[특허]Articulating mechanism with flex hinged links

[미국특허] Articulating mechanism with flex hinged links 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	A61B-001/005 A61M-025/01
출원번호	US-0667755 (2012-11-02)
등록번호	US-9095253 (2015-08-04)
발명자 / 주소	Hinman, Cameron D. Danitz, David J.
출원인 / 주소	INTUITIVE SURGICAL OPERATIONS, INC.
인용정보	피인용 횟수 : 8 인용 특허 : 118

초록 ▼

The invention provides articulating mechanisms, and flexible members and flexible segments that can form such articulating mechanisms. The mechanisms are useful, for example, for remote steering, guidance and/or manipulation of various instruments and tools at a targeted location. The mechanisms, members or segments include links connected by flexible hinges. The proximal and distal ends of the mechanisms are connected by at least one set of cables in such a fashion that a proximal active flexible segment forms a discrete pair with a distal active flexible segment. Movement of active flexible segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. This configuration allows each flexible segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations.

대표청구항 ▼

1. A surgical device comprising: a proximal flexible segment including a pair of proximal links connected by a proximal flexible hinge, each of the proximal links including a plurality of cable channels spaced apart by a first diameter;a distal flexible segment including a pair of distal links connected by a distal flexible hinge, each of the distal links including a plurality of cable channels spaced apart by a second diameter, wherein the second diameter is different from the first diameter;a first plurality of cables connecting between and terminating at the proximal and distal flexible segments with each cable of the first plurality of cables extending through one of the cable channels in at least one of the proximal links and through one of the cable channels in at least one of the distal links, such that movement of the proximal flexible segment causes a scaled movement of the connected distal flexible segment; anda second plurality of cables with each cable of the second plurality of cables extending through, without termination, at least one link of the pair of proximal links or the pair of distal links. 2. The surgical device of claim 1 wherein the second diameter is smaller than the first diameter. 3. The surgical device of claim 1 wherein the second diameter is larger than the first diameter. 4. The surgical device of claim 1 further comprising a tapered spacer element between the proximal and distal flexible segments. 5. The surgical device of claim 4 wherein the spacer element includes a plurality of cable channels with each of the first plurality of cables extending through one of the cable channels in the spacer element. 6. The surgical device of claim 5 wherein a central longitudinal axis extends through the proximal flexible segment, the distal flexible segment, and the spacer element and the first plurality of cables extend through the cable channels in the spacer element non-parallel to the central longitudinal axis. 7. The surgical device of claim 1 wherein the proximal and distal flexible hinges are oriented parallel to each other along a central longitudinal axis through the proximal and distal flexible segments and the scaled movement is a two dimensional movement. 8. The surgical device of claim 1 wherein movement of the proximal flexible segment creates a first angle between the proximal links and causes a second angle to form between the distal links, wherein the first and second angles are different. 9. The surgical device of claim 8 wherein the second angle is larger than the first angle. 10. The surgical device of claim 8 wherein the second angle is smaller than the first angle. 11. An elongate surgical instrument, the surgical instrument comprising: an end effector;a plurality of distal links proximal of the end effector, the plurality of distal links including at least two pairs of adjacent distal links integrally formed and separated by a distal flexible hinge and wherein the distal links have a first outer diameter;an elongate member proximal of the plurality of distal links;a plurality of proximal links proximal of the elongate member, the plurality of proximal links including at least two pairs of adjacent proximal links integrally formed and separated by a proximal flexible hinge and wherein proximal links have a second outer diameter, different from the first outer diameter;a first plurality of link-moving cables terminating between one pair of the adjacent proximal links and one pair of the adjacent distal links; anda second plurality of link-moving cables terminating between another pair of the adjacent proximal links and another pair of the adjacent distal links. 12. The surgical instrument of claim 11 wherein the second outer diameter is smaller than the first diameter. 13. The surgical instrument of claim 11 wherein the second outer diameter is larger than the first diameter. 14. The surgical instrument of claim 11 further comprising a tapered spacer element between the adjacent proximal and distal links. 15. The surgical instrument of claim 14 wherein the spacer element includes a plurality of cable channels with each of the first and second plurality of cables extending through one of the cable channels in the spacer element. 16. The surgical instrument of claim 15 wherein a central longitudinal axis extends through the proximal links, the distal links, and the spacer and the first and second plurality of cables extend through the cable channels in the spacer non-parallel to the central longitudinal axis. 17. The surgical instrument of claim 11 wherein the proximal and distal flexible hinges are oriented parallel to each other along a central longitudinal axis through the proximal and distal links, such that movement of the two adjacent proximal links causes a two dimensional movement of the two adjacent distal links. 18. The surgical instrument of claim 11 wherein movement of two adjacent proximal links creates a first angle between the adjacent proximal links and causes a second angle to form between the two adjacent distal links, wherein the first and second angles are different. 19. The surgical instrument of claim 18 wherein the second angle is larger than the first angle. 20. The surgical instrument of claim 18 wherein the second angle is smaller than the first angle.

이 특허에 인용된 특허 (118) 인용/피인용 타임라인 분석

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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

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구성항목	기본정보 상세정보 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
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안내	총 건의 자료가 검색되었습니다. 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오. ~ Text(ASCII format) Excel format

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[미국특허] Articulating mechanism with flex hinged links 원문보기

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[미국특허] Articulating mechanism with flex hinged links 원문보기

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이 특허에 인용된 특허 (118) 인용/피인용 타임라인 분석

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