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1. 发明申请

WO2016053187A1 CARRYING PLATFORM FOR MOVING A DEVICE WITHIN A CONDUIT 审中-公开
标题翻译：携带用于移动设备的平台
公开(公告)号：WO2016053187A1
公开(公告)日：2016-04-07
申请号：PCT/SG2015/050352
申请日：2015-09-29
申请人： NANYANG TECHNOLOGICAL UNIVERSITY
发明人： COHEN, Assaf , TEOH, Swee Hin , QI, Huan
IPC分类号： A61M25/10 , A61M25/01 , A61B1/01 , A61B1/005
CPC分类号： A61B1/0053 , A61B1/005 , A61B1/0057 , A61B1/0058 , A61B1/01 , A61B1/04 , A61M25/0045 , A61M25/01 , A61M25/0125 , A61M25/0147 , A61M25/10 , A61M2205/0266 , B25J5/00 , B25J5/007 , B25J7/00 , Y10S901/01
摘要： A carrying platform for moving a device within a lumen, comprising a plurality of clampers configured to releasably engage the lumen for immobilizing the carrying platform relative to the lumen, and a device engagement mechanism configured to releasably engage the device. The device is preferably a catheter or an endoscope, and the lumen is preferably a biological lumen. The clampers each comprise an inflatable balloon or arms configured to engage the lumen. The device engagement mechanism comprises at least a set of wheels, or grippers each comprise a sleeve made of a shape memory material, a sleeve actuated by wire to grip the elongate device, or a balloon configured to grip the device when inflated. The forward and backward locomotion of the carrying platform through a lumen is carried out by a sequential inflation and deflation of inflatable balloons and an alternate engagement of a front gripper and a rear gripper to the device.
摘要翻译：一种用于在管腔内移动装置的承载平台，包括构造成可释放地接合所述内腔的多个夹持器，用于相对于所述内腔固定所述承载平台，以及构造成可释放地接合所述装置的装置接合机构。该装置优选地是导管或内窥镜，并且内腔优选地是生物腔。夹持器各自包括构造成接合内腔的可充气气囊或臂。装置接合机构包括至少一组轮子，或夹子，每个轮子包括由形状记忆材料制成的套筒，由线材致动以套住细长装置的套筒，或者构造成在膨胀时夹紧装置的气囊。承载平台通过管腔的向前和向后运动通过可充气气囊的顺序充气和放气以及前夹具和后夹具与装置的交替接合来进行。

2. 发明申请

WO2012040442A1 CABLE-DRIVEN MORPHABLE MANIPULATOR 审中-公开
标题翻译：电缆驱动可变操纵器
公开(公告)号：WO2012040442A1
公开(公告)日：2012-03-29
申请号：PCT/US2011/052728
申请日：2011-09-22
申请人： JOHNS HOPKINS UNIVERSITY , ARMAND, Mehran , KUTZER, Michael, D. M. , BROWN, Christopher, Y. , TAYLOR, Russell, H. , BASAFA, Ehsan
发明人： ARMAND, Mehran , KUTZER, Michael, D. M. , BROWN, Christopher, Y. , TAYLOR, Russell, H. , BASAFA, Ehsan
IPC分类号： A61B17/34 , A61B17/00 , A61B17/29 , A61B1/005
CPC分类号： A61M25/0147 , A61B1/0055 , A61B1/0057 , A61B1/0058 , A61B17/3421 , A61B2017/00309 , A61B2017/00327 , A61B2017/00867 , A61B2017/2929 , A61B2018/2238 , A61M25/0009 , Y10T29/49826
摘要： A device includes first and second sheets of first and second elastic materials, respectively, and a control wire. The first sheet has a first thickness and a first length and is shaped to have a first cross-section having a first inner periphery and a first outer periphery. The second sheet has a second thickness and a second length and is shaped to have a second cross-section having a second inner periphery and a second outer periphery. One of the first sheet and the second sheet has a spacing disposed in along one of the first length and the second length, respectively. The first outer periphery is less than or equal to the second inner periphery. The second sheet surrounds the first sheet. The control wire has an end constrained to one of the first sheet the first material and the second sheet. The control wire is disposed within the spacing.
摘要翻译：一种装置分别包括第一和第二片第一和第二弹性材料和控制线。第一片具有第一厚度和第一长度，并且成形为具有具有第一内周边和第一外周边的第一横截面。第二片具有第二厚度和第二长度，并且成形为具有具有第二内周和第二外周的第二横截面。第一片材和第二片材之一分别具有沿着第一长度和第二长度中的一个排列的间隔。第一外周边小于或等于第二内周边。第二张纸围绕第一张纸。控制线的端部被限制为第一片和第二片之一。控制线设置在间隔内。

