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1. 发明申请

US20140318299A1 STABILIZING APPARATUS FOR HIGHLY ARTICULATED PROBES WITH LINK ARRANGEMENT, METHODS OF FORMATION THEREOF, AND METHODS OF USE THEREOF 有权
标题翻译：具有链接布置的高度检测探针的稳定装置及其形成方法及其使用方法
公开(公告)号：US20140318299A1
公开(公告)日：2014-10-30
申请号：US14364195
申请日：2012-12-20
申请人： Arnold E. OYOLA , Robert ANDERSON , Gabriel JOHNSTON , Ian J. DARISSE , Joseph A. STAND , Todd FRANGOLIS , Christopher J. FLAHERTY , MEDROBOTICS CORPORATION
发明人： Arnold E. Oyola , Robert Anderson , Gabriel Johnston , Ian J. Darisse , Joseph A. Stand , Luis Bettencourt , Todd Franglois
IPC分类号： B25J18/06
CPC分类号： B25J18/06 , A61B34/30 , A61B34/71 , B25J9/065 , Y10S901/21 , Y10T74/20323
摘要： An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.
摘要翻译：用于驱动关节式探针的装置包括细长探针，该细长探针被构造和布置为以至少一个预定的运动程度来铰接并且从柔性状态转变到刚性状态;以及力传递机构，其构造和布置成向探测。该力选自由使得探针以至少一个预定的运动程度来铰接的力和使探针从柔性状态转变到刚性状态的力的组。基部结构附接到力传递机构和细长探针的部分; 所述基部结构包括一个或多个稳定元件，所述稳定元件被构造和布置成抵抗由所述力传递机构的力引起的所述探针的不期望的移动。

2. 发明申请

US20170015007A1 STABILIZING APPARATUS FOR HIGHLY ARTICULATED PROBES WITH LINK ARRANGEMENT, METHODS OF FORMATION THEREOF, AND METHODS OF USE THEREOF 有权
标题翻译：具有链接布置的高度检测探针的稳定装置及其形成方法及其使用方法
公开(公告)号：US20170015007A1
公开(公告)日：2017-01-19
申请号：US15180503
申请日：2016-06-13
申请人： Robert Anderson , Gabriel Johnston , Ian J. Darisse , Joseph A. Stand , Luis Bettencourt , Todd Frangolis , Arnold E. Oyola , J. Christopher Flaherty
发明人： Robert Anderson , Gabriel Johnston , Ian J. Darisse , Joseph A. Stand , Luis Bettencourt , Todd Frangolis , Arnold E. Oyola , J. Christopher Flaherty
IPC分类号： B25J18/06 , A61B34/30 , A61B34/00 , B25J9/06
CPC分类号： B25J18/06 , A61B34/30 , A61B34/71 , B25J9/065 , Y10S901/21 , Y10T74/20323
摘要： An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.
摘要翻译：用于驱动关节式探针的装置包括细长探针，该细长探针被构造和布置为以至少一个预定的运动程度来铰接并且从柔性状态转变到刚性状态;以及力传递机构，其构造和布置成向探测。该力选自由使得探针以至少一个预定的运动程度来铰接的力和使探针从柔性状态转变到刚性状态的力的组。基部结构附接到力传递机构和细长探针的部分; 所述基部结构包括一个或多个稳定元件，所述稳定元件被构造和布置成抵抗由所述力传递机构的力引起的所述探针的不期望的移动。

