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    Determination of Drillstring Parameters and Associated Control
    83.
    发明公开
    Determination of Drillstring Parameters and Associated Control 审中-公开

    公开(公告)号：US20230151725A1

    公开(公告)日：2023-05-18

    申请号：US17802282

    申请日：2021-02-25

    Applicant: Norwegian University of Science and Technology

    Inventor： Sigve Hovda ,  Sigbjorn Sangesland ,  Asbjorn Djupdal ,  Magnus Jahre

    IPC: E21B44/00 ,  E21B37/00 ,  E21B45/00 ,  E21B47/04

    CPC classification number: E21B44/00 ,  E21B37/00 ,  E21B45/00 ,  E21B47/04 ,  E21B2200/20

    Abstract: A method for modelling a drillstring in a wellbore, the method comprising providing a model of the drillstring, the model representing the drillstring by a sequence of alternating springs and elements, where each element describes the mass and/or the moment of inertia of a corresponding part of the drillstring and each spring represents at least one of: axial, torsional and/or bending stiffnesses of one of the corresponding parts of the drillstring, wherein the model describes one or more forces on each element by one or more systems of ordinary equations of first or second order, where each equation comprise a linear part that comprises constant coefficients and a non-linear part that includes one or more of: one or more non-linear terms, one or more non-smooth terms, one or more time dependent terms and/or one or more coupled terms; and the method comprises recalculating the model for a plurality of time steps, wherein recalculating the model for the respective time step comprises calculating one, two or three dimensional positions, orientations and/or associated derivatives of all of the elements for the respective time step based on one, two or three dimensional positions, orientations and/or associated derivatives of all element at a previous time step, by describing the non-linear part by a form of expansion with respect to time and solving the system of equations either analytically or by the use of exponential integrators for the duration of the respective time step. Also described is a method of cleaning a wellbore using the model from the above method.

    Surgical stapler, anvil for a surgical stapler, and a method of stapling tissue
    85.
    发明授权
    Surgical stapler, anvil for a surgical stapler, and a method of stapling tissue 有权

    公开(公告)号：US11413044B2

    公开(公告)日：2022-08-16

    申请号：US16881889

    申请日：2020-05-22

    Applicant: Norwegian University of Science and Technology

    Inventor： Lars Cato Rekstad ,  Brynjulf Ystgaard

    IPC: A61B17/072 ,  A61B17/115

    Abstract: A surgical stapler includes a proximal end and a distal end and an anvil at the distal end for providing resistance to staples during the stapling operation of the surgical stapler. The anvil may include a number of segments arranged end-to-end. The anvil is elongated in the collapsed state, the anvil being elongated generally in a first direction D1. The anvil is configured such that the segments rotate about a rotation axis along a perpendicular second direction D2 when the anvil is actuated between the deployed and the collapsed states. The anvil is configured such that adjacent segments pivot relative to each other about a pivot axis along a third direction D3 when the anvil is actuated between the deployed and collapsed states. The stapler also includes an actuator mechanism, wherein the actuator mechanism is configured to be controlled from a location on the surgical stapler towards the proximal end.

    SURGICAL RETRACTOR TOOL
    88.
    发明申请
    SURGICAL RETRACTOR TOOL 有权

    公开(公告)号：US20210015514A1

    公开(公告)日：2021-01-21

    申请号：US16623027

    申请日：2018-06-08

    Applicant: Norwegian University of Science and Technology

    Inventor： Per Even STORLI ,  Lars Cato REKSTAD ,  Brynjulf YSTGAARD

    IPC: A61B17/29 ,  A61B17/28 ,  A61B17/22

    Abstract: A surgical retractor tool for removing an object from the stomach or from the oesophagus. The tool includes a flexible steerable tube for insertion into the body via the oral cavity and a gripper at the distal end of the tube for gripping an object in the stomach or the oesophagus in order to allow for removal of the object from the stomach or the oesophagus. The gripper includes first and second rotatable gripper surfaces and a clamping mechanism for moving the gripper surfaces to clamp the object. The rotatable gripper surfaces are arranged to rotate relative to the tube in order to allow a longitudinal axis of a gripped object to move into alignment with a longitudinal axis of the tube.

    SURGICAL STAPLER, ANVIL FOR A SURGICAL STAPLER, AND A METHOD OF STAPLING TISSUE
    89.
    发明申请
    SURGICAL STAPLER, ANVIL FOR A SURGICAL STAPLER, AND A METHOD OF STAPLING TISSUE 审中-公开

    公开(公告)号：US20200289121A1

    公开(公告)日：2020-09-17

    申请号：US16881889

    申请日：2020-05-22

    Applicant: Norwegian University of Science and Technology

    Inventor： Lars Cato REKSTAD ,  Brynjulf YSTGAARD

    IPC: A61B17/115 ,  A61B17/072

    Abstract: A surgical stapler includes a proximal end and a distal end and an anvil at the distal end for providing resistance to staples during the stapling operation of the surgical stapler. The anvil may include a number of segments arranged end-to-end. The anvil is elongated in the collapsed state, the anvil being elongated generally in a first direction D1. The anvil is configured such that the segments rotate about a rotation axis along a perpendicular second direction D2 when the anvil is actuated between the deployed and the collapsed states. The anvil is configured such that adjacent segments pivot relative to each other about a pivot axis along a third direction D3 when the anvil is actuated between the deployed and collapsed states. The stapler also includes an actuator mechanism, wherein the actuator mechanism is configured to be controlled from a location on the surgical stapler towards the proximal end.

    Surgical stapler, anvil for a surgical stapler, and a method of stapling tissue
    90.
    发明授权
    Surgical stapler, anvil for a surgical stapler, and a method of stapling tissue 有权

    公开(公告)号：US10695067B2

    公开(公告)日：2020-06-30

    申请号：US15551385

    申请日：2017-06-28

    Applicant: Norwegian University of Science and Technology (NTNU)

    Inventor： Lars Cato Rekstad ,  Brynjulf Ystgaard

    IPC: A61B17/115 ,  A61B17/072

    Abstract: A surgical stapler includes a proximal end and a distal end and an anvil at the distal end for providing resistance to staples during the stapling operation of the surgical stapler. The anvil may include a number of segments arranged end-to-end. The anvil is elongated in the collapsed state, the anvil being elongated generally in a first direction D1. The anvil is configured such that the segments rotate about a rotation axis along a perpendicular second direction D2 when the anvil is actuated between the deployed and the collapsed states. The anvil is configured such that adjacent segments pivot relative to each other about a pivot axis along a third direction D3 when the anvil is actuated between the deployed and collapsed states. The stapler also includes an actuator mechanism, wherein the actuator mechanism is configured to be controlled from a location on the surgical stapler towards the proximal end.

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