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1. 发明申请

WO2012091804A3 OPERATING A MOBILE ROBOT 审中-公开
标题翻译：操作移动机器人
公开(公告)号：WO2012091804A3
公开(公告)日：2013-07-18
申请号：PCT/US2011059910
申请日：2011-11-09
申请人： IROBOT CORP , ROSENSTEIN MICHAEL T , SHAMLIAN STEVEN V , WON CHIKYUNG , HALLORAN MICHAEL , CHIAPPETTA MARK , ALLEN THOMAS P , BASSETT MICHAEL , BENSON BRIAN C JR
发明人： ROSENSTEIN MICHAEL T , SHAMLIAN STEVEN V , WON CHIKYUNG , HALLORAN MICHAEL , CHIAPPETTA MARK , ALLEN THOMAS P , BASSETT MICHAEL , BENSON BRIAN C JR
IPC分类号： G05D1/02
CPC分类号： B25J5/007 , B25J11/009 , G05D1/0227 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0206 , Y10S901/01
摘要： A method of operating a mobile robot (100) to traverse a threshold (T) includes detecting a threshold proximate the robot. The robot includes a holonomic drive system (200) having first, second, and third drive elements (210a-c) configured to maneuver the robot omni-directionally. The method further includes moving the first drive element (210a) onto the threshold from a first side and moving the second drive element (210b) onto the threshold to place both the first and second drive elements on the threshold. The method includes moving the first drive element off a second side of the threshold, opposite to the first side of the threshold, and moving the third drive element (210c) onto the threshold, placing both the second and third drive elements on the threshold. The method includes moving both the second and third drive elements off the second side of the threshold.
摘要翻译：操作移动机器人（100）横穿阈值（T）的方法包括检测机器人附近的阈值。该机器人包括具有被配置成全方向地操纵机器人的第一，第二和第三驱动元件（210a-c）的整体驱动系统（200）。该方法还包括将第一驱动元件（210a）从第一侧移动到阈值上并将第二驱动元件（210b）移动到阈值上以将第一和第二驱动元件都置于阈值上。该方法包括将第一驱动元件移离阈值的第二侧，与阈值的第一侧相反，以及将第三驱动元件（210c）移动到阈值上，将第二和第三驱动元件都置于阈值上。该方法包括将第二和第三驱动元件移动离开阈值的第二侧。

2. 发明申请

WO2008097376A3 ROBOT WITH FLIPPERS HAVING A POSITIONABLE SENSOR HEAD AND METHOD FOR CONTROLLING THIS ROBOT 审中-公开
标题翻译：具有可定位传感器头部的拖鞋的机器人和用于控制该机器人的方法
公开(公告)号：WO2008097376A3
公开(公告)日：2008-12-24
申请号：PCT/US2007080541
申请日：2007-10-05
申请人： IROBOT CORP , OHM TIMOTHY R , BASSETT MICHAEL
发明人： OHM TIMOTHY R , BASSETT MICHAEL
IPC分类号： B25J5/00 , B62D55/075 , B62D57/024
CPC分类号： B62D55/075 , B25J5/005 , B62D37/04 , B62D55/02 , B62D55/065 , B62D57/024 , Y10S180/907 , Y10S901/01
摘要： A robot (100,800,1100,1200,1400,1600,2200,2300,2400,2500,2600,3300) includes a chassis (140,301,310,501,801,1601,3202) supporting a skid steered drive (110,1610,2202,2204,3310) and a set of driven flippers (130,302,502,602,802,1602). Each flipper is pivotable about a first pivot axis (15,315) common with a drive axis (15) near the chassis's leading end (104A,302A). The robot includes a neck (305,805,1605,2210) pivotable about a second pivot axis (317) substantially at the chassis's leading end (140A,301A) and a sensor head (303,803,1603,2206) pivotally coupled to the neck (305,805,1605,2210). The chassis, flippers, neck and head: (i) have a combined center of gravity (combined-CG,364,CG1,CG50) disposed in a forward-rearward sense between distal and pivot ends (130A,130B,302A,302B) of the flippers (130,302,502,602,802,1602) when the flippers are in a stowed position with their distal ends (130A,302A) between leading and trailing ends (140A,140B,301A,301B) of the chassis, and (ii) are each independently movable between a first position and a second position to reposition the combined center of gravity for negotiating an obstacle.
摘要翻译：机器人（100,800,1100,1200,1400,1600,2200,2300,2400,2500,2600,3300）包括支撑滑动转向驱动器（110,1610,2202,2204,3310）的底盘（140,301,310,501,801,1601,3202））和一组驱动的脚蹼（130,302,502,602,802,1602）。每个挡板可围绕与底盘的前端（104A，302A）相邻的驱动轴线（15）共同的第一枢转轴线（15,315）枢转。机器人包括一个颈部（305,805,1605,2210），该颈部可绕基本上位于底盘的前端（140A，301A）的第二枢转轴线（317）枢转并且枢转地联接到颈部的传感器头（303,803,1603,2206）（305,805 ，1605,2210）。底盘，脚蹼，颈部和头部：（i）在远端和枢轴端（130A，130B，302A，302B）之间具有以向前 - 向后的方式设置的组合重心（组合的CG，364，CG1，CG50）（130A，302A）位于底盘的前端和后端（140A，140B，301A，301B）之间，并且（ii）各自独立地位于所述脚蹼（130,302,502,602,802,1602）中，并且在第一位置和第二位置之间移动以重新定位组合重心以协商障碍物。

