3195 results about "Grippers" patented technology

A medical manipulator includes an operating unit and a working unit. The operating unit has an actuator block with motors housed therein. The working unit is detachably mounted on the actuator block by a coupler. The working unit comprises a joint shaft that extends from the coupler, and a distal-end working unit mounted on a distal end of the joint shaft. The distal-end working unit has three axes, including a yaw axis, a roll axis about which the distal-end working unit is rotatable and which is positioned closer to a distal end of the distal-end working unit than the yaw axis, and a gripper axis about which a gripper is openable and closable and which is positioned on the distal end. The distal-end working unit can be operated about the roll axis by a motor, which is positioned closer to the distal end than the yaw axis.

A manipulator has a working unit including an end effector and a posture axis for changing the orientation of the manipulator, a compound mechanism provided on the working unit, and a controller for actuating a gripper axis, a yaw axis, and a roll axis by respectively controlling movement positions of three motors. The controller includes a torque generation detector for detecting a timing at which torque is generated on the gripper axis. When the controller detects the timing at which a torque τg′ is generated on the gripper axis under operation of a given motor, the movement positions of the plural motors are shifted and set, corresponding to the directions at which interference torques are generated with respect to the yaw axis and the roll axis, and to predetermined positions of the same directions.

The present invention provides a new family of ultrasonically powered medical devices and systems for powering such devices. Disclosed are methods for improving the overall power transfer efficiency of devices according to the present invention, as well as a wide variety of medical uses for such devices and systems. Devices of the present invention comprise a transducer that, during operation, converts electrical energy into high frequency, low amplitude mechanical vibrations that are transmitted to a driven-member, such as a wheel, that produces macroscopic rotary or linear output mechanical motions. Such motions may be further converted and modified by mechanical means to produce desirable output force and speed characteristics that are transmitted to at least one end-effector that performs useful mechanical work on soft tissue, bone, teeth and the like. Power systems of the present invention comprise one or more such handheld devices electrically connected to a power generator. Examples of powered medical tools enabled by the present invention include, but are not limited to, linear or circular staplers or cutters, biopsy instruments, suturing instruments, medical and dental drills, tissue compactors, tissue and bone debriders, clip appliers, grippers, extractors, and various types of orthopedic instruments. Devices of the present invention may be partly or wholly reusable, partly or wholly disposable, and may operate in forward or reverse directions, as well as combinations of the foregoing. The devices and systems of the present invention provide a safe, effective, and economically viable alternative source for mechanical energy, which is superior to AC or DC (battery) powered motors, compressed air or compressed gas, and hand powered systems.

A novel approach to mitral or tricuspid valve repair involves the performance of an edge-to-edge fastening / securing of opposing heart valve leaflets through a catheter entering the heart. Thus, a device is introduced including a leaflet fastener applicator through a cardiac catheter or other suitable catheter. The leaflet fastener applicator and cardiac catheter can be formed into a kit. A gripper can be used to hold the heart valve leaflets while they are fastened.

A protective holder for the iPhone®, iPod Touch™, electronic books, electronic tablet computers and other portable devices having a frontal LCD, OLED, touch screen, or other display that employs a form-fitting backplate with corner frames for cradling the device while leaving the entire frontal aspect unobstructed is disclosed. The holder may include a series of contoured side grippers on each side of the backplate for clamping the device in place without obstructing the LCD screen (or access to it for cleaning or otherwise). The holder may include a fully-adjustable kickstand for upright hands-free viewing of the device at several landscape and portrait angles and the holder may also include a built-in moveable directional sound reflector and noise shield improves audio performance, and a detachable belt clip allows belt wearing. The holder has an extreme slimline folded profile to facilitate pocket insertion, minimize bulk and create an eye-catching aesthetic.

