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1. 发明申请

WO2009127954A2 SUPPORT DEVICE FOR SENSORS AND/OR ACTUATORS THAT CAN BE PART OF A WIRELESS NETWORK OF SENSORS/ACTUATORS 审中-公开
标题翻译：用于传感器和/或执行器的支持设备，可以作为传感器/执行器的无线网络的一部分
公开(公告)号：WO2009127954A2
公开(公告)日：2009-10-22
申请号：PCT/IB2009/005264
申请日：2009-04-16
申请人： W.I.N.-WIRELESS INTEGRATED NETWORK S.R.L. , MAZZEO, Antonio , MISURI, Alessio , PENSABENE, Virginia , SCAPELLATO, Sergio , VALDASTRI, Pietro , VATTERONI, Monica
发明人： MAZZEO, Antonio , MISURI, Alessio , PENSABENE, Virginia , SCAPELLATO, Sergio , VALDASTRI, Pietro , VATTERONI, Monica
CPC分类号： G01D11/30 , A61B5/0002 , A61B5/681 , A61B5/6831 , A61B2560/045 , A61B2560/0475 , A61B2562/08
摘要： A support device for sensors and/or actuators, of a knot element or End Device (10) of a wireless network of sensors/actuators that comprises a base body or base module (1) with a plurality of faces (2), to which a sensor and/or actuator module or block (3) is mounted, and an electrical supply block/module (4). The main feature of the base body (1) is the possibility of adding to the knot element (10) further sensors and/or actuators (3) as well as adapter elements, bridge interface elements (60) or expansion modules (50). The base body (1) can have a plurality of connection faces (2) with positive engagement means (54), which allow to assemble the above described modules. The positive engagement means (54) ensures an electromechanical connection between the many modules and, furthermore, assists an easy and intuitive accessibility for a user.
摘要翻译：传感器/致动器的无线网络的结元件或终端设备（10）的传感器和/或致动器的支撑装置，其包括具有多个面（2）的基体或基座模块（1），多个面安装传感器和/或致动器模块或块（3），以及电源块/模块（4）。基体（1）的主要特征是可以向结元件（10）添加另外的传感器和/或致动器（3）以及适配器元件，桥接器元件（60）或扩展模块（50）。基体（1）可以具有多个具有正接合装置（54）的连接面（2），这允许组装上述模块。正向接合装置（54）确保许多模块之间的机电连接，此外，帮助用户容易和直观的可访问性。

2. 发明申请

WO2013027182A1 CAPSULE FOR LOCAL THERAPY BY MEANS OF AN ENDOLUMINAL PLASTER IN THE GASTROINTESTINAL SYSTEM 审中-公开
标题翻译：用于胃肠道系统中的内消旋塑料的局部治疗的胶囊
公开(公告)号：WO2013027182A1
公开(公告)日：2013-02-28
申请号：PCT/IB2012/054239
申请日：2012-08-22
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , PENSABENE, Virginia , SINIBALDI, Edoardo , MENCIASSI, Arianna , DARIO, Paolo , QUAGLIA, Claudio , VALDASTRI, Pietro
发明人： PENSABENE, Virginia , SINIBALDI, Edoardo , MENCIASSI, Arianna , DARIO, Paolo , QUAGLIA, Claudio , VALDASTRI, Pietro
IPC分类号： A61B1/04 , A61B1/00 , A61B5/06 , A61B1/273
CPC分类号： A61B1/00016 , A61B1/00029 , A61B1/00071 , A61B1/041 , A61B1/2736 , A61B5/061 , A61B5/07 , A61B5/4839
摘要： The present invention refers to the field of local therapies in the gas trointestinal system. In particular, it refers to a swallowable capsule for local therapy at a target site, said capsule comprising a capsule body with a longitudinal axis and equipped with image sensor means, said capsule further comprising a driving and orienting wireless system adapted to interact with an external unit for receiving information and the driving of said capsule, wherein said capsule comprises a compartment formed in said capsule body, said compartment housing a polymeric film means, said capsule also comprising supporting and releasing means for moving said polymeric film means according to a direction of application perpendicular to said longitudinal axis, from a retracted position where said polymeric film means are contained inside said compartment, to an extracted position where said polymeric film means is projected from said compartment to make contact with said target.
摘要翻译：本发明涉及气体肠道系统中的局部疗法领域。特别地，它是指用于在目标部位进行局部治疗的吞咽胶囊，所述胶囊包括具有纵向轴线的胶囊主体并配备有图像传感器装置，所述胶囊还包括驱动和定向的无线系统，其适于与外部用于接收信息和所述胶囊的驱动的单元，其中所述胶囊包括形成在所述胶囊主体中的隔室，所述隔室容纳聚合物膜装置，所述胶囊还包括用于根据所述胶囊主体的方向移动所述聚合物膜装置的支撑和释放装置垂直于所述纵向轴线的应用，其中所述聚合物膜装置被包含在所述隔室内的缩回位置到所述提取位置，其中所述聚合物膜装置从所述隔间突出以与所述目标接触。