3. 发明申请

WO2005084639A9 POLYMERIC DRUG DELIVERY SYSTEM FOR HYDROPHOBIC DRUGS 审中-公开
标题翻译：用于疏水性药物的聚合物药物递送系统
公开(公告)号：WO2005084639A9
公开(公告)日：2005-11-17
申请号：PCT/US2005007525
申请日：2005-03-03
申请人： SPHERICS INC , JACOB JULES S , BASSETT MICHAEL , SCHESTOPOL MARCUS A , MATHIOWITZ EDITH , NANGIA AVINASH , CARTER BENNETT , MOSLEMY PEYMAN , SHAKED ZE EV , ENSCORE DAVID , SIKES COURTNEY
发明人： JACOB JULES S , BASSETT MICHAEL , SCHESTOPOL MARCUS A , MATHIOWITZ EDITH , NANGIA AVINASH , CARTER BENNETT , MOSLEMY PEYMAN , SHAKED ZE EV , ENSCORE DAVID , SIKES COURTNEY
IPC分类号： A61K9/00 , A61K9/14 , A61K9/16 , A61K9/20 , A61K9/24 , A61K9/28 , A61K9/48
CPC分类号： A61K9/209 , A61K9/0065 , A61K9/1635 , A61K9/1641 , A61K9/1647 , A61K9/1652 , A61K9/1676 , A61K9/2054 , A61K9/2077 , A61K9/2086 , A61K9/2853
摘要： An oral delivery system for Class II drugs that have low oral bioavailability due to their insolubility in water and slow dissolution kinetics and method for making such a drug delivery system are disclosed herein. The formulation may be a controlled release or immediate release formulation. The immediate release formulation contains a Class II drug, together with a hydrophobic polymer, preferably a bioadhesive polymer. In one embodiment, the drug and polymer are co-dissolved in a common solvent. The solution is formed into small solid particles by any convenient method, particularly by spray drying. The resulting particles contain drug dispersed as small particles in a polymeric matrix. The particles are stable against aggregation, and can be put into capsules or tableted for administration. The controlled release formulations contain a BCS Class II drug and a bioadhesive polymer. The controlled release formulations may be in the form of a tablet, capsules, mini-tab, microparticulate, or osmotic pump. Enhancement of oral uptake of the drug from use of bioadhesive polymers occurs through (1) increased dissolution kinetics due to stable micronization of the drug, (2) rapid release of the drug from the polymer in the GI tract; and (3) prolonged GI transit due to bioadhesive properties of the polymers. The combination of these effects allows the preparation of a compact, stable dosage form suitable for oral administration of many class II drugs.
摘要翻译：本文公开了由于不溶于水而具有低口服生物利用度和缓慢溶出动力学的II类药物的口服递送系统以及制备这种药物递送系统的方法。该制剂可以是控释或速释制剂。速释制剂含有II类药物以及疏水聚合物，优选生物粘附聚合物。在一个实施方案中，药物和聚合物共溶于普通溶剂中。通过任何方便的方法，特别是通过喷雾干燥，溶液形成小的固体颗粒。所得颗粒含有作为小颗粒分散在聚合物基质中的药物。颗粒对于聚集是稳定的，并且可以放入胶囊或制成片剂给药。控释制剂含有BCS II类药物和生物粘附聚合物。控释制剂可以是片剂，胶囊剂，小片，微粒或渗透泵的形式。（1）由于药物的稳定微粉化，溶解动力学增加，（2）药物从胃肠道中的聚合物中快速释放，因此通过使用生物粘附聚合物增强药物的口服摄取。和（3）由于聚合物的生物粘附性而延长的GI运输。这些效果的组合允许制备适用于许多II类药物口服给药的紧凑稳定剂型。

