619results about "Micromanipulator" patented technology

A manipulator comprises an operation command unit provided with an attitude adjusting unit and an end effector control unit, a connecting unit having one end connected to the operation command unit, a working unit connected to the other end of the connecting unit and provided with an end effector and a support unit supporting the end effector for motions, and a control unit that transmits an operation command provided by the attitude adjusting unit to the support unit to adjust the attitude of the end effector and transmits an operation command provided by the end effector control unit to the end effector to operate the end effector. The support unit includes a first joint capable of turning about a first axis perpendicular to the center axis of the connecting unit, and a second joint capable of turning about a second axis perpendicular to the first axis. The end effector can be turned for rolling about an axis substantially parallel to the second axis of the second joint. The attitude adjusting unit has a third joint having a third axis perpendicular to the center line of the connecting unit. The end effector control unit is formed such that the fingers of an operator gripping operating members included in the end effector control unit extend substantially in parallel to the fourth axis.

The present invention provides a micro-robot for use inside the body during minimally-invasive surgery. The micro-robot includes an imaging devices, a manipulator, and in some embodiments a sensor.

A surgical manipulator (10) can manipulate a medical tool (12) with one or more degrees of freedom. In preferred embodiments, the manipulator (10) is a parallel mechanism including a plurality of arms (21, 22) pivotally supporting a medical tool (12), with the orientation of the medical tool (12) being adjusted by varying the position of joints (23, 24) mounted on the arms (21, 22). The motions of the joints (23, 24) can be controlled such that the tool (12) is pivoted about a virtual pivot point located within the body wall of a patient (30). The manipulator (10) can enhance the dexterity of an operator and enable the operator to perform medical procedures more easily than by hand.

In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence. Image transformation according to the invention includes translation, rotation and perspective correction.

The present invention relates to magnetically coupleable robotic surgical devices. More specifically, the present invention relates to robotic surgical devices that can be inserted into a patient's body and can be positioned within the patient's body using an external magnet.

The present invention provides a micro-robot for use inside the body during minimally-invasive surgery. The micro-robot may include various sensors, imaging devices or manipulators.

The present invention relates to magnetically coupleable robotic surgical devices. More specifically, the present invention relates to robotic surgical devices that can be inserted into a patient's body and can be positioned within the patient's body using an external magnet.

A manipulator for medical use having a reduced size and improved controllability. The manipulator includes a surgical tool portion, a grip portion provided on the surgical tool portion, and a driver portion for driving the grip portion provided on the surgical tool portion. A connection portion of the surgical tool is provided between the surgical tool portion and the driver portion. The surgical tool can be separated from, and connected to, the driver portion. The surgical tool portion has two rotating members disposed in opposing relation to each other. A driving arrangement is provided for driving one of the rotating members and causing it to revolute the other rotating member, but not rotate by itself. An arrangement is also provided for keeping a distance between rotation centers of the two rotating members constant.

A heart stabilizer that may include a wrist which couples an end effector to a first linkage. The end effector and wrist may be inserted through an incision in the chest of a patient to assist in performing a minimally invasive coronary procedure. The wrist provides dexterity so that the end effector can be placed on the heart to stabilize the same.

The present invention provides a micro-robot for use inside the body during minimally-invasive surgery. The micro-robot may include various sensors, imaging devices or manipulators.

The present invention provides a micro-robot for use inside the body during minimally-invasive surgery. The micro-robot includes an imaging devices, a manipulator, and in some embodiments a sensor.

A human de-amplifier system for interfacing a human operator and a physical object through a physical plant, wherein the physical object has dimensions in the range of 1 micrometer to 1 mm. The human de-amplifier system uses an inner-feedback loop to increases the equivalent damping of the operating system to stabilize the system when it contacts with the environment and reduces the impact of the environment variation by utilizing a high feedback gain, determined by a root locus sketch. Because the stability of the human de-amplifier system of the present invention is greatly enhanced over that of the prior art, the de-amplifier system is able to manipulate the physical object has dimensions in the range of 1 micrometer to 1 mm with high stability and accuracy. The system also has a monitoring device to monitor the motion of the physical object under manipulation.

