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1. 发明申请

WO2017223545A1 HIGH FRICTION MATERIAL BASED ON EMBEDDED SPIKES 审中-公开
标题翻译：基于嵌入式SPIKES的高摩擦材料
公开(公告)号：WO2017223545A1
公开(公告)日：2017-12-28
申请号：PCT/US2017/039157
申请日：2017-06-24
申请人： THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY
发明人： HAWKES, Ellot, W. , CHRISTENSEN, David, L. , SURESH, Srinivasan, Arul , CUTKOSKY, Mark, R.
IPC分类号： B60C11/14 , A43B13/26 , B60C11/16 , B60C11/00
CPC分类号： A43B13/26 , A43C15/005 , B60C11/00 , B60C11/14 , B60C11/16
摘要： To create very high coefficients of friction, a very soft, tacky material could be used. However, such materials wear very quickly and are easily fouled with dirt, quickly decreasing their efficacy. In contrast, as taught and provided herein, a high friction material that leverages embedded spikes to apply forces to micron- scale asperities for increasing the functional coefficient is composed of relatively hard and non-tacky materials. This means the components do not get dirty nor wear as quickly as tacky materials.
摘要翻译：为了产生非常高的摩擦系数，可以使用非常柔软的粘性材料。但是，这种材料磨损非常快，很容易被污垢弄脏，从而快速降低其功效。相反，如本文所教导和提供的，利用嵌入式尖刺将力施加到微米级粗糙度以提高功能系数的高摩擦材料由相对坚硬和非粘性材料组成。这意味着组件不会变脏，也不会磨损粘性材料。

2. 发明申请

WO2022192290A1 DEVICES AND METHODS FOR MECHANICALLY INDUCED VENTRICULAR GROWTH IN SINGLE VENTRICLE PATIENTS 审中-公开
公开(公告)号：WO2022192290A1
公开(公告)日：2022-09-15
申请号：PCT/US2022/019393
申请日：2022-03-08
申请人： THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY
发明人： HAN, Kyung, Won , MARSDEN, Alison , CUTKOSKY, Mark, R. , KIGHT, Ali , PIROZZI, Ileana , MA, Michael
IPC分类号： A61F2/24
摘要： Devices are provided for mechanically induced ventricular growth in a single ventricle patient that include a body comprising a plurality of springs coupled together to define an open upper end and a closed lower end, wherein the springs surround an interior region of the body sized to receive a portion of a patient's heart. The device may be secured over a portion of a patient's heart, e.g., overlying the left ventricular region, and the bias of the springs may apply strain to the myocardium of the heart to induce ventricular chamber growth.

3. 发明申请

WO2020047096A1 MEASURING CHORDAE TENDINEAE FORCES USING FIBER BRAGG GRATING OPTICAL FORCE SENSORS 审中-公开
公开(公告)号：WO2020047096A1
公开(公告)日：2020-03-05
申请号：PCT/US2019/048571
申请日：2019-08-28
申请人： THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY
发明人： PAULSEN, Michael, John , WOO, Y., Joseph , CUTKOSKY, Mark, R. , BAE, Jung, Hwa , IMBRIE-MOORE, Annabel, M.
IPC分类号： A61B90/00 , G01L1/24 , A61F2/24
摘要： Fiber Bragg grating (FBG) sensors are used to provide measurement of chordae tendineae forces. Two basic modes of operation are considered, The first mode is a research mode, where the FBG sensors are affixed to native chordae in situ and preferably in vivo to provide data on chordae forces in a beating heart under various conditions (e.g., normal, hypertensive, etc.), The second mode is a clinical mode, where the FBG sensor can be used to measure tension on a prosthetic neochord during the surgical procedure to implant the prosthesis.

4. 发明申请

WO2018049192A1 STEERING WHEEL SKIN DEFORMATION DISPLAY 审中-公开
标题翻译：方向盘皮肤变形显示
公开(公告)号：WO2018049192A1
公开(公告)日：2018-03-15
申请号：PCT/US2017/050728
申请日：2017-09-08
申请人： THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY
发明人： PLOCH, Christopher, J. , BAE, Jung, Hwa , CUTKOSKY, Mark, R.
IPC分类号： B60W50/16
CPC分类号： B60Q9/008 , B60R16/027 , B62D1/046 , B62D1/06 , B62D15/029 , G05D1/0088
摘要： A haptic feedback device for a vehicle is provided that has a ring member disposed circumferentially on the steering wheel as the moving element. This allows the system to be used with a wide variety of driver hand positions on the steering wheel, as opposed to requiring the driver to grip the steering wheel only in specific locations. A linear actuator is used, and accommodating the difference between the linear actuator motion and the rotational motion of the ring member is done via elastic compliance in the system (as opposed to providing pivots, rotary joints etc.). Such elastic compliance can only accommodate a limited range of angular motion (e.g., +/- 1 degree), but this small range of motion has been found to be sufficient for this haptic display application.
摘要翻译：提供了一种用于车辆的触觉反馈装置，该触觉反馈装置具有环形部件，该环形部件作为移动元件沿周向设置在方向盘上。这使得该系统可以与方向盘上各种各样的驾驶员手位置一起使用，而不需要驾驶员仅在特定位置抓握方向盘。使用线性致动器，并且容纳线性致动器运动与环构件的旋转运动之间的差异通过系统中的弹性顺应性（与提供枢轴，旋转关节等相反）完成。这种弹性柔顺性只能适应有限范围的角运动（例如，+/- 1度），但已经发现，这种小运动范围足以用于这种触觉显示应用。