3. 发明申请

WO2010002544A1 METHODS AND APPARATUS TO SHAPE FLEXIBLE ENTRY GUIDES FOR MINIMALLY INVASIVE SURGERY 审中-公开
标题翻译：形成微创入院手术的灵活入门指南的方法和装置
公开(公告)号：WO2010002544A1
公开(公告)日：2010-01-07
申请号：PCT/US2009/046446
申请日：2009-06-05
申请人： INTUITIVE SURGICAL, INC.
发明人： ROGERS, Theodore, W. , LARKIN, David Q.
IPC分类号： A61B17/34
CPC分类号： A61B1/0051 , A61B1/00039 , A61B1/00087 , A61B1/00128 , A61B1/00133 , A61B1/00135 , A61B1/00193 , A61B1/005 , A61B1/0052 , A61B1/0055 , A61B1/0057 , A61B1/0058 , A61B1/008 , A61B1/01 , A61B1/018 , A61B17/29 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B2017/003 , A61B2017/00323 , A61B2017/00327 , A61B2017/3445 , A61B2017/3447 , A61B2017/347 , A61B2034/2061 , A61B2034/301 , A61B2034/306
摘要： In one embodiment of the invention, an apparatus for performing surgical procedures is disclosed including a flexible entry guide tube, and a first steering device. The flexible entry guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool to perform surgery near the distal end of the flexible entry guide tube. The first steering device is insertable into the instrument lumen to shape the flexible entry guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the flexible entry guide tube to hold its shape. The flexible entry guide tube may be steered by remote control with one or more actuators.
摘要翻译：在本发明的一个实施例中，公开了一种用于执行外科手术的装置，包括柔性进入导管和第一转向装置。柔性入口引导管具有一个或多个腔，其沿其长度从近端延伸到基本上在或远近的端部。一个或多个管腔中的至少一个是具有开口端的器械腔，以容纳外科手术工具的柔性轴，以在靠近柔性进入导管的远端进行手术。第一转向装置可插入到仪器内腔中，以便当柔性进入导管穿过身体中的开口并沿着朝向外科手术部位的路径插入时使其成形。该装置还可以包括柔性锁定装置，以耦合到柔性入口引导管并且选择性地使柔性进入导管刚性化以保持其形状。柔性入口引导管可以通过一个或多个致动器的遥控来转向。

4. 发明申请

WO2007025230A3 TUBULAR COMPLIANT MECHANISMS FOR ULTRASONIC IMAGING SYSTEMS AND INTRAVASCULAR INTERVENTIONAL DEVICES 审中-公开
标题翻译：用于超声成像系统和血管内传统装置的管状合并机制
公开(公告)号：WO2007025230A3
公开(公告)日：2007-08-02
申请号：PCT/US2006033408
申请日：2006-08-24
申请人： FLUID MEDICAL INC , UNIV LELAND STANFORD JUNIOR , PARK BYONG-HO , RUDY STEPHEN M , PRINZ FRIEDRICH B , LIANG DAVID H
发明人： PARK BYONG-HO , RUDY STEPHEN M , PRINZ FRIEDRICH B , LIANG DAVID H
IPC分类号： A61B8/12
CPC分类号： A61B8/12 , A61B1/0058 , A61B8/445 , A61B17/22012 , A61B17/320758 , A61B18/1492 , A61B2017/003 , A61B2017/22042 , A61B2017/22044 , A61B2017/320004 , A61B2017/320072 , A61B2090/3782 , A61B2090/3784
摘要： A micromanipulator comprising a tubular structure and a structural compliance mechanism that are formed from a tube made of an elastic and/or superelastic material. The micromanipulator is useful for intravascular interventional applications and particularly ultrasonic imaging when coupled with an ultrasound transducer. Also disclosed are medical devices for crossing vascular occlusions using radio-frequency energy or rotary cutting, preferably under the guidance of real-time imaging of the occlusion, as well as accompanying methods.
摘要翻译：一种显微操纵器，其包括由弹性和/或超弹性材料制成的管形成的管状结构和结构顺应性机构。显微操纵器可用于血管内介入应用，特别是与超声波换能器耦合时的超声波成像。还公开了用于使用射频能量或旋转切割交叉血管闭塞的医疗装置，优选地在闭塞的实时成像的指导下以及伴随的方法。