3. 发明授权

US09364955B2 Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof 有权
标题翻译：具有连接装置的高度关节式探头的稳定装置，其形成方法及其使用方法
公开(公告)号：US09364955B2
公开(公告)日：2016-06-14
申请号：US14364195
申请日：2012-12-20
申请人： Arnold E. Oyola , Robert Anderson , Gabriel Johnston , Ian J. Darisse , Joseph A. Stand , Luis Bettencourt , Todd Frangolis , J. Christopher Flaherty
发明人： Arnold E. Oyola , Robert Anderson , Gabriel Johnston , Ian J. Darisse , Joseph A. Stand , Luis Bettencourt , Todd Frangolis , J. Christopher Flaherty
IPC分类号： B25J18/06
CPC分类号： B25J18/06 , A61B34/30 , A61B34/71 , B25J9/065 , Y10S901/21 , Y10T74/20323
摘要： An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.
摘要翻译：用于驱动关节式探针的装置包括细长探针，该细长探针被构造和布置为以至少一个预定的运动程度来铰接并且从柔性状态转变到刚性状态;以及力传递机构，其构造和布置成向探测。该力选自由使得探针以至少一个预定的运动程度来铰接的力和使探针从柔性状态转变到刚性状态的力的组。基部结构附接到力传递机构和细长探针的部分; 所述基部结构包括一个或多个稳定元件，所述稳定元件被构造和布置成抵抗由所述力传递机构的力引起的所述探针的不期望的移动。

4. 发明授权

US09821477B2 Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof 有权
公开(公告)号：US09821477B2
公开(公告)日：2017-11-21
申请号：US15180503
申请日：2016-06-13
申请人： Medrobotics Corporation
发明人： Robert Anderson , Gabriel Johnston , Ian J. Darisse , Joseph A. Stand , Luis Bettencourt , Todd Frangolis , Arnold E. Oyola , J. Christopher Flaherty
IPC分类号： B25J18/06 , A61B34/00 , A61B34/30 , B25J9/06
CPC分类号： B25J18/06 , A61B34/30 , A61B34/71 , B25J9/065 , Y10S901/21 , Y10T74/20323
摘要： An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

5. 发明申请

US20170100197A1 ARTICULATING ROBOTIC PROBES, SYSTESM AND METHODS INCORPORATING THE SAME, AND METHODS FOR PERFORMING SURGICAL PROCEDURES 审中-公开
公开(公告)号：US20170100197A1
公开(公告)日：2017-04-13
申请号：US15315868
申请日：2015-06-05
申请人： Medrobotics Corporation
发明人： Brett Zubiate , Nancy A. Nunes , Ian J. Darisse , Zackery Mordente , Michael S. Castro , Gabriel Johnston , Thomas Calef , Stephen Tully , Eric Daley , David Cohen , Joseph A. Stand , Bob Anderson , Kevin Kennedy , R. Maxwell Flaherty , J. Christopher Flaherty
IPC分类号： A61B34/30 , A61B17/34
CPC分类号： A61B34/30 , A61B17/3417 , A61B2017/003 , A61B2017/00314 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B2090/508
摘要： In an articulating probe system, an articulating probe is constructed and arranged to articulate in at least one degree of motion and to transition between a flexible state and a rigid state, the articulating probe comprising a plurality of links between a proximal link and a distal link The distal link of the articulating probe includes a side port constructed and arranged to receive a distal end of an elongate tool. A tool support is in communication with the articulating probe for supporting the elongate tool, the tool support including a tool tube that extends from the tool support at an intermediate portion to the side port of the distal link at a distal portion, the tool tube having a first flexibility in the intermediate portion and having a second flexibility in the distal portion; the second flexibility being greater in flexibility than the first flexibility.

6. 发明申请

US20180161992A1 STABILIZING APPARATUS FOR HIGHLY ARTICULATED PROBES WITH LINK ARRANGEMENT, METHODS OF FORMATION THEREOF, AND METHODS OF USE THEREOF 审中-公开
公开(公告)号：US20180161992A1
公开(公告)日：2018-06-14
申请号：US15786901
申请日：2017-10-18
申请人： Medrobotics Corporation
发明人： Robert Anderson , Gabriel Johnston , Ian J. Darisse , Joseph A. Stand , Luis Bettencourt , Todd Frangolis , Arnold E. Oyola , J. Christopher Flaherty
IPC分类号： B25J18/06 , A61B34/30 , B25J9/06 , A61B34/00
CPC分类号： B25J18/06 , A61B34/30 , A61B34/71 , B25J9/065 , Y10S901/21 , Y10T74/20323
摘要： An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