3. 发明申请

WO2012176111A2 A VIBRATION RING 审中-公开
标题翻译：振动圈
公开(公告)号：WO2012176111A2
公开(公告)日：2012-12-27
申请号：PCT/IB2012/053063
申请日：2012-06-18
申请人： ANTONELLI, Gabriele , BARSOTTI, Luca , MAZZEO, Antonio , VALDASTRI, Pietro
发明人： ANTONELLI, Gabriele , BARSOTTI, Luca , MAZZEO, Antonio , VALDASTRI, Pietro
IPC分类号： A61H19/00
CPC分类号： A61H19/50 , A61F2005/414 , A61F2005/417 , A61H19/32 , A61H19/34 , A61H23/02 , A61H2011/005 , A61H2201/10 , A61H2201/105 , A61H2201/165 , A61H2201/5005 , A61H2201/5007 , A61H2201/501 , A61H2201/5035 , A61H2201/5058 , A61H2201/5084 , A61H2201/5097 , A61N1/36007
摘要： A vibrating ring (100) for sexual." stimulation comprising a ring body (10) arranged to be inserted at the basis of a male member (50) of a user. The ring (100) further comprises a vibration means (20) arranged to transmit a vibration with predetermined vibration parameters to the ring body (10) during a sexual intercourse and a battery (25) arranged to feed the vibration means (20). Furthermore, an inertial sensor is provided (30), in particular an accelerometer, which is arranged on the ring body (10) and configured to measure the movement of the user, and also to provide corresponding measurement signals (32), and a microprocessor (40) associated with the inertial sensor (30) and to the vibration means (20) arranged to transmit a drive signal (42) to the vibration means (20) on the basis of the measurement signals (32). Through a program means resident in the microprocessor (40) the measurement signals (32) are computed to generate the drive signal (42) in order to cause the vibration parameters to follow a predetermined function. In particular, the vibration parameters follow a predetermined function of frequency and/or intensity of vibration responsive to the measurement signals (32). This way, it is possible to adapt the vibration parameters, such as frequency and/or intensity, to the movement of the user and then improving the effectiveness of the stimulation. Furthermore, a vibrating ring-user interface is provided (46) that enables the user to set/read the rate of preference of the vibration pattern.
摘要翻译：一种用于性的振动环（100），包括设置成以使用者的阳构件（50）为基础插入的环形体（10），所述环（100）还包括一个振动装置（20）在性交期间将具有预定振动参数的振动传递到环体（10），以及布置成供给振动装置（20）的电池（25），此外，提供惯性传感器（30），特别是加速度计，其布置在所述环形体（10）上并且被配置为测量所述使用者的移动，并且还提供对应的测量信号（32）以及与所述惯性传感器（30）相关联的微处理器（40）和所述振动根据测量信号（32）将驱动信号（42）发送到振动装置（20）的装置（20），通过驻留在微处理器（40）中的程序装置，计算测量信号（32）以产生驱动信号（42）以引起振动关于遵循预定功能的参数。特别地，响应于测量信号（32），振动参数遵循频率和/或振动强度的预定功能。这样，可以使振动参数（例如频率和/或强度）适应使用者的运动，然后改善刺激的有效性。此外，提供振动环 - 用户界面（46），其使得用户能够设置/读取振动模式的偏好率。

