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1. 发明申请

WO2017143170A1 LOCAL CONTRACTION OF FLEXIBLE BODIES USING BALLOON EXPANSION FOR EXTENSION-CONTRACTION CATHETER ARTICULATION AND OTHER USES 审中-公开
标题翻译：使用气球膨胀的柔性体的局部收缩用于伸缩导管的折断和其他用途
公开(公告)号：WO2017143170A1
公开(公告)日：2017-08-24
申请号：PCT/US2017/018342
申请日：2017-02-17
申请人： LABY, Keith Phillip , BOURANG, Henry , BARRISH, Mark, D.
发明人： LABY, Keith Phillip , BOURANG, Henry , BARRISH, Mark, D.
IPC分类号： A61B1/00 , A61B5/00 , A61B17/12 , A61B17/3207 , A61B90/00 , A61F7/00 , A61F7/12
CPC分类号： A61M25/0155 , A61B17/12 , A61B18/00 , A61B18/1492 , A61B90/361 , A61B90/37 , A61B2017/00318 , A61B2017/00557 , A61B2034/301 , A61B2090/371 , A61B2090/378 , A61F7/00 , A61F7/12 , A61M25/005 , A61M25/0075 , A61M25/0136 , A61M25/1018 , A61M2025/0161 , A61M2205/3337
摘要： Articulation devices, systems, and methods for articulating elongate flexible structures can locally contract a flexible elongate frame or skeleton of an elongate flexible body such as a catheter. Balloons along one side of an axial segment of the elongate flexible body can be inflated so as to help define a resting shape of the elongate body. The skeleton may have pairs of corresponding axially oriented surface regions coupled to each other by a loop of a deformable helical coil structure. Balloons may be between the regions, and the pairs may be separated by an offset that increases when the axis of the skeleton is axially compressed. Inflation of the balloons can axially contract or shorten the skeleton adjacent the balloons so that the elongate body bends toward the balloons. Different sets of balloons may apply opposing local axial elongation and contraction forces so selective inflation and deflation subsets of the balloons can controllably bend or change an axial length.
摘要翻译：铰接装置，系统和用于使细长柔性结构关节的方法可局部地收缩诸如导管的细长柔性主体的柔性细长框架或骨架。沿着细长柔性主体的轴向区段的一侧的气囊可被充气以有助于限定细长主体的静止形状。骨架可以具有通过可变形螺旋线圈结构的环相互耦合的成对的对应的轴向定向表面区域。球囊可能位于这些区域之间，并且这些对可以通过当骨架的轴线被轴向压缩时增加的偏移来分开。气球的膨胀可以轴向收缩或缩短与气球相邻的骨架，使得细长主体朝向气球弯曲。不同组的球囊可以施加相反的局部轴向伸长和收缩力，因此球囊的选择性膨胀和收缩子集可以可控制地弯曲或改变轴向长度。

2. 发明申请

WO2017165810A1 FLUID-ACTUATED SHEATH DISPLACEMENT AND ARTICULATION BEHAVIOR IMPROVING SYSTEMS, DEVICES, AND METHODS FOR CATHETERS, CONTINUUM MANIPULATORS, AND OTHER USES 审中-公开
标题翻译：流体驱动的护套位移和铰接行为改进用于导管，连续机械手和其它用途的系统，装置和方法
公开(公告)号：WO2017165810A1
公开(公告)日：2017-09-28
申请号：PCT/US2017/024088
申请日：2017-03-24
申请人： LABY, Phillip , BARRISH, Mark, D.
发明人： LABY, Phillip , BARRISH, Mark, D.
IPC分类号： A61F2/24 , A61F2/95 , A61F2/958 , A61F2/962 , A61F2/966 , A61M25/00
摘要： Catheter-supported therapeutic and diagnostic tools can be introduced into a patient body with a sheath slidably disposed over the tool. Once the tool is aligned with a target tissue, a fluid-driven actuator can move the sheath axially from over the tool, for example, to allow a stent, stent-graft, prosthetic valve, or the like to expand radially within the cardiovascular system, without having to transmit large deployment forces along the catheter shaft and sheath from outside the patient. Well-behaved articulation structures will often include simple balloon arrays, with inflation of the balloons interacting with elongate skeletal support structures so as to improve articulation behavior of the skeleton. The array can be used to improve uniformity of bending along a segment of a flexible body such as a catheter. The articulation improvement structures can be employed in minimally invasive medical catheter systems, and also for industrial continuum robotics, for supporting imaging systems, for entertainment and consumer products, and the like.
摘要翻译：可将导管支撑的治疗和诊断工具引入患者体内，其中护套可滑动地设置在工具上。一旦工具与目标组织对准，流体驱动的致动器就可以例如从工具上方轴向地移动护套，以允许支架，覆膜支架，假体瓣膜等在心血管系统内径向扩张，而不必从患者外部沿着导管轴和护套传递大的展开力。行为良好的关节结构通常包括简单的气球阵列，气球的膨胀与细长的骨架支撑结构相互作用，从而改善骨骼的关节运动行为。该阵列可以用于改善沿着诸如导管之类的柔性体部分的弯曲的均匀性。关节改善结构可以用于微创医疗导管系统，也可以用于工业连续机器人，用于支持成像系统，用于娱乐和消费产品等。