7. 发明申请

US20180256269A1 ROBOTIC SYSTEM INCLUDING A CABLE INTERFACE ASSEMBLY 审中-公开
公开(公告)号：US20180256269A1
公开(公告)日：2018-09-13
申请号：US15916664
申请日：2018-03-09
申请人： Gabriel Johnston , Tom Calef , Ian Darisse , Brett Zubiate , R. Maxwell Flaherty , J. Christopher Flaherty , Reynaldo Lewis , Adam Rienzie , Justin S. Runyon , Anthony Ray Halloway, JR. , Corey Anthony Malaquais
发明人： Gabriel Johnston , Tom Calef , Ian Darisse , Brett Zubiate , R. Maxwell Flaherty , J. Christopher Flaherty , Reynaldo Lewis , Adam Rienzie , Justin S. Runyon , Anthony Ray Halloway, JR. , Corey Anthony Malaquais
IPC分类号： A61B34/30 , A61B34/00
CPC分类号： A61B34/30 , A61B34/71 , A61B2034/301
摘要： A system and method for performing a medical procedure includes a first multi-linked mechanism comprising a plurality of first links, and a lumen therethrough; a second multi-linked mechanism comprising a plurality of second links, wherein the second multi-linked mechanism is constructed and arranged to be slidingly received by the lumen of the first multi-linked mechanism, and where the first and second multi-linked mechanisms are configured to transition from a limp state to a rigid state; a set of proximal cables comprising at least a first proximal cable and a second proximal cable; a set of distal cables comprising at least a first distal cable and a second distal cable; a cable control assembly constructed and arranged to independently apply tension to the first proximal cable and the second proximal cable; a cable interface assembly constructed and arranged to receive a force from at least the first proximal cable and the second proximal cable and to transmit a corresponding force to at least the first distal cable and the second distal cable. The force applied to the first distal cable and the second distal cable steers at least one of the first multi-linked mechanism or the second multi-linked mechanism.

8. 发明申请

US20190321111A1 ARTICULATING ROBOTIC PROBES, SYSTEMS AND METHODS INCORPORATING THE SAME, AND METHODS FOR PERFORMING SURGICAL PROCEDURES 审中-公开
公开(公告)号：US20190321111A1
公开(公告)日：2019-10-24
申请号：US16225156
申请日：2018-12-19
申请人： Medrobotics Corporation
发明人： Brett Zubiate , Nancy A. Nunes , Ian J. Darisse , Zackery Mordente , Michael S. Castro , Gabriel Johnston , Thomas Calef , Stephen Tully , Eric Daley , David Cohen , Joseph A. Stand , Bob Anderson , Kevin Kennedy , R. Maxwell Flaherty , J. Christopher Flaherty
IPC分类号： A61B34/30 , A61B17/34
摘要： In an articulating probe system, an articulating probe is constructed and arranged to articulate in at least one degree of motion and to transition between a flexible state and a rigid state, the articulating probe comprising a plurality of links between a proximal link and a distal link. The distal link of the articulating probe includes a side port constructed and arranged to receive a distal end of an elongate tool. A tool support is in communication with the articulating probe for supporting the elongate tool, the tool support including a tool tube that extends from the tool support at an intermediate portion to the side port of the distal link at a distal portion, the tool tube having a first flexibility in the intermediate portion and having a second flexibility in the distal portion; the second flexibility being greater in flexibility than the first flexibility.

