HRP20201018T1 - Uređaj i sustav koji uključuju mehaničke ruke - Google Patents

Uređaj i sustav koji uključuju mehaničke ruke Download PDF

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Publication number
HRP20201018T1
HRP20201018T1 HRP20201018TT HRP20201018T HRP20201018T1 HR P20201018 T1 HRP20201018 T1 HR P20201018T1 HR P20201018T T HRP20201018T T HR P20201018TT HR P20201018 T HRP20201018 T HR P20201018T HR P20201018 T1 HRP20201018 T1 HR P20201018T1
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HR
Croatia
Prior art keywords
bending
torque transmission
segment
joint
torque
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Application number
HRP20201018TT
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English (en)
Inventor
Dvir Cohen
Eli Shapira
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Memic Innovative Surgery Ltd.
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Publication date
Application filed by Memic Innovative Surgery Ltd. filed Critical Memic Innovative Surgery Ltd.
Publication of HRP20201018T1 publication Critical patent/HRP20201018T1/hr

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    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
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  • Health & Medical Sciences (AREA)
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  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
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  • Medical Informatics (AREA)
  • Public Health (AREA)
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  • Reproductive Health (AREA)
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  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
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  • Control Of Electric Motors In General (AREA)
  • Paper (AREA)
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  • Load-Engaging Elements For Cranes (AREA)
  • Transplanting Machines (AREA)
  • Biological Treatment Of Waste Water (AREA)

Claims (11)

1. Medicinski kirurški uređaj veličine i oblika za umetanje u tijelo koje sadrži: barem jedan izduženi mehanički ud (104, 106), uključujući proksimalni i distalni kraj koji sadrži: potporni segment (102, 3102); prvi segment (112, 3112) koji se proteže od navedenog potpornog segmenta, navedeni prvi segment definira šuplji prolaz u prvom segmentu koji završava u prvoj priključnoj sekciji koja uključuje prvi zglob (120, 3120); navedeni prvi zglob formiran snopom od mnoštva veza (2702), a svaka veza sadrži zračni jaz (2799, 2899); drugi segment (116, 3116) koji se proteže od navedene prve spojne sekcije i završava u alatu (124, 3124) ili priključku za alat; i prvi kontrolni dio koji sadrži prvi upravljački dio koji sadrži prvi savijajući dio prijenosa zakretnog momenta (3116ETT) i spojen na navedeni drugi segment, rotacija navedenog kontrolnog dijela rotira navedeni drugi segment; pri čemu je navedeni prvi kontrolni dio smješten unutar šupljeg prolaza navedenog prvog segmenta i konfiguriran za prijenos zakretnog momenta s prvog kraja do drugog kraja dijela za prijenos zakretnog momenta duž duge osi dijela za prijenos zakretnog momenta, gdje savijanje navedenog prvog zgloba savija prvi savijajući dio prijenosa zakretnog momenta; navedeni dio za prijenos zakretnog momenta sadrži mnoštvo elemenata (2397a, 2397b) međusobno povezanih konektorima za prijenos zakretnog momenta (2296, 2196a, 2196b, 2196c, 2196d); navedeni elementi definiraju otvorene prostore (2299, 2499C, 2499E) između njih koji su komprimirani ili prošireni na taj način osiguravajući savijanje navedenog dijela za prijenos zakretnog momenta.
2. Uređaj prema zahtjevu 1, sadržeći jedan ili više izduženih elemenata spojenih s navedenim prvim zglobom i protežući se, u proksimalnom smjeru, kroz navedeni šuplji prolaz prvog segmenta; pri čemu je savijanje navedenog prvog zgloba, a time i savijanje navedenog prvog savijajućeg dijela prijenosa zakretnog momenta, kontrolirano napetošću na navedenom jednom ili više izduženih elemenata.
3. Uređaj prema bilo kojem od zahtjeva 1-2, pri čemu svaka veza uključuje konektor (2762, 2862), koji povezuje vezu sa susjednim vezama.
4. Uređaj prema bilo kojem od zahtjeva 1-3, pri čemu se navedeni prvi zglob može saviti samo u jednom rotacijskom smjeru u jednoj ravnini savijanja.
5. Uređaj prema bilo kojem od zahtjeva 1-4, pri čemu potporni segment definira šuplji prolaz u potpornom segmentu koji završava u drugoj priključnoj sekciji; navedena druga priključna sekcija uključuje drugi zglob (108, 3108) formiran snopom mnoštva veza, svaka veza sadržeći zračni jaz; i pri čemu je proksimalni kraj navedenog prvog segmenta spojen na udaljeni kraj drugog kontrolnog dijela koji sadrži drugi savijajući dio za prijenos zakretnog momenta (3112STT), rotacija navedenog drugog kontrolnog dijela rotirajući navedeni prvi segment; pri čemu navedeni prvi kontrolni dio prolazi kroz šuplji dio drugog kontrolnog dijela, savijanje navedenog drugog zgloba savija spomenuti drugi savijajući dio za prijenos zakretnog momenta.
6. Uređaj prema bilo kojem od zahtjeva 1-5, naznačen time da je promjer navedenog drugog segmenta 0,5-10 mm; pri čemu navedeni prvi segment, navedena prva priključna sekcija imaju promjer 4-8 mm.
7. Uređaj prema bilo kojem od zahtjeva 5 ili 6 kad ovisi o zahtjevu 5, koji sadrži jedan ili više izduženih elemenata povezanih s navedenim drugim zglobom; pri čemu se savijanje navedenog drugog zgloba kontrolira pomoću napetosti na navedenom jednom ili više izduženih elemenata.
8. Uređaj u skladu s bilo kojim od zahtjeva 5 ili zahtjeva 6-7 kad ovise o zahtjevu 5, pri čemu navedeni drugi savijajući dio prijenosa zakretnog momenta definira šuplji prolaz u drugom savijajućem dijelu prijenosa zakretnog momenta; pri čemu navedeni prvi kontrolni dio uključuje treći savijajući dio prijenosa zakretnog momenta (3116STT) koji je smješten unutar šupljeg prolaza navedenog drugog savijajućeg dijela prijenosa zakretnog momenta; pri čemu savijanje navedenog drugog savijajućeg dijela prijenosa zakretnog momenta savija treći savijajući dio prijenosa zakretnog momenta.
9. Uređaj prema bilo kojem od zahtjeva 5, 8 ili zahtjeva 6-7, kad ovise o zahtjevu 5, naznačen time da je drugi zglob savitljiv u samo jednoj ravnini savijanja.
10. Uređaj prema bilo kojem od zahtjeva 1-9, pri čemu navedeni elementi navedenog dijela prijenosa zakretnog momenta svaki sadrže dvije gornje grede i dvije donje grede za spajanje na susjedne elemente, pri čemu je svaka od navedenih greda kruta duž svoje duge osi kako bi se odupirala urušavanju navedene grede i odupirala uvrtanju navedenog dijela prijenosa zakretnog momenta.
11. Uređaj prema zahtjevu 1, naznačen time što je navedeni dio prijenosa zakretnog momenta formiran u obliku šuplje cijevi; navedeni otvoreni prostori su raspodijeljeni oko navedenog dijela prijenosa zakretnog momenta u intervalima od 90°.
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