A surgical instrument for enhancing robotic surgery generally includes an elongate shaft with an ultrasound probe, an end effector at the distal end of the shaft, and a base at the proximal end of the shaft. The end effector includes an ultrasound probe tip and the surgical instrument is generally configured for convenient positioning of the probe tip within a surgical site by a robotic surgical system. Ultrasound energy delivered by the probe tip may be used to cut, cauterize, or achieve various other desired effects on tissue at a surgical site. In various embodiments, the end effector also includes a gripper, for gripping tissue in cooperation with the ultrasound probe tip. The base is generally configured to removably couple the surgical instrument to a robotic surgical system and to transmit forces from the surgical system to the end effector, through the elongate shaft. A method for enhancing robotic surgery generally includes coupling the surgical instrument to a robotic surgical system, positioning the probe tip in contact with tissue at a surgical site, and delivering ultrasound energy to the tissue.

A surgical instrument includes a use measurement unit. The use measurement unit acquires a use time or an operation amount of the surgical instrument in response to the use or operation of the surgical instrument. The use measurement unit acquires motion of a gripper or a joint provided in the surgical instrument as the use time or the operation amount.

A method for picking up objects randomly arranged in a bin using a robot having a gripper for grasping the objects using prehension feature(s) on the object. The method includes a shaking scheme for rearranging the objects in the bin when no objects are recognized, when no objects are prehensible by the gripper or when the object to be picked up is not reachable by the gripper because, for example, its prehension feature is substantially facing a wall of the bin. The method also includes a criterion for determining that a bin is free of objects to be picked up and a criterion for selecting the object to be picked up first in the bin. The method also provides for a protection mechanism against damage of the objects and the robot when a recognition technique has failed in properly recognizing the object or the prehension feature on the object.

A device for gripping, holding, and releasing objects of varying sizes and shapes, which comprises an elongated torus (30) enclosing a fluid material (31), an external control rod (40), and an internal control rod (38). Torus (30) may be made of a flexible membrane and able to seal in fluid material (31). Fluid material (31) can be a gas, liquid, solid particles, semisolid particles, or mixtures of these. Central channel (34) of torus (30) is collapsed due to pressure of fluid material (31) within torus (30). Both control rods are securely attached to torus (30), with rod (38) attached to the interior portion of the torus along collapsed central channel (34), and rod (40) attached to the exterior portion of the torus on outer surface (32). Gripping action is achieved by differential linear motion of control rods (38) and (40) along the longitudinal (elongated) axis of torus (30). This causes front portion (36) of the torus to slide radially inward or outward to grip objects. Further movement of the control rods can cause the object to be pulled completely inside the collapsed channel for secure gripping by completely surrounding the object. The soft flexible nature of torus (30) allows grasping even the most delicate objects without damaging them. Even over-ripe strawberries can be rapidly grasped without bruising.

A method and apparatus for steering of a flexible needle into tissue using a steering robotic platform for manipulation of the needle shaft, and by use of a semi-active arm for locating and orienting of the steering robot on the patient's body. As opposed to other steering methods, the robot does not hold the base of the needle, which is its proximal region, but rather grips the shaft of the needle by means of a manipulatable needle gripping device, near its distal end. The needle gripper attached to the robotic platform may be equipped with a traction assembly to provide motion to the needle in its longitudinal direction, such that it co-ordinates the entry of the needle with the desired entry angle. The gripping of the needle at its distal end, close to its insertion point, provides the needle manipulator with a low profile, with concomitant advantages.

The present invention relates to a method of preparing analyses of total blood samples and to a device that is useful for implementing the method, said samples being conserved in tubes including at least one identification means for identifying the sample, the device comprising:at least one compartment constituting a said storage zone for storing said tubes before and after analysis; andat least one said read means for reading said identification means of said tubes; andat least one preparation zone for preparing said blood samples prior to analysis and including means for verifying and / or treating said tubes containing said samples, and in particular at least one agitator means for agitating said tubes; andat least one access zone giving access to at least one automatic analyzer of total blood, said access zone enabling a said tube to be placed in said analyzer; androbotic gripper and displacement means controlled by an automatic controller and suitable for taking hold of and replacing said tubes individually in said storage zone and for conveying them in at least three directions XYZ between said storage zone, said preparation zone and said access zone giving access to said analyzer, said analyzer preferably being connected to and / or controlled by said automatic controller.