4. 发明申请

WO2005084639A3 POLYMERIC DRUG DELIVERY SYSTEM FOR HYDROPHOBIC DRUGS 审中-公开
标题翻译：用于疏水药物的聚合物药物递送系统
公开(公告)号：WO2005084639A3
公开(公告)日：2005-10-20
申请号：PCT/US2005007525
申请日：2005-03-03
申请人： SPHERICS INC , JACOB JULES S , BASSETT MICHAEL , SCHESTOPOL MARCUS A , MATHIOWITZ EDITH , NANGIA AVINASH , CARTER BENNETT , MOSLEMY PEYMAN , SHAKED ZE EV , ENSCORE DAVID , SIKES COURTNEY
发明人： JACOB JULES S , BASSETT MICHAEL , SCHESTOPOL MARCUS A , MATHIOWITZ EDITH , NANGIA AVINASH , CARTER BENNETT , MOSLEMY PEYMAN , SHAKED ZE EV , ENSCORE DAVID , SIKES COURTNEY
IPC分类号： A61K9/00 , A61K9/14 , A61K9/16 , A61K9/20 , A61K9/24 , A61K9/28 , A61K9/48
CPC分类号： A61K9/209 , A61K9/0065 , A61K9/1635 , A61K9/1641 , A61K9/1647 , A61K9/1652 , A61K9/1676 , A61K9/2054 , A61K9/2077 , A61K9/2086 , A61K9/2853
摘要： An oral delivery system for Class II drugs that have low oral bioavailability due to their insolubility in water and slow dissolution kinetics and method for making such a drug delivery system are disclosed herein. The formulation may be a controlled release or immediate release formulation. The immediate release formulation contains a Class II drug, together with a hydrophobic polymer, preferably a bioadhesive polymer. In one embodiment, the drug and polymer are co-dissolved in a common solvent. The solution is formed into small solid particles by any convenient method, particularly by spray drying. The resulting particles contain drug dispersed as small particles in a polymeric matrix. The particles are stable against aggregation, and can be put into capsules or tableted for administration. The controlled release formulations contain a BCS Class II drug and a bioadhesive polymer. The controlled release formulations may be in the form of a tablet, capsules, mini-tab, microparticulate, or osmotic pump. Enhancement of oral uptake of the drug from use of bioadhesive polymers occurs through (1) increased dissolution kinetics due to stable micronization of the drug, (2) rapid release of the drug from the polymer in the GI tract; and (3) prolonged GI transit due to bioadhesive properties of the polymers. The combination of these effects allows the preparation of a compact, stable dosage form suitable for oral administration of many class II drugs.
摘要翻译：本文公开了由于其在水中的不溶性和缓慢的溶解动力学以及制备这种药物递送系统的方法而具有低口服生物利用度的II类药物的口服递送系统。制剂可以是控释或即时释放制剂。立即释放制剂含有II类药物，以及疏水性聚合物，优选生物粘附性聚合物。在一个实施方案中，将药物和聚合物共溶于常用溶剂。通过任何方便的方法，特别是通过喷雾干燥，将溶液形成小的固体颗粒。所得到的颗粒含有作为小颗粒分散在聚合物基质中的药物。颗粒对聚集是稳定的，并且可以放入胶囊或压片以供给药。控释制剂含有BCS II类药物和生物粘附性聚合物。控制释放制剂可以是片剂，胶囊，迷你片，微粒或渗透泵的形式。通过（1）由于药物的稳定的微粉化引起的溶出动力学增加，（2）药物从胃肠道中的聚合物快速释放，增加了使用生物粘附性聚合物对药物的口服摄取。和（3）由于聚合物的生物粘合性质而延长GI运输。这些作用的组合允许制备适于口服多种II类药物的紧凑，稳定的剂型。

5. 发明申请

WO2010093873A3 DRUG DELIVERY THROUGH HYDROGEL PLUGS 审中-公开
标题翻译：药物通过HYDROGEL PLUG递送
公开(公告)号：WO2010093873A3
公开(公告)日：2011-04-14
申请号：PCT/US2010024029
申请日：2010-02-12
申请人： INCEPT LLC , SAWHNEY AMARPREET S , JARRETT PETER , BASSETT MICHAEL , BLIZZARD CHARLES D
发明人： SAWHNEY AMARPREET S , JARRETT PETER , BASSETT MICHAEL , BLIZZARD CHARLES D
IPC分类号： A61M31/00 , A61F2/02 , A61F9/007 , A61K9/06 , A61K31/437 , A61K47/30 , A61M5/00 , A61P27/02
CPC分类号： A61K9/0051 , A61B17/12099 , A61B17/12159 , A61B17/1219 , A61F9/00772 , A61F2250/0067 , A61K31/135 , A61K31/437
摘要： An embodiment is a medical prosthesis for blocking or reducing tear flow through a punctum or canaliculus of a human eye and delivering a drug to the eye that comprises a dehydrated covalently crosslinked synthetic hydrophilic polymer hydrogel with dimensions to pass through a puncta lacrimali, with the dehydrated hydrogel absorbing physiological water to swell to at least 1 mm in cross-sectional width and conformably fit a canaliculus, with the hydrogel comprising a therapeutic agent dispersed through the hydrogel for release to an eye, with the hydrogel having a water content of at least about 50% by weight or volume when allowed to fully hydrate in vitro in physiological saline.
摘要翻译：一个实施方案是用于阻断或减少穿过人眼的泪点或泪管的泪液的药物假体，并将药物递送至眼睛，该药物包括脱水的共价交联的合成亲水性聚合物水凝胶，其尺寸通过泪点，脱水水凝胶吸收生理水以横截面宽度膨胀至至少1mm，并且顺应地配合小孔，其中水凝胶包含分散在水凝胶中的治疗剂以释放至眼睛，水凝胶的水含量至少约为当在生理盐水中体外充分水合时，其重量为50％或体积。

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