4. 发明申请

WO2012080947A1 MAGNETICALLY GUIDED ROBOTIC DEVICE FOR ENDOSCOPIC PROCEDURES 审中-公开
标题翻译：用于内窥镜程序的磁性引导机器人
公开(公告)号：WO2012080947A1
公开(公告)日：2012-06-21
申请号：PCT/IB2011/055636
申请日：2011-12-13
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , VALDASTRI, Pietro , CIUTI, Gastone , MENCIASSI, Arianna , DARIO, Paolo
发明人： VALDASTRI, Pietro , CIUTI, Gastone , MENCIASSI, Arianna , DARIO, Paolo
IPC分类号： A61B1/04 , A61B1/12
CPC分类号： A61B1/041 , A61B1/00094 , A61B1/00158 , A61B1/121
摘要： An endoscopic device of the capsular type that is mobile and that can be oriented inside a body cavity, such as the gastrointestinal tract, through a magnetic coupling of the inner magnetic means (1 1 ) inside said body and means for generating a magnetic field (13) external to the patient, and a system for blowing (4, 5, 6) a gaseous fluid and sucking said fluid and/or material present in the body cavity. The device is designed to avoid both the drawbacks of the conventional flexible endoscopes, by reducing the invasiveness and the pain, thus increasing the patient's compliance, and the drawbacks of the capsular endoscopes, by improving their ability to control the movement and keeping the dimensions small. The endoscopic device further allows to carry out local therapeutic and/or surgical treatments of areas of the inspected gastrointestinal tract.
摘要翻译：通过内部内部磁性装置（11）的磁耦合和可产生磁场的装置，可移动的并且可以定向在体腔（例如胃肠道）内的囊状类型的内窥镜装置， 13），以及用于吹送（4,5,6）气态流体并吸入存在于体腔中的所述流体和/或材料的系统。该装置旨在通过改善传统的灵活内窥镜的缺点，通过改善其控制运动和保持尺寸的能力，通过减少侵入性和疼痛，从而增加患者的顺应性和荚膜内窥镜的缺点，。内窥镜装置还允许对被检查的胃肠道的区域进行局部治疗和/或手术治疗。

5. 发明申请

WO2012049552A2 A WEARABLE DEVICE FOR EARLY DIAGNOSIS OF CARDIOPATHY AND/OR CARDIOVASCULAR DISEASES WHICH CAN BE DETERMINED BY HEMODYNAMIC VARIABLES 审中-公开
标题翻译：用于早期诊断心血管病和/或心血管疾病的易于诊断的装置，可由血液动力学变量确定
公开(公告)号：WO2012049552A2
公开(公告)日：2012-04-19
申请号：PCT/IB2011/002386
申请日：2011-10-11
申请人： W.IN.- WIRELESS INTEGRATED NETWORK S.R.L. , DE NEGRI, Ferdinando , VALDASTRI, Pietro
发明人： DE NEGRI, Ferdinando , VALDASTRI, Pietro
IPC分类号： A61B5/053
CPC分类号： A61B5/0537 , A61B5/0002 , A61B5/02028 , A61B5/053 , A61B5/6823 , A61B5/6831 , A61B2560/045
摘要： A early diagnosis device (100) of cardiopathies in a patient (50) such as a cardiac decompensation and/or cardiovascular diseases comprises a wearable support (1) and a diagnostic unit (5) mounted to the wearable support (1). The diagnostic unit (5) comprises a means for delivering (10) an electric current stimulus (I i ), at a predetermined frequency (f i ) to the patient's body (50) and a means for measuring (20) a thoracic electrical bioimpedance (Z i ), which is adapted to provide a bioelectric impedance signal (Z i ) on the basis of the electric stimulus (Ii) at the predetermined frequency (f i ). The device (100) further comprises an adjustment means (30) for adjusting the frequency (f i ) of the electric stimulus (I i ) in way suitable for transmitting a plurality of electric stimuli (I 1 , I 2 ,... I n ) at respective different frequencies (f 1 , f 2 , f 3 ... f n ) and such that the means for measuring (20) detects a corresponding complex bioimpedance signal (Z 1 , Z 2, Z 3 , Z n ). In addition, the device comprises a memory (35) that is configured to store the complex bioimpedance signals at a first time (t i ), at a second time (t 2 ) and at an nth time (t n ) and a means for extracting the real part (R 1 , R 2 , R 3 ... R n ) of the complex signals for instants (t 1 , t 2 , t n ), to obtain a respective time chart (C 1 , C 2 , C n ) of the real part for each frequency. Furthermore, it comprises a means for analysing (40) the time chart (C 1 , C 2 , C n ) and a means to provide an alarm (46) of cardiac decompensation if a decrease value DR/Dt is higher than a predetermined value DR o /Dt.
摘要翻译：患者（50）中的心脏病的早期诊断装置（100），例如心脏代偿失调和/或心血管疾病，包括安装在可穿戴支架（1）上的可穿戴支架（1）和诊断单元（5）。诊断单元（5）包括用于以预定频率（fi）向患者身体（50）输送（10）电流刺激（Ii）的装置和用于测量（20）胸部电生物阻抗（Zi）的装置），其适于基于在预定频率（fi）的电刺激（Ii）提供生物电阻抗信号（Zi）。装置（100）还包括调整装置（30），用于以适合于在各自不同的方式发射多个电刺激（I1，I2，... In）的方式调节电刺激（Ii）的频率（fi）频率（f1，f2，f3 ... fn），并且使得用于测量的装置（20）检测相应的复数生物阻抗信号（Z1，Z2，Z3，Zn）。另外，该装置包括存储器（35），其被配置为在第一时间（ti），第二时间（t2）和第n时间（tn）存储复杂的生物阻抗信号，以及用于提取真实的装置（t1，t2，tn）的复信号的部分（R1，R2，R3 ... Rn），以获得每个频率的实部的各自的时间图（C1，C2，Cn）。此外，如果减少值DR / Dt高于预定值DRo / Dt，则其包括用于分析（40）时间图（C1，C2，Cn）的装置和用于提供心脏代偿失真的警报（46）的装置。