Systems and methods for transferring a micro device from a carrier substrate are disclosed. In an embodiment, a mass transfer tool manipulator assembly allows active alignment between an array of electrostatic transfer heads on a micro pick up array and an array of micro devices on a carrier substrate. Displacement of a compliant element of the mass transfer tool manipulator assembly may be sensed to control alignment between the array of electrostatic transfer heads and the array of micro devices.

Disclosed are systems and methods for manipulating chemical, biological, and / or biochemical samples, optionally supported on substrates and / or within chambers, for example biological samples contained on chips, within biological chambers, etc. In certain embodiments, an apparatus configured to be able to position a chamber or other substrate in one or more modules surrounding the apparatus is disclosed. The apparatus may be configured to be able to move the chamber or substrate in any set of directions, such as radially, vertically, and / or rotationally, with respect to the apparatus. The apparatus may be manually operated and / or automatically controlled. Examples of modules include, but are not limited to, stacking or holding modules, barcode readers, filling modules, sampling modules, incubation modules, sensor modules (e.g., for determining cell density, cell viability, pH, oxygen concentration, nutrient concentration, fluorescence measurements, etc.), assay modules (e.g., for ELISA or other biological assays), data analysis and management modules, control modules, etc. Sensors, control systems, and the like may also be positioned to facilitate operation of the device. Certain embodiments of the invention may be used, for example, to promote or optimize chemical synthesis or cell or biological growth, for instance, for the production of compounds such as drugs or other therapeutics.

A system and method are disclosed which enable manipulation of a sample under study with a microscope. In one embodiment, a manipulation system is adaptable for interfacing with any of a plurality of different types of microscopes, such as a transmission electron microscope (TEM) and a scanning electron microscope (SEM), and further comprises at least one manipulation mechanism operable to manipulate a sample. In another embodiment, a manipulation system is capable of being detachably coupled to a microscope, such as a TEM, and comprises a plurality of manipulator mechanisms for manipulating a sample. In a preferred embodiment, the manipulation system comprises both an adjustable interface such that it is capable of selectively coupling with any of a plurality of different microscope interfaces and a plurality of manipulator mechanisms integrated therein that are controllably operable for manipulating a sample.

The invention discloses a three dimensional force feedback main operator used for assisting a minimally invasive surgery robot. A base mechanism comprises a base and an upright post, wherein, a fan-shaped bottom plate is arranged on the top surface of the upright post; a four-bar mechanism comprises an arc support arranged on an arc bottom plate and a parallelogram mechanism formed by an upper near rod, a lower near rod, an upper distant rod and a lower distant rod; a wrist mechanism comprises a wrist body, a fifth projecting shaft is arranged at the upper part of the wrist body, one end of a knuckle is sheathed on the fifth projecting shaft, the other end of the knuckle is sheathed on a sixth projecting shaft arranged on a handle base by a bearing; two handle shafts are connected to the handle base by the bearing, the two handle shafts are engaged together by a gear, and a handle is stuck on each handle shaft. In the device of the invention, rotating centres of three rotational freedom of the wrist mechanism intersect at one point, and the working point is arranged at the intersection; the design eliminates pose compensation when the pose is adjusted and can realize six-shaft linkage.

The invention belongs to the technical field of endoscopes, and provides a microrobot for a gastrointestinal track. The microrobot for the gastrointestinal tract comprises an axial telescoping mechanism, a head radial clamping mechanism and a tail radial clamping mechanism. The head radial clamping mechanism is connected with the axial telescoping mechanism through a radial power mechanism. A radial clamping mechanism comprises a mechanism output gear, a speed regulating output gear, at least three helix line legs and a clamping speed regulating device, wherein the mechanism output gear and the speed regulating output gear are meshed with each other, and the at least three helix line legs are evenly distributed on the outer periphery of the mechanism output gear. The microrobot for the gastrointestinal tract is small in size, simple in structure, simple in controlling, low in cost and reliable in performance, has a larger movement stroke compared with an existing mechanism, can be adapted to a human gastrointestinal tract environment, can move effectively, and avoids the defects of a traditional endoscope and a capsule endoscope.