5. 发明申请

WO2015167991A1 CLIMBING DEVICE WITH DRY ADHESIVES 审中-公开
标题翻译：具有干燥粘合剂的悬挂装置
公开(公告)号：WO2015167991A1
公开(公告)日：2015-11-05
申请号：PCT/US2015/027729
申请日：2015-04-27
申请人： THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY
发明人： HAWKES, Elliot, W. , CHRISTENSEN, David, L. , EASON, Eric, V. , CUTKOSKY, Mark, R.
IPC分类号： B01J19/00
CPC分类号： B62D57/00 , B29C33/00 , C09J7/00 , C09J2201/626 , C09J2483/00 , F16F3/00
摘要： A synthetic adhesion device is provided that includes a load plate, a load tendon, where the load tendon is connected to the load plate, an array of adhesive tiles, where each the adhesive tile includes adhesion microwedges, an array of degressive elastic elements, where each the degressive elastic element is configured to have a decreasing stiffness with an increasing displacement, where each the degressive elastic element includes a tile tendon, and an array of flexible pedestals, where each the flexible pedestal is connected to the load plate, where each the adhesive tile is connected to the flexible pedestal, where each the adhesive tile is further connected to the tile tendon, where each the degressive elastic element is connected to the load plate, where the array of adhesive tiles are configured for degressive load sharing to all the adhesive tiles.
摘要翻译：提供一种合成粘合装置，其包括负载板，负载腱，其中负载腱连接到负载板，粘合剂瓦片的阵列，其中每个粘合剂瓦片包括粘合微楔形物，一组递减弹性元件，其中每个递减弹性元件被配置为具有随着位移增加的刚度的降低，其中每个递减弹性元件包括瓦腱，以及柔性基座的阵列，其中每个柔性基座连接到负载板，粘合剂瓦片连接到柔性基座，其中每个粘合剂瓦片进一步连接到瓦腱，其中每个递减弹性元件连接到负载板，其中粘合剂瓦片阵列被配置为用于递减负载共享到所有粘合砖。

6. 发明申请

WO2022056223A1 DEVICES AND METHODS DIRECTED TO SENSING USING SYNTHETIC MATERIALS 审中-公开
公开(公告)号：WO2022056223A1
公开(公告)日：2022-03-17
申请号：PCT/US2021/049806
申请日：2021-09-10
申请人： THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY
发明人： HAM, Jooyeun , BAO, Zhenan , CUTKOSKY, Mark, R.
IPC分类号： G01B21/02 , G01L1/14 , B25J15/08 , B25J19/02
摘要： Certain examples are directed to an apparatus having a stretchable synthetic membrane material and series of patterned conductive or semiconductive sections. The stretchable synthetic membrane material may be provided with the series of patterned sections being integrated in or against the material (e.g., on similarly-configured robotic digits operating as a pair). One or more of these sections are electrically coupled to sensor circuitry which may also be secured to or embedded in the material. As the apparatus moves relative to an external object, various environmental parameters may be sensed via at least one sensor as the object and the digit(s) approach one another. Depending on how the sensor circuitry is configured, such parameters may include one or more of proximity, capacitance, temperature, impedance, contact with the object, and movement of the robotic member relative to the external object.

