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1. 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。

2. 发明申请

WO2016205694A1 OPTICALLY GUIDED SURGICAL DEVICES 审中-公开
标题翻译：光学手术设备
公开(公告)号：WO2016205694A1
公开(公告)日：2016-12-22
申请号：PCT/US2016/038147
申请日：2016-06-17
申请人： CHILDREN'S MEDICAL CENTER CORPORATION , ATAOLLAHI, Asghar , BERRA, Ignacio , MENCATELLI, Margherita , MANJILA, Sunil , ROSA, Benoit , MACHAIDZE, Zurab
发明人： ATAOLLAHI, Asghar , BERRA, Ignacio , MENCATELLI, Margherita , MANJILA, Sunil , ROSA, Benoit , MACHAIDZE, Zurab , DUPONT, Pierre , DEL NIDO, Pedro J.
IPC分类号： A61B1/05 , A61B1/04 , A61B1/06
CPC分类号： A61B1/018 , A61B1/00087 , A61B1/00096 , A61B1/00179 , A61B1/015 , A61B1/05 , A61B1/07 , A61B10/02 , A61B10/0283 , A61B10/04 , A61B17/00234 , A61B2017/00243
摘要： A device for performing surgical procedures, such as intracardiac procedures or neurosurgical procedures, includes a solid optical window formed of a transparent, compliant material, wherein the solid optical window includes a proximal side and a distal side, wherein a distal face of the solid optical window is configured to approach tissue during a surgical procedure; an imaging system embedded into the solid optical window and positioned to obtain an image through at least a portion of the distal face of the solid optical window; and a tool channel formed through the solid optical window from the proximal side to the distal side of the solid optical window, wherein the tool channel is configured to receive a tool for performing the surgical procedure.
摘要翻译：用于执行外科手术的装置，例如心内手术或神经外科手术，包括由透明柔顺材料形成的固体光学窗口，其中固体光学窗口包括近侧和远端侧，其中固体光学窗口构造成在外科手术过程中接近组织; 嵌入到所述固体光学窗口中并定位成通过所述固体光学窗口的所述远侧面的至少一部分获得图像的成像系统; 以及从所述固体光学窗口形成的从所述固体光学窗口的近侧到远端侧的工具通道，其中所述工具通道构造成接收用于执行所述外科手术的工具。

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