。

4. 发明申请

WO2008132698A1 POSITIVE CONTRAST MR SUSCEPTIBILITY IMAGING 审中-公开
标题翻译：积极对比可疑成像
公开(公告)号：WO2008132698A1
公开(公告)日：2008-11-06
申请号：PCT/IB2008/051672
申请日：2008-04-30
申请人： KONINKLIJKE PHILIPS ELECTRONICS N.V. , DAHNKE, Hannes , LIU, Wei , WELCH, Edward Brian , SCHAEFFTER, Tobias Richard
发明人： DAHNKE, Hannes , LIU, Wei , WELCH, Edward Brian , SCHAEFFTER, Tobias Richard
IPC分类号： G01R33/48 , G01R33/28
CPC分类号： G01R33/48 , G01R33/281 , G01R33/286 , G01R33/5601 , G01R33/5608
摘要： A method for generating an image comprises: acquiring a magnetic resonance image (D I ); generating a magnetic susceptibility gradient vector map (D Δχ ) from the magnetic resonance image; and filtering the magnetic susceptibility gradient vector map to generate a magnetic susceptibility gradient image (96, 110) depicting magnetic susceptibility gradient information including at least some magnetic susceptibility gradient directional information.
摘要翻译：一种用于产生图像的方法包括：获取磁共振图像（D SUB）; 从所述磁共振图像生成磁化率梯度矢量图（D→ΔΣ）; 以及过滤所述磁化率梯度矢量图以产生描绘包括至少一些磁化率梯度方向信息的磁化率梯度信息的磁化率梯度图像（96,110）。

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