6. 发明申请

WO2012035157A1 MAGNETIC LEVITATION ENDOSCOPIC DEVICE 审中-公开
标题翻译：磁感应内窥镜装置
公开(公告)号：WO2012035157A1
公开(公告)日：2012-03-22
申请号：PCT/EP2011/066149
申请日：2011-09-16
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , SIMI, Massimiliano , VALDASTRI, Pietro , MENCIASSI, Arianna , DARIO, Paolo
发明人： SIMI, Massimiliano , VALDASTRI, Pietro , MENCIASSI, Arianna , DARIO, Paolo
IPC分类号： A61B1/005 , A61B1/313 , A61B1/00
CPC分类号： A61B1/313 , A61B1/00158 , A61B1/0055
摘要： Endoscopic system, comprising an endoscopic device 1 moved by a magnetic levitation system comprising a first 2 and a second 3 module connected by means of a flexible joint 4 and each bearing one or more permanent magnets 21, 22, 31, 32, the second module 3 further being provided with a motor 34 for the actuation of the internal magnets 31, 32 thereof; and means 61, 62, 7 for generating a first and a second external magnetic field, adapted to respectively interact with the magnets of the first and of the second module with the aim of producing a desired magnetic field surrounding the second module 3 for an efficient working of the levitation system in orienting the second module 3 with respect to the first module 2.
摘要翻译：内窥镜系统，包括由磁悬浮系统移动的内窥镜装置1，该磁悬浮系统包括通过柔性关节4连接的第一和第二模块，并且每个轴承具有一个或多个永磁体21,22,31,32，第二模块 3还设置有用于致动其内部磁体31,32的马达34; 以及用于产生适于分别与第一和第二模块的磁体相互作用的第一和第二外部磁场的装置61,62,7，目的是产生围绕第二模块3的期望的磁场，用于有效地悬挂系统在使第二模块3相对于第一模块2定向时的工作。