5. 发明申请

WO2006126550A1 内視鏡审中-公开
标题翻译：内窥镜
公开(公告)号：WO2006126550A1
公开(公告)日：2006-11-30
申请号：PCT/JP2006/310269
申请日：2006-05-23
申请人：オリンパスメディカルシステムズ株式会社 , 内村澄洋
发明人：内村澄洋
IPC分类号： A61B1/00 , G02B23/24
CPC分类号： G02B23/2476 , A61B1/0052 , A61B1/0056 , A61B1/0058 , A61B1/0676 , A61B1/0684
摘要：　湾曲部の形状を変化させるための操作性を確保でき、かつ応答性を向上することができる内視鏡を提供する。　挿入部の先端付近の湾曲部２７はＥＰＡＭアクチュエータ２８で形成され、湾曲量指示手段８１により任意の方向、例えば上方向への湾曲指示を行うと、湾曲量制御手段８０はその指示に応じてＥＰＡＭ駆動手段７８ｕを駆動して電極７４ｕ、７５間に駆動電圧を印加してＥＰＡＭアクチュエータ２８を上方向に湾曲させる。この上方向の湾曲を解消するために湾曲量指示手段８１を真っ直ぐにする指示操作を行うと、反転指示検出手段８０ａが検出して、下方向に湾曲させる駆動電圧を印加して、ＥＰＡＭアクチュエータ２８を高速で指示された状態に設定する。
摘要翻译：实现了具有改变弯曲形状的良好可操作性的内窥镜，并且具有增强的响应。由EPAM致动器（28）构成在插入部的前端附近的弯曲部（27）。当通过弯曲量指令装置（81）发出用于弯曲到期望方向（例如向上方向）的指令时，弯曲量控制装置（80）根据该指令驱动EPAM驱动装置（78u）在电极（74u，75）之间施加驱动电压以使EPAM致动器（28）向上弯曲。当指示弯曲量指令装置（81）执行用于消除向上弯曲的矫直操作时，反向指令检测装置（80a）检测该指令，施加用于向下弯曲的驱动电压以快速将EPAM执行器（28）设置为指示状态。

6. 发明申请

WO2006115818A2 MEDICAL INSERT DEVICE AND ASSOCIATED METHOD 审中-公开
标题翻译：医疗插入装置及相关方法
公开(公告)号：WO2006115818A2
公开(公告)日：2006-11-02
申请号：PCT/US2006/014005
申请日：2006-04-14
申请人： WILK PATENT, LLC , WILK, Peter, J.
发明人： WILK, Peter, J.
IPC分类号： A61M29/00
CPC分类号： A61B17/3431 , A61B1/00087 , A61B1/00135 , A61B1/00142 , A61B1/00154 , A61B1/0058 , A61B1/273 , A61B2017/00278 , A61B2017/3445 , A61B2017/3488
摘要： A liner for protecting the esophagus during the passage of elongate instruments into the esophagus during trans-gastric surgery and other procedures includes a tubular member having a collapsed insertion configuration and an expanded use configuration. A surgical kit includes the liner and at least one surgical instrument having an elongate flexible shaft having a length longer than a human adult esophagus.
摘要翻译：用于在经胃内手术期间将细管器进入食道期间用于保护食道的衬垫和其它手术包括具有塌陷插入构型和扩张使用构型的管状构件。外科手术套件包括衬垫和至少一个手术器械，其具有长于人成人食道的长度的细长柔性轴。