Improved medical suturing devices, systems, and methods may hold a suture needle at a fixed location relative to a handle of the device, allowing the surgeon to grasp and manipulate the handle of the suturing device to insert the needle through tissues in a manner analogous to use of a standard needle gripper. Cycling the handle from a closed position to an open position and back to the closed position may alternate the device between gripping the needle with a first clamp (for example, along a proximal portion of the needle) to gripping the needle with a second clamp (for example, along a distal portion of the needle) and optionally back to gripping with the first clamp, with the needle often staying at a substantially fixed location relative to the suturing device body. Related single-clamp needle grasping devices can be bent plastically by a surgeon, and / or have bodies that are grasped by a hand while a portion of the hand actuates a handle.

A system for implanting a repair device onto a native valve of a natural heart to repairing the native valve of a patient during a non-open-heart procedure. The system includes a paddle and a gripping member. The paddle is movable between an open position and a closed position. The gripping member has a weakened portion and a barbed portion. The barbed portion is configured to secure the gripping member to valve tissue of the native valve of the patient. A gripper control mechanism is configured to move the gripping member between an open position and a closed position. The gripper control mechanism comprises a suture removably attached to the gripping member at a first connection point and a pushing member configured to engage the gripping member at a second connection point. The weakened portion is between the first and second connection points. The pushing member is configured to push on the gripping member and the suture is configured to pull on the gripping member to flex the weakened portion and pivot the barbed portion.

Improved medical suturing devices, systems, and methods may hold a suture needle at a fixed location relative to a handle of the device, allowing the surgeon to grasp and manipulate the handle of the suturing device to insert the needle through tissues in a manner analogous to use of a standard needle gripper. Cycling the handle from a closed position to an open position and back to the closed position may alternate the device between gripping the needle with a first clamp (for example, along a proximal portion of the needle) to gripping the needle with a second clamp (for example, along a distal portion of the needle) and optionally back to gripping with the first clamp, with the needle often staying at a substantially fixed location relative to the suturing device body.

A top drive drilling system, in at least some aspects, having a top drive unit, and a pipe gripping system beneath the top drive unit which has an open throat for receiving a tubular to be gripped by the pipe gripping system; and, in at least certain aspects, the gripping system having a body with first and second jaws movably connected thereto and piston / cylinder devices movably interconnected with each jaw for moving the jaws to clamp and then to rotate the pipe.

The present invention relates to a medical manipulator and a medical robot system. The manipulator has a connecting block, a joint shaft, and a distal-end working unit. The distal-end working unit has a gripper, a pitch axis, and a yaw axis which serve as distal-end joints for changing the orientation of the gripper. The gripper, the pitch axis, and the yaw axis are operated by rotors around which wires are wound. The joint shaft has a first intermediate joint and a second intermediate joint which are bendable by the wires which are moved back and forth. Since the manipulator can be bent at the first intermediate joint and the second intermediate joint, the joint shaft can appropriately be placed, and the gripper can be adjusted to an appropriate orientation with respect to an organ by being turned around the pitch axis and the yaw axis.

A medical device removal system includes a vessel filter repositioning or removal device to remove and / or reposition a medical device, such as a vessel filter. The system includes a gripper to grip a medical device that is located within a body vessel, and a detector, linked to the gripper, to detect the proximity of the medical device to the gripper. The system may also include an output to indicate a signal from the detector.