7. 发明申请

WO2016040451A1 HYDRO-JET ENDOSCOPIC CAPSULE AND METHODS FOR GASTRIC CANCER SCREENING IN LOW RESOURCE SETTINGS 审中-公开
标题翻译：水ET ET IC IC LE LE S S S S S S S S S S S S S S S S S S S S S S S S
公开(公告)号：WO2016040451A1
公开(公告)日：2016-03-17
申请号：PCT/US2015/049142
申请日：2015-09-09
申请人： VANDERBILT UNIVERSITY , VALDASTRI, Pietro , OBSTEIN, Keith , CAPRARA, Robert , LYNE, Christopher , CAMPISANO, Frederico , SCOZZARRO, Gabriel , VARTANIAN, Alexander , JONES, William , DI NATALI, Christian , BECCANI, Marco , ERDEMIR, Erdem
发明人： VALDASTRI, Pietro , OBSTEIN, Keith , CAPRARA, Robert , LYNE, Christopher , CAMPISANO, Frederico , SCOZZARRO, Gabriel , VARTANIAN, Alexander , JONES, William , DI NATALI, Christian , BECCANI, Marco , ERDEMIR, Erdem
IPC分类号： A61B1/01
CPC分类号： A61B1/041 , A61B1/00156 , A61B1/01 , A61B1/015 , A61B2562/0219
摘要： Systems and methods are provided for controlling lateral movement of a medical capsule system. A capsule housing is configured to be inserted into an anatomical structure of a patient. The multichannel tether is coupled to a rear of the capsule and includes at least one liquid exhaust channel conveying liquid to the capsule housing. The plurality of liquid exhaust ports are positioned around an outer circumference of the capsule housing and each configured to controllably expel liquid laterally from the capsule housing at varying rates to affect lateral movement of the capsule housing.
摘要翻译：提供了用于控制医疗胶囊系统的横向移动的系统和方法。胶囊壳体被构造成插入患者的解剖结构中。多通道系绳联接到胶囊的后部，并且包括将液体输送到胶囊壳体的至少一个液体排出通道。多个液体排出口位于胶囊壳体的外周周围，并且每个液体排出口构造成以可变速率可控地从胶囊壳体排出液体以影响胶囊壳体的横向移动。

8. 发明申请

WO2012028557A1 SWALLOWABLE CAPSULE FOR INSUFFLATION OF GASTROINTESTINAL TRACT 审中-公开
标题翻译：用于消除胃肠道疾病的易吸收性胶囊
公开(公告)号：WO2012028557A1
公开(公告)日：2012-03-08
申请号：PCT/EP2011/064764
申请日：2011-08-26
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , VANDERBILT UNIVERSITY , VALDASTRI, Pietro , CIUTI, Gastone , MENCIASSI, Arianna , DARIO, Paolo , WEBSTER, Robert J. III , SMITH, Byron F. , TOENNIES, Jenna J.
发明人： VALDASTRI, Pietro , CIUTI, Gastone , MENCIASSI, Arianna , DARIO, Paolo , WEBSTER, Robert J. III , SMITH, Byron F. , TOENNIES, Jenna J.
IPC分类号： A61B1/32 , A61B1/04 , A61B1/12
CPC分类号： A61M13/003 , A61B1/00158 , A61B1/015 , A61B1/041
摘要： A system for insufflating a body cavity comprising a swallowable capsule comprising a chamber (11) containing a fluid capable to generate biocompatible gas or vapour by phase transition or chemical reaction, the chamber (11) being formed with at least one orifice (7) for placing it in communication with the outside. The orifice (7) is blocked by a shutter (4, 6; 26) made of magnetic material and there are provided elastic means (8) able to generate an elastic force sufficient to keep said shutter sealingly engaged in the orifice. The system further comprises magnetic actuating means (12; 34) external to the body cavity for generating a magnetic force having strength sufficient to overcome the elastic force of the elastic means disengaging the shutter from the orifice.
摘要翻译：一种用于吹入体腔的系统，包括可吞咽胶囊，其包括容纳能够通过相变或化学反应产生生物相容性气体或蒸汽的流体的腔室（11），所述腔室（11）形成有至少一个孔口（7），用于将其与外部通信。孔（7）被由磁性材料制成的活门（4,6; 26）阻挡，并且设置有弹性装置（8），该弹性装置能够产生足以使所述活门密封地接合在孔口中的弹性力。该系统还包括在体腔外部的磁性致动装置（12; 34），用于产生具有足以克服弹性装置将闸板从孔口分离的弹力的强度的磁力。

