An apparatus is provided for performing surgical tasks during laparoscopic procedures which includes an elongated body, a mechanical hand operatively associated with a distal portion of the elongated body and including a plurality of articulated fingers, and an actuation assembly operatively associated with the proximal portion of the elongated body for controlling the operation of the mechanical hand.

Apparatus and method for performing surgical tasks during laparoscopic procedures

The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.

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Modular and cooperative medical devices and related systems and methods

The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments (A1, B1, D1) at the proximal end (106, 107, 121, 606, 806, 1711, 1801) of the mechanism results in a corresponding, relative movement of segments (A2, B2, D2) at the distal end (108, 109, 123, 604, 808, 1721, 1822) of the mechanism. The proximal and distal segments are connected by a set of cables (104) in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.

Hand-actuated device for remote manipulation of a grasping tool

The invention provides surgical or diagnostic tools and associated methods that offer user control for operating remotely within regions of the body. These tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. An articulation lock allows the fixing and releasing of both neutral and articulated configurations of the tool and of consequent placement of the end effector. The tool may also include other features. A multi-state ratchet for end effector actuation provides enablement-disablement options with tactile feedback. A force limiter mechanism protects the end effector and manipulated objects from the harm of potentially excessive force applied by the operator. A rotation lock provides for enablement and disablement of rotatability of the end effector.

Tool with articulation lock

A surgical instrument system having an instrument member or shaft with a distal portion positionable through an incision of a patient to an internal site and for operation by a surgeon from outside the patient. A tool is carried at the distal end of the instrument shaft controlled by the surgeon in performing a procedure at an operative site of the patient. At least first and second turnable members are spacedly disposed along the instrument shaft distal portion, both disposed within the internal site, and each controlled from outside the patient for providing at least respective first and second degrees of freedom of control of the tool. The turnable members may be either a pivot joint or a bendable section.

Surgical instrument design

An artificial forearm and hand having a fully-articulated wrist motion. The invention provides an integrated digitally-controlled remote manipulator device capable of reproducing all of the major motions of the human forearm, wrist and hand in a cmpact in-line package. This motion is accomplished without the requirement for feedback thereby making the invention ideally suited to digital computer control. The packaging of the device permits it to be sealed, meaning that it can be used as a remote manipulator that can reproduce human arm and hand motions. The packaging also produces a lightweight, cosmetically pleasing prosthetic device for use by humans.

Digitally-controlled artificial hand

Apparatus is provided for forming sheet metal utilizing two opposed sets of rams placed in matrix arrays with corresponding rams of opposite sets in alignment. The rams are individually movable and are positioned so that their extremities define a surface having the desired configuration. The two sets of rams are then used to form a workpiece in the same manner as dies. Pivotally mounted work-engaging heads with rounded surfaces are provided on the rams to improve the surface finish of the workpiece.

Apparatus for forming sheet metal

Apparatus for deploying one or more submissiles (15) from a carrier missile (25) whereby each submissile (15) is deployed into a flight path which is initially parallel to a streamline (20) of the fluid flow contiguous to the carrier missile (25). An ejection mechanism (45) has a submissile support member (105) oriented substantially parallel to the streamline (20) at the point where the submissile (15) is separated from the support member (105). The ejection mechanism (45) also provides a minimum side force to the submissile (15) which is proportional to a speed of the carrier vehicle (25). Provisions are also made to reduce or minimize any change in the aerodynamic characteristics of the carrier missile (25) after a submissile (15) has been deployed.

Missile deployment apparatus

An optical fiber-guided projectile (20) launch system for firing from a generally tubular launcher comprising a projectile (20) having tubular casing (22), an extended length of optical fiber (44) disposed in the casing (22) for continuous streaming from the trailing end thereof (26), a portion of the fiber (44) extending from the casing (22) for operative connection to a controller (58), an axial groove (52) in the casing surface for removably receiving a part of the extending fiber, tape (64) securing the fiber part in the groove (52) with force sufficient to withstand axial launch forces but insufficient to resist imposed radial forces, and a communication device providing two-way communication over the fiber (44) An alternative embodiment uses an un-grooved projectile casing with a tube launcher having a preformed fiber relief-groove in the inner peripheral surface and a discarding sabot having a tab member receivable in the relief For both embodiments, a controller (50) is provided in two-way communication with the projectile (20) for receiving and processing target data from the projectile (20) and for transmitting guidance data, including operator manual guidance, to the projectile (20), and an adaptor is provided for guiding fiber streaming axially from a wound bobbin in the projectile

Optical fiber guided tube-launched projectile system

A variable inertia energy storage system for storing large amounts of mechanical energy for an extended period of time on land or on a mobile vehicle includes a fly wheel having a rotating hub with spoke appendages each having an associate mass the center of which can be controllably changed with respect to the hub axis of rotation. The energy storage system also includes motor/­generator elements for providing rotation forces to input mechanical energy to the flywheel or for generating electrical power for use on demand by a subsystem or the like.

George T. Pinson

Papers

Digitally-controlled artificial hand

Apparatus for forming sheet metal

Missile deployment apparatus

Optical fiber guided tube-launched projectile system

Variable inertia energy storage system