9. 发明授权

US09913695B2 Robotic system including a cable interface assembly 有权
公开(公告)号：US09913695B2
公开(公告)日：2018-03-13
申请号：US14888189
申请日：2014-05-02
申请人： MEDROBOTICS CORPORATION
发明人： Gabriel Johnston , Tom Calef , Ian Darisse , Brett Zubiate , R. Maxwell Flaherty , J. Christopher Flaherty , Reynaldo Lewis , Adam Rienzie , Justin S. Runyon , Anthony Ray Halloway, Jr. , Corey Anthony Malaquais
IPC分类号： A61B1/005 , A61B1/01 , A61B34/30 , A61B34/00
CPC分类号： A61B34/30 , A61B34/71 , A61B2034/301
摘要： A system and method for performing a medical procedure includes a first multi-linked mechanism comprising a plurality of first links, and a lumen therethrough; a second multi-linked mechanism comprising a plurality of second links, wherein the second multi-linked mechanism is constructed and arranged to be slidingly received by the lumen of the first multi-linked mechanism, and where the first and second multi-linked mechanisms are configured to transition from a limp state to a rigid state; a set of proximal cables comprising at least a first proximal cable and a second proximal cable; a set of distal cables comprising at least a first distal cable and a second distal cable; a cable control assembly constructed and arranged to independently apply tension to the first proximal cable and the second proximal cable; a cable interface assembly constructed and arranged to receive a force from at least the first proximal cable and the second proximal cable and to transmit a corresponding force to at least the first distal cable and the second distal cable. The force applied to the first distal cable and the second distal cable steers at least one of the first multi-linked mechanism or the second multi-linked mechanism.

10. 发明申请

US20160067000A1 ROBOTIC SYSTEM INCLUDING A CABLE INTERFACE ASSEMBLY 有权
标题翻译：机电系统，包括电缆接口装配
公开(公告)号：US20160067000A1
公开(公告)日：2016-03-10
申请号：US14888189
申请日：2014-05-02
申请人： MEDROBOTICS CORPORATION
发明人： Gabriel Johnston , Tom Calef , Ian Darisse , Brett Zubiate , R. Maxwell Flaherty , J. Christopher Flaherty , Reynaldo Lewis , Adam Rienzie , Justin S. Runyon , Anthony Ray Halloway, Jr. , Corey Anthony Malaquais
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/71 , A61B2034/301
摘要： A system and method for performing a medical procedure includes a first multi-linked mechanism comprising a plurality of first links, and a lumen therethrough; a second multi-linked mechanism comprising a plurality of second links, wherein the second multi-linked mechanism is constructed and arranged to be slidingly received by the lumen of the first multi-linked mechanism, and where the first and second multi-linked mechanisms are configured to transition from a limp state to a rigid state; a set of proximal cables comprising at least a first proximal cable and a second proximal cable; a set of distal cables comprising at least a first distal cable and a second distal cable; a cable control assembly constructed and arranged to independently apply tension to the first proximal cable and the second proximal cable; a cable interface assembly constructed and arranged to receive a force from at least the first proximal cable and the second proximal cable and to transmit a corresponding force to at least the first distal cable and the second distal cable. The force applied to the first distal cable and the second distal cable steers at least one of the first multi-linked mechanism or the second multi-linked mechanism.
摘要翻译：用于执行医疗过程的系统和方法包括：第一多连接机构，包括多个第一连杆和通过其中的内腔; 包括多个第二连杆的第二多连杆机构，其中所述第二多连杆机构被构造和布置成由所述第一多连杆机构的所述内腔滑动地接收，并且其中所述第一和第二多联机构是被配置为从跛行状态转换到刚性状态; 一组近端电缆，包括至少第一近端电缆和第二近端电缆; 一组远端电缆，其包括至少第一远端电缆和第二远端电缆; 电缆控制组件，构造和布置成独立地向第一近端电缆和第二近端电缆施加张力; 电缆接口组件，其构造和布置成接收来自至少第一近侧电缆和第二近端电缆的力，并且将对应的力传递到至少第一远侧电缆和第二远端电缆。施加到第一远端电缆和第二远端电缆的力引导第一多连接机构或第二多连接机构中的至少一个。

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