9. 发明申请

WO2011135503A1 ROBOTIC APPARATUS FOR MINIMALLY INVASIVE SURGERY 审中-公开
标题翻译：微型手术手术器械
公开(公告)号：WO2011135503A1
公开(公告)日：2011-11-03
申请号：PCT/IB2011/051772
申请日：2011-04-22
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , SCARFOGLIERO, Umberto , QUAGLIA, Claudio , PICCIGALLO, Marco , TOGNARELLI, Selene , VALDASTRI, Pietro , MENCIASSI, Arianna , DARIO, Paolo
发明人： SCARFOGLIERO, Umberto , QUAGLIA, Claudio , PICCIGALLO, Marco , TOGNARELLI, Selene , VALDASTRI, Pietro , MENCIASSI, Arianna , DARIO, Paolo
IPC分类号： A61B19/00 , A61B1/313
CPC分类号： A61B19/2203 , A61B34/30 , A61B2017/2906 , A61B2034/305 , Y10T74/19907 , Y10T74/20305 , Y10T74/20335
摘要： A robotic arm (101, 102; 201, 202) especially suited for laparoscopic surgery, comprising a torsional joint (6) and a flexural joint (5) serially arranged, said joints (5, 6) providing respective degrees of freedom for said arm, the robotic arm receiving drive means (38, 39) for said flexural (5) and torsional (6) joints. The robotic arm further comprises transmission means (340, 350, 34-36) placed between the drive means (38, 39) and the joints (5, 6). The transmission means comprise a first (340) and a second (350) assembly of three gear wheels, preferably of the conical type, and a train of three additional gear wheels (34-36) preferably straight-cut gear wheels, which couple the first (340) and second (350) assembly to form a differential mechanism.
摘要翻译：特别适用于腹腔镜手术的机械臂（101,102; 201,202）包括扭转关节（6）和串联地设置的弯曲关节（5），所述关节（5,6）为所述臂提供相应的自由度所述机械手臂接收用于所述弯曲（5）和扭转（6）接头的驱动装置（38,39）。机器手臂还包括放置在驱动装置（38,39）和接头（5,6）之间的传动装置（340,350,34-36）。传动装置包括优选为锥形的三个齿轮的第一（340）和第二（350）组件，以及三个附加齿轮（34-36）的列，优选为直切齿轮，其连接第一（340）和第二（350）组件以形成差速机构。

10. 发明申请

WO2012164517A1 ROBOTIC PLATFORM FOR MINI-INVASIVE SURGERY 审中-公开
标题翻译：微型手术机器人平台
公开(公告)号：WO2012164517A1
公开(公告)日：2012-12-06
申请号：PCT/IB2012/052739
申请日：2012-05-31
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , VALDASTRI, Pietro , DI NATALI, Christian , SIMI, Massimiliano , RANZANI, Tommaso , MENCIASSI, Arianna , DARIO, Paolo
发明人： VALDASTRI, Pietro , DI NATALI, Christian , SIMI, Massimiliano , RANZANI, Tommaso , MENCIASSI, Arianna , DARIO, Paolo
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B34/71 , A61B90/30 , A61B2017/00464 , A61B2017/00477 , A61B2017/00876 , A61B2034/302 , A61B2034/731 , G05B15/02
摘要： Robotic platform for mini-invasive surgery comprising robotic arms (4a, 4b) suitable to be placed in the body of a patient, introduced through a single access port, which are an extension of external robotic manipulators (19). The continuity between external (1) and internal (4a, 4b) robotic arms is guaranteed by means of a trans- abdominal magnetic connection (6) between the internal robotic arm integral with the external one. The trans-abdominal magnetic coupling not only guarantees a stable anchoring, but most of all it transfers degrees of freedom to the internal robotic arms, inducing the motion of internal magnets by means of the automatized motion of external magnets. It is also possible to reposition the internal robotic arms without requiring having to additionally perform incisions on the abdomen. Using the external robotic arms allows translating the internal ones on the entire abdomen thus providing a working space not bound to the point of insertion and theoretically unlimited.
摘要翻译：用于微创手术的机器人平台包括适于放置在患者体内的机器人臂（4a，4b），通过作为外部机器人操纵器（19）的延伸部的单个进入口引入。外部（1）和内部（4a，4b）机械手臂之间的连续性通过与外部机械臂整合的内部机械手臂之间的腹部磁性连接（6）来保证。跨腹磁耦合不仅可以保证稳定的锚固，而且最重要的是将内部机械臂的自由度转移，通过外部磁体的自动化运动来引起内部磁体的运动。也可以重新定位内部机器人手臂，而无需另外在腹部进行切口。使用外部机器人手臂允许翻译整个腹部的内部机器人手臂，从而提供不限于插入点的理论上无限制的工作空间。

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