3. 发明申请

WO2016160587A1 FLUID DRIVE SYSTEM FOR CATHETER ARTICULATION AND OTHER USES 审中-公开
标题翻译：流体驱动系统用于导管和其他用途
公开(公告)号：WO2016160587A1
公开(公告)日：2016-10-06
申请号：PCT/US2016/024274
申请日：2016-03-25
申请人： BARRISH, Mark, D.
发明人： BARRISH, Mark, D. , LABY, Phillip
IPC分类号： A61M25/01
CPC分类号： A61M25/1011 , A61B34/20 , A61B2017/00318 , A61B2017/00557 , A61B2018/00577 , A61B2034/301 , A61M25/005 , A61M25/0155 , A61M25/1025 , A61M25/1034 , A61M25/1036 , A61M2025/0166
摘要： Fluid control devices, systems, and methods are useful for articulating catheters and other elongate flexible structures. A modular manifold architecture includes plate-mounted valves to facilitate fluid communication along a plurality of fluid channels included in one or more multi-lumen shafts for articulating actuators comprising balloons within a balloon array, with the balloons often mounted on two or more extruded multi-lumen shafts. Valve/plate modules can be assembled in an array, and a proximal interface of the shaft(s) may have ports for accessing the balloon channels distributed along an axis of the interface. By aligning and engaging the proximal interface with a receptacle that traverses the plates of the manifold assembly, the ports can be quickly and easily sealed to associated channels of the various valve/plate modules using a quick-disconnect fitting.
摘要翻译：流体控制装置，系统和方法对于关节导管和其它细长的柔性结构是有用的。模块化歧管结构包括板安装的阀，以促进包括在一个或多个多腔轴中的多个流体通道的流体连通，用于在球囊阵列内包括球囊的关节式致动器，气囊经常安装在两个或多个挤压多腔轴上，管腔轴。阀/板模块可以组装成阵列，并且轴的近端界面可以具有用于进入沿着界面的轴线分布的球囊通道的端口。通过将近端接口与穿过歧管组件的板的插座对准和接合，可以使用快速断开接头将端口快速且容易地密封到各种阀/板模块的相关通道。