The present invention is directed to a data cartridge library system that realizes a reduced cost by reducing the number of certain components, especially expensive components, that are needed to perform certain functions within the library. With respect to certain functions, a reduced cost is realized by using lower precision componentry in combination with componentry that compensates for lower precision while still providing a reduced component cost with respect to a given function. In one embodiment of the invention, a data cartridge picker is provided that: (1) uses a single electro-mechanical device for the functions of grasping a data cartridge, retracting a grasped cartridge from a drive / storage location, inserting a grasped cartridge into a drive / storage location, and releasing a grasped cartridge once position in a desired location; (2) is capable of compensating for variations in cartridge positioning; (3) has a gripping mechanism that moves in a sinusiodal manner; and (4) avoids the wear and tear associated with moving fully retracted gripper mechanism that is not holding a data cartridge from a fully retracted position to a position at which a cartridge can be retrieved. Another embodiment provides a elevator mechanism for moving the cartridge picker in which the guiding portion of the mechanism is also part of the portion of the mechanism that moves the cartridge picker. A further embodiment employs a face plate extension that facilitates insertion of a data cartridge into a drive by a low precision cartridge transport device. Yet another embodiment provides a removable data cartridge holder that: (1) includes a box-like structure for holding data cartridges and a dust cover that can be placed over the opening of the box-like structure when the holder is not in use and when the holder is in use, attached to the box-like portion; (2) an orientation structure that prevents insertion of a data cartridge into the box-like holder if the cartridge is improperly oriented; and (3) retention clips for preventing accidental dislodgement of a data cartridge located in the box-like structure.

A needle protection device for a vial has a collar at the base of which a number of finger grippers extend. The collar is placed about the hub of a vial and pushed therealong until the gripper fingers snap over the bottom surface of the needle hub so as to fixedly couple the collar to the needle hub of the vial. Flexibly extending from the collar is a housing that is pivotable to a position in alignment along the longitudinal axis of the vial for enveloping the needle, to thereby prevent the needle from being exposed to the environment. A hook integrated to the inside of the housing ensures that the needle and the housing could no longer move relative to each other once the hook snaps over and traps the needle, as the housing is pivoted to its alignment position. For those vials that have a needle hub that extends smoothly from the vial, a second embodiment of the instant invention has, in place of the collar, a base that has two extending arms with coacting ends. Once the base is slipped over the vial and positioned appropriately therealong, the arms are pressed towards each other until the two coacting ends lock into place to thereby fixedly couple the base to the vial. A housing flexibly extending from the base is pivoted to a position in alignment with the longitudinal axis of the vial for enveloping a needle that extends from the hub of the vial.

A bone fixation device is provided with an elongate body having a longitudinal axis and having a flexible state and a rigid state, a plurality of grippers disposed at longitudinally spaced locations of the elongated body, a curved rigid hub connected to the elongated body, and an actuator operably connected to the grippers to deploy the grippers from a first shape to an expanded second shape. Methods of repairing a fracture of a bone are also disclosed. One such method comprising inserting a bone fixation device into an intramedullary space of the bone to place at least a portion of an elongate body of the fixation device in a flexible state on one side of the fracture and at least a portion of a curved rigid hub on another side of the fracture, and operating an actuator to deploy a plurality of grippers of the fixation device to engage an inner surface of the intramedullary space to anchor the fixation device to the bone.

An implant insertion device includes a handle, an insertion rod attached to the handle, and an implant gripper attached to the insertion rod. The implant gripper includes a gripping surface that has a movable pin and a fixed pin. The implant insertion device also includes a pin actuator so that the movable pin can be moved into place in an implant. A method of attaching an implant to an implant insertion device is disclosed, as well as a method of detaching an implant from an implant insertion device. Finally, a method of inserting an implant with an implant insertion device is provided.

The present invention provides a medical device for reducing a rod towards a bone fastener, the medical device having a shaft defining a proximal end and a distal end, where the shaft further defines a first threaded portion. A gripper assembly may be coupled to the distal end of the shaft, where the gripper assembly is engageable with the bone fastener. The medical device also includes a slide element slideably disposed on the shaft and coupled to the gripper assembly, with the slide element defining a second threaded portion. A pusher element is slideably coupled to shaft, whereby the pusher element defines an aperture engageable with the rod. A shaft grip can be rotatably engaged with the first threaded portion of the shaft, and the shaft grip can abut at least a portion of the pusher element. The medical device can also include a jaw nut coupled to the shaft, with the jaw nut rotatably engaging the second threaded portion of the slide element, as well as a lever assembly pivotably coupled to the shaft, the lever assembly defining a rod channel engageable with the rod, and further including a latch mechanism for releasably securing the lever assembly to the shaft.