7. 发明申请

WO2005072445A2 APPARATUS AND METHOD FOR FACILITATING TREATMENT OF TISSUE VIA IMPROVED DELIVERY OF ENERGY BASED AND NON-ENERGY BASED MODALITIES 审中-公开
标题翻译：通过改进基于能源和非能源的模式的交付来促进组织治疗的装置和方法
公开(公告)号：WO2005072445A2
公开(公告)日：2005-08-11
申请号：PCT/US2005/003140
申请日：2005-01-28
申请人： NEOGUIDE SYSTEMS, INC. , BELSON, Amir , OHLINE, Matt
发明人： BELSON, Amir , OHLINE, Matt
IPC分类号： A61B1/005 , A61B1/05 , A61B1/31 , A61B17/00 , A61B18/02 , A61B18/14 , A61B18/22 , G02B23/24
CPC分类号： A61B1/0055 , A61B1/0051 , A61B1/0052 , A61B1/0053 , A61B1/0058 , A61B1/0125 , A61B1/018 , A61B1/05 , A61B1/31 , A61B18/02 , A61B18/1492 , A61B18/22 , A61B2017/00296 , A61B2017/003 , A61B2018/00351 , A61B2018/00446 , A61B2018/0212 , A61B2034/301 , G02B23/2469 , G02B23/2476 , G02B23/2484
摘要： Methods and apparatus for accessing and treating regions of the body are disclosed herein. Using an endoscopic device having an automatically controllable proximal and a selectively steerable distal portion, the device generally may be advanced into the body through an opening. The distal portion is selectively steered to assume a selected curve along a desired path within the body which avoids contact with tissue while the proximal portion is automatically controlled to assume the selected curve of the distal portion. The endoscopic device can then be used for accessing various regions of the body which are typically difficult to access and treat through conventional surgical techniques because the device is unconstrained by "straight-line" requirements. Various applications can include accessing regions of the brain, thoracic cavity, including regions within the heart, peritoneal cavity, etc., which are difficult to reach using conventional surgical procedures.
摘要翻译：本文公开了用于进入和处理身体区域的方法和装置。使用具有自动控制的近侧和可选择性可操纵的远端部分的内窥镜装置，该装置通常可以通过开口进入身体。远侧部分被选择性地转向以沿着主体内的期望路径呈现出选择的曲线，其避免与组织的接触，而近端部分被自动控制以呈现远端部分的选定曲线。然后可以使用内窥镜装置来访问身体的各个区域，这些区域通常难以通过常规手术技术进行治疗，因为该装置不受“直线”要求的约束。各种应用可以包括进入脑，胸腔的区域，包括心脏内的区域，腹膜腔等，其使用常规的外科手术难以达到。

8. 发明申请

WO2004080313A1 RE-SHAPEABLE MEDICAL DEVICE 审中-公开
标题翻译：可再形式医疗器械
公开(公告)号：WO2004080313A1
公开(公告)日：2004-09-23
申请号：PCT/US2004/006557
申请日：2004-03-03
申请人： SCIMED LIFE SYSTEMS, INC. , CHU, Michael, S., H. , INTOCCIA, Alfred, P., Jr.
发明人： CHU, Michael, S., H. , INTOCCIA, Alfred, P., Jr.
IPC分类号： A61B17/04
CPC分类号： A61B17/0469 , A61B1/0058 , A61B17/0482 , A61B2017/00867 , A61B2017/00946 , A61B2017/2905 , A61B2017/2927
摘要： A medical device (100) enables a user to bend it into a shape to suit a specific patient need or to orient efficiently the medical device for use. The medical device (100) includes an elongate member (104), a mechanism (109), and an actuator (110). The mechanism (109) is disposed at the distal portion of the elongate member (104). The actuator (110) is at least partially disposed within the elongate member (104) and coupled to the mechanism (109) for actuating the mechanism relative to the elongate member. The elongate member (104) is capable of being bent into a shape by the user and of retaining the shape during use. The shape may include multiple bends, in multiple directions, as needed for an application. Thereafter, the elongate member is capable of being bent into a second shape by the user and of maintaining the second shape during use.
摘要翻译：医疗装置（100）使得使用者能够将其弯曲成适合特定患者需要的形状或使医疗装置有效地定向使用。医疗装置（100）包括细长构件（104），机构（109）和致动器（110）。机构（109）设置在细长构件（104）的远端部分。致动器（110）至少部分地设置在细长构件（104）内并联接到机构（109），用于相对于细长构件致动机构。细长构件（104）能够由使用者弯曲成形状并且在使用期间保持其形状。该形状可以根据应用的需要在多个方向上包括多个弯曲。此后，细长构件能够由使用者弯曲成第二形状并且在使用期间保持第二形状。

