07115092 is referenced by 68 patents and cites 33 patents.

A micromanipulator comprising a tubular structure and a structural compliance mechanism that are formed from a tube made of an elastic and/or superelastic material. Fabricated with laser machining and has no mechanical joints, the micromanipulator can be manipulated in various motions and degree-of-freedoms without permanent deformation. Shape Memory Alloys (SMAs) in one embodiment are implemented as main actuators of the micromanipulator. The micromanipulator can be implemented with multiple SMAs to manipulate the mechanism with multiple degree-of-freedom. In another implementation, multiple segments of the mechanisms are formed and arranged in various configurations, including a “double-helix”-like configuration, for enabling intricate motions of the micromanipulator. The micromanipulator is useful for intravascular interventional applications and particularly ultrasonic imaging when coupled with an ultrasound transducer.

Title
Tubular compliant mechanisms for ultrasonic imaging systems and intravascular interventional devices
Application Number
10/667230
Publication Number
7115092 (B2)
Application Date
September 18, 2003
Publication Date
October 3, 2006
Inventor
David H Liang
Menlo Park
CA, US
Friedrich B Prinz
Menlo Park
CA, US
Byong Ho Park
San Francisco
CA, US
Agent
Lumen Intellectual Property Services
Assignee
The Board of Trustees of the Leland Stanford Junior University
CA, US
IPC
A61B 1/00
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