A bone fixation device is provided with an elongate body having a longitudinal axis and having a flexible state and a rigid state, a plurality of grippers disposed at longitudinally spaced locations of the elongated body, a curved rigid hub connected to the elongated body, and an actuator operably connected to the grippers to deploy the grippers from a first shape to an expanded second shape. Methods of repairing a fracture of a bone are also disclosed. One such method comprising inserting a bone fixation device into an intramedullary space of the bone to place at least a portion of an elongate body of the fixation device in a flexible state on one side of the fracture and at least a portion of a curved rigid hub on another side of the fracture, and operating an actuator to deploy a plurality of grippers of the fixation device to engage an inner surface of the intramedullary space to anchor the fixation device to the bone.

A needle protection device for a vial has a collar at the base of which a number of finger grippers extend. The collar is placed about the hub of a vial and pushed therealong until the gripper fingers snap over the bottom surface of the needle hub so as to fixedly couple the collar to the needle hub of the vial. Flexibly extending from the collar is a housing that is pivotable to a position in alignment along the longitudinal axis of the vial for enveloping the needle, to thereby prevent the needle from being exposed to the environment. A hook integrated to the inside of the housing ensures that the needle and the housing could no longer move relative to each other once the hook snaps over and traps the needle, as the housing is pivoted to its alignment position. For those vials that have a needle hub that extends smoothly from the vial, a second embodiment of the instant invention has, in place of the collar, a base that has two extending arms with coacting ends. Once the base is slipped over the vial and positioned appropriately therealong, the arms are pressed towards each other until the two coacting ends lock into place to thereby fixedly couple the base to the vial. A housing flexibly extending from the base is pivoted to a position in alignment with the longitudinal axis of the vial for enveloping a needle that extends from the hub of the vial.

A passive universal gripper includes a mass of granular material encased in an elastic membrane. Using a combination of positive and negative pressure, the gripper can rapidly grip and release a wide range of objects that are typically challenging for conventional universal grippers, such as flat objects, soft objects, or objects with complex geometries. The gripper passively conforms to the shape of a target object, then vacuum-hardens to grip it rigidly; later using positive pressure to reverse this transition-releasing the object and returning to a deformable state. The apparatus and method enable the fast ejection of objects from the gripper, as well as essentially instantaneous reset time between releasing and gripping.

A medical device removal system includes a vessel filter repositioning or removal device to remove and / or reposition a medical device, such as a vessel filter. The system includes a gripper to grip a medical device that is located within a body vessel, and a detector, linked to the gripper, to detect the proximity of the medical device to the gripper. The system may also include an output to indicate a signal from the detector.

A chuck assembly for use in a substrate spin, rinse, and dry (SRD) module is provided. The chuck assembly includes a wedge, a chuck body, and a plurality of grippers. The wedge has a sidewall and is designed to move from a lower position to an upper position and from the upper position to the lower position thus opening and closing the chuck assembly, respectively. The chuck body has a cylindrical shape and is designed to include a plurality of linkage arms. The chuck body is designed to enclose the wedge such that each linkage arm is substantially in contact with the sidewall of the wedge. The cylindrical shape of the chuck body is designed to reduce air disturbance around a surface of a substrate. The plurality of grippers are designed to be coupled to the chuck body via a plurality of rotation pins. Each of the grippers is configured to stand substantially upright so as to engage the substrate when the wedge is in a lower position, and each of the grippers is configured to lie substantially flat so as to disengage the substrate when the wedge is in the lower position.