9. 发明申请

WO2004052171A2 FLEXIBLE WRIST FOR SURGICAL TOOL 审中-公开
标题翻译：用于手术工具的柔性手腕
公开(公告)号：WO2004052171A2
公开(公告)日：2004-06-24
申请号：PCT/US2003/038462
申请日：2003-12-02
申请人： INTUITIVE SURGICAL, INC.
发明人： COOPER, Thomas, G. , ANDERSON, S., Christopher
IPC分类号： A61B
CPC分类号： A61B34/30 , A61B1/00142 , A61B1/00149 , A61B1/0058 , A61B1/008 , A61B1/018 , A61B17/00 , A61B17/062 , A61B17/068 , A61B17/1285 , A61B17/29 , A61B18/1442 , A61B34/71 , A61B2017/003 , A61B2017/00309 , A61B2017/2901 , A61B2034/305 , A61B2034/306
摘要： The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument comprises an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.
摘要翻译：本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。在一个实施例中，微创手术器械包括细长轴，其具有在工作端和近端之间的工作端，近端和轴线; 和末端执行器。手腕构件具有柔性管，其包括延伸穿过由壁围绕的内部的轴线。柔性管的壁包括大致平行于柔性管的轴线定向的多个管腔。手腕构件具有连接到细长轴的工作端的近端部分和连接到端部执行器的远端部分。多个致动电缆具有连接到末端执行器的远端部分，并且从远端部分延伸穿过腕部构件的壁的内腔朝向细长轴到近端部分，其可致动以在俯仰旋转和偏转旋转中弯曲腕部构件。

10. 发明申请

WO2004000107A3 ROBOTIC ENDOSCOPE WITH WIRELESS INTERFACE 审中-公开
标题翻译：机器人内窥镜与无线接口
公开(公告)号：WO2004000107A3
公开(公告)日：2004-04-08
申请号：PCT/US0319285
申请日：2003-06-19
申请人： SCIMED LIFE SYSTEMS INC
发明人： COUVILLON LUCIEN ALFRED JR
IPC分类号： A61B1/00 , A61B1/005 , A61B1/04 , A61B1/05 , G02B23/24
CPC分类号： A61B1/00016 , A61B1/00059 , A61B1/00103 , A61B1/0053 , A61B1/0055 , A61B1/0058 , A61B1/05 , A61B1/2736 , A61M2025/0058 , G06Q10/06 , G06Q10/08 , G06Q50/22 , G06Q50/28 , G16H40/63
摘要： An endoscope apparatus and method of operating the same. The endoscope apparatus comprises an endoscope portion and a control and display unit. The endoscope portion preferably comprises: (i) a sensor disposed at a distal end of the endoscope portion and providing endoscope data; (ii) one or more electronically controlled actuators (e.g., electroactive polymer actuators) controlling the operation of the endoscope portion based on received control signals; (iii) a first wireless transceiver coupled to the sensor and the one or more electronically controlled actuators, transmitting received endoscope data from the sensor and forwarding received control signals to the one or more electronically controlled actuators; and (iv) a portable power source (e.g., a battery) coupled to the sensor, the first wireless transceiver, and the one or more electronically controller actuators. The control and display unit preferably comprises: (i) a second wireless transceiver coupled via a wireless link to the first transceiver in the endoscope portion and receiving endoscope data from the first transceiver and transmitting control signals to the first transceiver; (ii) a control portion coupled to the second wireless transceiver and sending control signals to the one or more actuators in the endoscope portion via the first and second wireless transceivers; and (iii) a display portion that displays information received from the sensor via the first and second wireless transceivers. Another aspect of the present invention is directed to a method for providing single-use endoscopes to one or more hospitals.
摘要翻译：一种内窥镜装置及其操作方法。内窥镜装置包括内窥镜部和控制显示部。内窥镜部优选包括：（i）设置在内窥镜部的前端的传感器，提供内窥镜数据; （ii）基于接收的控制信号控制内窥镜部分的操作的一个或多个电子控制致动器（例如电活性聚合物致动器）; （iii）耦合到所述传感器和所述一个或多个电子控制致动器的第一无线收发器，从所述传感器发送所接收的内窥镜数据并将接收到的控制信号转发到所述一个或多个电子控制致动器; 和（iv）耦合到传感器，第一无线收发器和一个或多个电子控制器致动器的便携式电源（例如，电池）。控制和显示单元优选地包括：（i）经由无线链路耦合到内窥镜部分中的第一收发器的第二无线收发器，并且从第一收发器接收内窥镜数据并向第一收发器发送控制信号; （ii）耦合到所述第二无线收发器并且经由所述第一和第二无线收发器向所述内窥镜部分中的所述一个或多个致动器发送控制信号的控制部分; 以及（iii）显示部分，其经由所述第一和第二无线收发器显示从所述传感器接收的信息。本发明的另一方面涉及一种用于向一个或多个医院提供一次性内窥镜的方法。

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