7. 发明申请

WO2014138095A1 APPARATUSES INVOLVING ELONGATED-MEDICAL INSTRUMENT FOR SENSING TISSUE INTERACTION FORCES 审中-公开
标题翻译：涉及用于传感组织相互作用力的伸直医疗仪器的装置
公开(公告)号：WO2014138095A1
公开(公告)日：2014-09-12
申请号：PCT/US2014/020369
申请日：2014-03-04
申请人： THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY
发明人： ELAYAPERUMAL, Santhi , BAE, Jung, Hwa , DANIEL, Bruce, L. , CUTKOSKY, Mark, R.
IPC分类号： A61B18/02 , A61N5/10 , A61B10/02 , A61B18/14 , A61B5/00 , G01L1/24 , A61B19/00
CPC分类号： A61B17/3403 , A61B5/01 , A61B5/6885 , A61B10/0233 , A61B18/02 , A61B18/1477 , A61B34/30 , A61B34/76 , A61B2017/00911 , A61B2034/2061 , A61B2090/064 , A61B2090/065 , A61B2090/374 , A61B2562/0266 , A61N5/1001 , G01L1/246
摘要： Various aspects as described herein are directed to methods and systems that include a tissue-engagement apparatus. The tissue-engagement apparatus includes a distal needle portion having a sharp-end region to be applied to a tissue surface. The tissue-engagement apparatus also includes a proximate needle portion to attach to a needle base, and an elongated needle portion, situated between the distal needle portion. The elongated needle portion includes a plurality of openings that accentuate haptic-type forces carried by the elongated needle portion in response to engagement between the sharp-end region and the tissue surface. Additionally, the proximate needle portion includes a communication pathway that conveys information, from the distal needle portion along the elongated needle portion, which characterizes forces due to the engagement between the sharp-end region and the tissue surface.
摘要翻译：本文所述的各个方面涉及包括组织接合装置的方法和系统。组织接合装置包括具有施加到组织表面的尖端区域的远侧针部分。组织接合装置还包括附接到针座的近针部分和位于远端针部分之间的细长针部分。细长针部分包括多个开口，其突出了响应于尖端区域和组织表面之间的接合而由细长针部分承载的触觉型力。另外，近针部分包括连通路径，该连通路径从远端针部分沿细长针部分输送信息，该信息表征由于尖端区域和组织表面之间的接合而产生的力。

8. 发明申请

WO2013155171A1 ELECTRICALLY VARIABLE SUSPENSION 审中-公开
标题翻译：电气可变悬挂
公开(公告)号：WO2013155171A1
公开(公告)日：2013-10-17
申请号：PCT/US2013/035956
申请日：2013-04-10
申请人： THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY
发明人： DASTOOR, Sanjay, K. , CUTKOSKY, Mark, R.
IPC分类号： F16F1/36 , F16F15/03 , F16F15/08
CPC分类号： F16F1/3615
摘要： A variable stiffness spring is provided that includes a dielectric diaphragm having a biaxially pre-strained film, where the dielectric diaphragm includes an out-of-plane stiffness at zero voltage, a first electrode disposed on a first side of the dielectric diaphragm and a second electrode disposed on a second side of the dielectric diaphragm, where the out-of-plain stiffness is relaxed by an applied voltage between the first electrode and the second electrode.
摘要翻译：提供了一种可变刚度弹簧，其包括具有双轴预应变膜的电介质隔膜，其中介质隔膜包括在零电压下的平面外刚度，设置在电介质隔膜第一侧的第一电极和第二电极电极，其设置在所述电介质隔膜的第二侧上，其中所述外平坦刚度通过所述第一电极和所述第二电极之间的施加电压而松弛。

9. 发明申请

WO2021097028A1 CLUTCHING MECHANISM FOR TELEOPERATED IN-BORE MRI GUIDED BIOPSIES 审中-公开
公开(公告)号：WO2021097028A1
公开(公告)日：2021-05-20
申请号：PCT/US2020/060138
申请日：2020-11-12
申请人： THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY
发明人： FRISHMAN, Samuel , CUTKOSKY, Mark, R.
IPC分类号： A61B34/30 , A61B34/37 , A61B10/02 , A61B10/00 , A61B5/055
摘要： Limited physical access to target organs of patients inside an MRI scanner is a major obstruction to real-time MRI- guided interventions. Traditional teleoperation technologies are incompatible with the MRI environment and although several solutions have been explored, a versatile system that provides high-fidelity haptic feedback and access deep inside the bore remains a challenge. A passive and nearly frictionless MRI-compatible hydraulic teleoperator is provided designed for in-bore biopsies. A needle driver translates a needle in insertion and retraction directions via a clutch mechanism. A needle holder grips the needle via a retraction lock when the clutch mechanism of the needle driver releases the needle to hold a position of the needle during reposition of the needle driver.

10. 发明申请

WO2019014243A1 CAPACITIVE AND TACTILE SENSORS AND RELATED SENSING METHODS 审中-公开
公开(公告)号：WO2019014243A1
公开(公告)日：2019-01-17
申请号：PCT/US2018/041476
申请日：2018-07-10
申请人： THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY.
发明人： BAO, Zhenan , CUTKOSKY, Mark, R. , HAM, Jooyeun
IPC分类号： G01L1/14 , G01L1/22 , G01L9/00 , H01L29/84 , A61B5/00
摘要： Aspects of various embodiments are directed to sensor apparatuses and methods thereof. An example sensor apparatus includes a capacitor and sensor circuitry. The capacitor includes a first substrate having a first electrode, a second substrate having a second electrode, and a dielectric layer. The dielectric layer has a plurality of dielectric structures arranged in a pattern, the first and second electrode being separated by the dielectric layer and arranged with an overlapping area with respect to one another. The sensor circuitry is coupled to the capacitor and configured and arranged to detect normal and shear forces applied to the sensor apparatus based on changes in capacitance derived from changes in at least one of a distance between first and second electrodes and the overlapping area of the first and second electrodes.

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