The invention relates to a two-degree of freedom translation parallel decoupling micromotion platform in the technical field of micro electro mechanical systems. The micromotion platform comprises a piezoelectric ceramic driver, two driving branch chains and corresponding auxiliary branch chains thereof, a working platform and a fixed stand, wherein the two driving branch chains and the corresponding auxiliary branch chains thereof are respectively symmetrically distributed in the X direction and the Y direction of the working platform pairwise. The invention achieves the functions of eliminating coupling and parasitic displacement and realizes the two-dimension movement of the motion platform by the decoupling function and the rigidity characteristic of a compound double-parallel straight panel hinge and the symmetrical characteristic of the whole structure of the platform.

A manipulator comprises an operation command unit provided with an attitude adjusting unit and an end effector control unit, a connecting unit having one end connected to the operation command unit, a working unit connected to the other end of the connecting unit and provided with an end effector and a support unit supporting the end effector for motions, and a control unit that transmits an operation command provided by the attitude adjusting unit to the support unit to adjust the attitude of the end effector and transmits an operation command provided by the end effector control unit to the end effector to operate the end effector. The support unit includes a first joint capable of turning about a first axis perpendicular to the center axis of the connecting unit, and a second joint capable of turning about a second axis perpendicular to the first axis. The end effector can be turned for rolling about an axis substantially parallel to the second axis of the second joint. The attitude adjusting unit has a third joint having a third axis perpendicular to the center line of the connecting unit. The end effector control unit is formed such that the fingers of an operator gripping operating members included in the end effector control unit extend substantially in parallel to the fourth axis.

The invention discloses a miniaturized flexible micro clamp based on piezoelectric driving. The micro clamp comprises a base, a pretension screw, a motion transmission mechanism, a first fastening screw, a second fastening screw, a piezoceramic driver and a spacer, wherein the base and the motion transmission mechanism are fixedly mounted through the first fastening screw and the second fastening screw; the pretension bolt is arranged at the rear end of the motion transmission mechanism; the piezoceramic driver and the spacer are arranged in a first cutting slot of the motion transmission mechanism. According to the design of the invention, through a two-stage amplification mechanism in the amplification mechanism, the parallel grabbing of the closed-type micro clamp can be realized.

A hydraulically-operated micromanipulator apparatus is disclosed. The micromanipulator apparatus comprises: a micromanipulator fine control unit including an operating-side piston finely movable with respect to an operating-side hydraulic cylinder and fine control means, either the operating-side piston or the operating-side hydraulic cylinder being stationarily retained, while the rest being finely operable by the fine control means; a hydraulically-operated micromanipulator including an actuating-side piston finely movable with respect to an actuating-side hydraulic cylinder and a fine displacement member, the actuating-side hydraulic cylinder being connected to said operating-side hydraulic cylinder through a hose, either the actuating-side piston or the actuating-side hydraulic cylinder being stationarily retained, while the rest being attached to the fine displacement member; and compensating means for compensating a pressure change of the hydraulic fluid between said operating-side hydraulic cylinder and said actuating-side hydraulic cylinder when ambient temperature changes.

Systems and methods for transferring a micro device from a carrier substrate are disclosed. In an embodiment, a mass transfer tool manipulator assembly allows active alignment between an array of electrostatic transfer heads on a micro pick up array and an array of micro devices on a carrier substrate. Displacement of a compliant element of the mass transfer tool manipulator assembly may be sensed to control alignment between the array of electrostatic transfer heads and the array of micro devices.