4. 发明申请

WO2016160589A1 FLUID-EXPANDABLE BODY ARTICULATION OF CATHETERS AND OTHER FLEXIBLE STRUCTURES 审中-公开
标题翻译：导管和其他柔性结构的流体膨胀体
公开(公告)号：WO2016160589A1
公开(公告)日：2016-10-06
申请号：PCT/US2016/024280
申请日：2016-03-25
申请人： BARRISH, Mark, D.
发明人： BARRISH, Mark, D. , BOURANG, Henry , LABY, Phillip
IPC分类号： A61M25/01
CPC分类号： A61M25/1011 , A61B34/20 , A61B2017/00318 , A61B2017/00557 , A61B2018/00577 , A61B2034/301 , A61M25/005 , A61M25/0155 , A61M25/1025 , A61M25/1034 , A61M25/1036 , A61M2025/0166
摘要： Articulation devices, systems, methods for articulation, and methods for fabricating articulation structures include simple balloon arrays, with inflation of the balloons interacting with elongate skeletal support structures so as to locally alter articulation of the skeleton. The balloons can be mounted to a substrate of the array, with the substrate having channels that can direct inflation fluid to a subset of the balloons. The articulation array may be formed using simple planar 3-D printing, extrusion, and/or laser micromachining. The skeleton may comprise a simple helical coil or interlocking helical channels, and the array can be used to locally deflect or elongate an axis of the coil under control of a processor. Liquid inflation fluid may be directed to the balloons from an inflation fluid canister, and may vaporize within the channels or balloons, the inflation system preferably including processor controlled valves. The articulation structures can be employed in medical catheter systems, industrial robotics, supporting imaging systems, and entertainment and consumer products.
摘要翻译：铰接装置，系统，铰接方法和用于制造铰接结构的方法包括简单的气球阵列，气囊的膨胀与细长的骨骼支撑结构相互作用以局部改变骨骼的关节。气囊可以安装到阵列的基底上，其中基底具有可将充气流体引导到气球的子集的通道。铰接阵列可以使用简单的平面3D打印，挤出和/或激光微加工形成。骨架可以包括简单的螺旋线圈或互锁螺旋通道，并且该阵列可以用于在处理器的控制下局部偏转或拉长线圈的轴线。液体充气流体可以从充气流体罐引导到气囊，并且可以在通道或气囊内蒸发，充气系统优选地包括处理器控制的阀。关节结构可用于医疗导管系统，工业机器人，支持成像系统，娱乐和消费产品。

5. 发明申请

WO2016160586A1 ARTICULATION SYSTEMS, DEVICES, AND METHODS FOR CATHETERS AND OTHER USES 审中-公开
标题翻译：用于导管和其他用途的制品系统，装置和方法
公开(公告)号：WO2016160586A1
公开(公告)日：2016-10-06
申请号：PCT/US2016/024270
申请日：2016-03-25
申请人： BARRISH, Mark, D.
发明人： BARRISH, Mark, D. , LABY, Phillip , BOURANG, Henry
IPC分类号： A61M25/01
CPC分类号： A61M25/1011 , A61B34/20 , A61B2017/00318 , A61B2017/00557 , A61B2018/00577 , A61B2034/301 , A61M25/005 , A61M25/0155 , A61M25/1025 , A61M25/1034 , A61M25/1036 , A61M2025/0166
摘要： Articulation devices, systems, methods for articulation, and methods for fabricating articulation structures include simple balloon arrays, with inflation of the balloons interacting with elongate skeletal support structures so as to locally alter articulation of the skeleton. The balloons can be mounted to a substrate of the array, with the substrate having channels that can direct inflation fluid to a subset of the balloons. The articulation array may be formed using simple planar 3-D printing, extrusion, and/or laser micromachining. The skeleton may comprise a simple helical coil or interlocking helical channels, and the array can be used to locally deflect or elongate an axis of the coil under control of a processor. Liquid inflation fluid may be directed to the balloons from an inflation fluid canister, and may vaporize within the channels or balloons, the inflation system preferably including processor controlled valves. The articulation structures can be employed in medical catheter systems, industrial robotics, supporting imaging systems, and entertainment and consumer products.
摘要翻译：铰接装置，系统，铰接方法和用于制造铰接结构的方法包括简单的气球阵列，气囊的膨胀与细长的骨骼支撑结构相互作用以局部改变骨骼的关节。气囊可以安装到阵列的基底上，其中基底具有可将充气流体引导到气球的子集的通道。铰接阵列可以使用简单的平面3D打印，挤出和/或激光微加工形成。骨架可以包括简单的螺旋线圈或互锁螺旋通道，并且该阵列可以用于在处理器的控制下局部偏转或拉长线圈的轴线。液体充气流体可以从充气流体罐引导到气囊，并且可以在通道或气囊内蒸发，充气系统优选地包括处理器控制的阀。关节结构可用于医疗导管系统，工业机器人，支持成像系统，娱乐和消费产品。

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