In a method for preparing a sample for electron microscopic examinations, in particular with a transmission electron microscope (TEM),a) a substrate containing the sample to be prepared on a sample locus is provided in a vacuum chamber,b) a protective layer is applied onto a surface of the sample locus,c) the sample located under the protective layer is separated from the substrate by an ion beam, the protective layer acting as a mask, andd) in the vacuum chamber, the separated sample is removed from the substrate.

An improved human motion applicator assures a quick and sufficient amount of displacement given to a part of a human body. The applicator includes a support adapted to be fitted on the part of the human body. The support carries at least one electro-active elastic actuator in a force-transmitting relation to the human part. The actuator includes a dielectric core and a pair of electrodes on opposite of the core for receiving a driving DC voltage thereacross. The elastic actuator has a length and elastically deforms in the lengthwise direction to exert a stretching force to the human part to a greater extent as the driving DC voltage increase. The applicator also includes a controller which applies the driving DC voltage of varying levels to the elastic actuator, thereby generating a varying motion-inducing force to be applied to the part of the human body.

The invention discloses a mirror holding robot system for assisting touchup surgery. A base part comprises a drive shaft. A body part comprises a first support frame which is connected with the drive shaft. The first support frame is provided with a parallelogram linkage. Two drive rods on the parallelogram linkage are provided with drive mechanisms; wherein, a driven rod is connected with a far bar end. A component element part comprises a second frame support; wherein, one end of the second support frame is sequentially sleeved with a first bearing and a support sleeve, and the second support frame is opened with two through holes; the support sleeve is connected with the far bar end; an endoscope seat part comprises an endoscope seat which is connected with the support seat; the top part of the endoscope is respectively provided with an endoscope sleeve seat and a drive system; the lower part of an endoscope sleeve is connected with the endoscope sleeve seat; the interior of the endoscope is inserted with an endoscope. The system has strong self-adapting; even when a patient is unexpectedly moved, the robot can not hurt the patient and does not block the contact between the patient and the doctor in the operation course.

The invention is concerned with minimally invasive orthopaedics operation robot operated with 3D mouse, relating to landscape orientation moving groupware, reducer groupware, fluctuation moving groupware, small arm groupware, wrist groupware and 3D mouse. The 3D mouse sets on the small arm's shell of small arm groupware, the machine seat of reducer groupware connects with revolving flange of landscape orientation moving groupware, the fixing base seat of fluctuation moving groupware connects with the joint of reducer groupware through two lock poles, the sliding groove of small arm groupware connects with the C sliding groove of fluctuation moving groupware and slides in the groove, and the flange of wrist groupware connects with the output axis of reducer to small arm groupware. The robot is fit for the demand of clinic and operation with practicability and applicability. It is a orthopaedics operation robot with initiative restriction and passivity safety ensure.

Disclosed are systems and methods for manipulating chemical, biological, and / or biochemical samples, optionally supported on substrates and / or within chambers, for example biological samples contained on chips, within biological chambers, etc. In certain embodiments, an apparatus configured to be able to position a chamber or other substrate in one or more modules surrounding the apparatus is disclosed. The apparatus may be configured to be able to move the chamber or substrate in any set of directions, such as radially, vertically, and / or rotationally, with respect to the apparatus. The apparatus may be manually operated and / or automatically controlled. Examples of modules include, but are not limited to, stacking or holding modules, barcode readers, filling modules, sampling modules, incubation modules, sensor modules (e.g., for determining cell density, cell viability, pH, oxygen concentration, nutrient concentration, fluorescence measurements, etc.), assay modules (e.g., for ELISA or other biological assays), data analysis and management modules, control modules, etc. Sensors, control systems, and the like may also be positioned to facilitate operation of the device. Certain embodiments of the invention may be used, for example, to promote or optimize chemical synthesis or cell or biological growth, for instance, for the production of compounds such as drugs or other therapeutics.