US20120031114A1 - Method and system for producing clear ice - Google Patents

Method and system for producing clear ice Download PDF

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Publication number
US20120031114A1
US20120031114A1 US13/194,257 US201113194257A US2012031114A1 US 20120031114 A1 US20120031114 A1 US 20120031114A1 US 201113194257 A US201113194257 A US 201113194257A US 2012031114 A1 US2012031114 A1 US 2012031114A1
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US
United States
Prior art keywords
water
conductivity
sump
predetermined
water level
Prior art date
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Abandoned
Application number
US13/194,257
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English (en)
Inventor
Lee Gerard Mueller
Daryl G. Erbs
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Emerson Automation Solutions GmbH
Original Assignee
Manitowoc Foodservice Companies LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Manitowoc Foodservice Companies LLC filed Critical Manitowoc Foodservice Companies LLC
Priority to US13/194,257 priority Critical patent/US20120031114A1/en
Assigned to MANITOWOC FOODSERVICE COMPANIES, LLC reassignment MANITOWOC FOODSERVICE COMPANIES, LLC ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ERBS, DARYL G., MUELLER, LEE GERARD
Publication of US20120031114A1 publication Critical patent/US20120031114A1/en
Assigned to JPMORGAN CHASE BANK, N.A., AS COLLATERAL AGENT reassignment JPMORGAN CHASE BANK, N.A., AS COLLATERAL AGENT SECURITY INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: APPLIANCE SCIENTIFIC, INC., CLEVELAND RANGE, LLC, ENODIS CORPORATION, FRYMASTER L.L.C., GARLAND COMMERCIAL INDUSTRIES LLC, MANITOWOC FOODSERVICE COMPANIES, LLC, THE DELFIELD COMPANY, LLC
Assigned to GARLAND COMMERCIAL INDUSTRIES LLC, APPLIANCE SCIENTIFIC, INC., MANITOWOC FOODSERVICE COMPANIES, LLC, ENODIS CORPORATION, THE DELFIELD COMPANY, LLC, CLEVELAND RANGE, LLC, FRYMASTER L.L.C. reassignment GARLAND COMMERCIAL INDUSTRIES LLC RELEASE OF SECURITY INTEREST IN UNITED STATES PATENTS Assignors: JPMORGAN CHASE BANK, N.A.
Assigned to PENTAIR FLOW SERVICES AG reassignment PENTAIR FLOW SERVICES AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ENODIS CORPORATION, MANITOWOC FOODSERVICE COMPANIES, LLC, MANITOWOC FSG OPERATIONS, LLC, WELBILT (CHINA) FOODSERVICE CO., LTD., Welbilt (Halesowen) Limited, WELBILT FSG U.S. HOLDING, LLC, WELBILT, INC.
Abandoned legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25C—PRODUCING, WORKING OR HANDLING ICE
    • F25C1/00—Producing ice
    • F25C1/18—Producing ice of a particular transparency or translucency, e.g. by injecting air
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/24—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of resistance of resistors due to contact with conductor fluid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/24—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of resistance of resistors due to contact with conductor fluid
    • G01F23/241—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of resistance of resistors due to contact with conductor fluid for discrete levels
    • G01F23/242—Mounting arrangements for electrodes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25C—PRODUCING, WORKING OR HANDLING ICE
    • F25C2400/00—Auxiliary features or devices for producing, working or handling ice
    • F25C2400/14—Water supply
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25C—PRODUCING, WORKING OR HANDLING ICE
    • F25C2600/00—Control issues
    • F25C2600/04—Control means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25C—PRODUCING, WORKING OR HANDLING ICE
    • F25C2700/00—Sensing or detecting of parameters; Sensors therefor
    • F25C2700/04—Level of water

Definitions

  • the present disclosure generally relates to a method and system for producing clear ice by monitoring the conductivity of water (e.g., Total Dissolved Solids (TDS)) in an ice machine and adding additional water when conductivity exceeds a predetermined level, thereby reducing the TDS level of the water and enabling the formation of clear ice.
  • TDS Total Dissolved Solids
  • the present disclosure provides for the formation of clear or clearer ice by monitoring or detecting the conductivity of water to ensure that the TDS level of the water is maintained below a predetermined level during the freeze cycle by the addition of fresh water from the water source.
  • TDS water-borne dissolved minerals commonly referred to as TDS, measured in parts per million (ppm).
  • ppm water-borne dissolved minerals commonly referred to as TDS, measured in parts per million (ppm).
  • Unacceptably large concentrations of TDS interfere with machine operation while in solution, and form deposits of unwanted scale when the water changes phase. Scaling in ice makers can also result in increased level of difficulty in harvesting ice cubes, as they will often become stuck to the evaporator plate, and eventually may damage the evaporator plate.
  • Another drawback of conventional ice making equipment is that the rate of scale buildup varies with the varying TDS concentration in different types of water sources, the level of water treatment, and the geographic region.
  • the present inventors have developed a unique method and system for formation of clear ice, which does not have to dump water to maintain the TDS level.
  • the present disclosure monitors the conductivity level (e.g., TDS level) during the freeze cycle and when the TDS level exceed a predetermined level, the pump valve is energized so that fresh water is introduced into the ice making machine during the freeze cycle to ensure that the TDS level remains below the predetermined level during a substantial portion of the freeze cycle so that ice clear or substantially clear ice is produced. This reduces the amount of water used and also produces consistently clear ice during each freeze/harvest cycle, which is not possible using the monitoring and discharge systems disclosed in the prior art.
  • a method for making clear ice comprising: filling a water sump to a predetermined level; contacting a refrigerant to an evaporator; circulating water from the sump over the evaporator to form ice on the evaporator; monitoring the water level in the sump; and monitoring the conductivity of the water in the sump to determine if the conductivity of the water is equal to or greater than a predetermined conductivity valve, (i) if the conductivity is not equal to or greater than the predetermined conductivity valve and if the water level reaches a predetermined lower water level, then complete the ice making cycle and initiate to the harvest cycle; or (ii) if the conductivity is equal to or greater than the predetermined conductivity valve and if the water level has not reached a predetermined lower water level, then add additional water to the water sump.
  • the step of monitoring the water level is via a water level probe comprising a first probe for detecting a high water level and second and third probes for detecting a low water level.
  • the water level probe measures the conductivity of the water by determining the conductivity difference between the second and third probes, wherein the third probe is a reference probe.
  • the predetermined conductivity value is about 30 GPH.
  • a system for producing clear ice comprising: a water supply; a water sump; an evaporator; a water inlet valve disposed between the water supply and the water sump; a pump for circulating water from the sump to the evaporate during an ice making cycle; a controller that monitors the water level in the sump and the conductivity of the water in the sump to determine if the conductivity of the water is equal to or greater than a predetermined conductivity valve, (i) if the conductivity is not equal to or greater than the predetermined conductivity valve and if the water level reaches a predetermined lower water level, then complete the ice making cycle and initiate the harvest cycle; or (ii) if the conductivity is equal to or greater than the predetermined conductivity valve and if the water level has not reached a predetermined lower water level, then add additional water to the water sump.
  • FIG. 1 is a schematic representation of a water level probe function of the present disclosure
  • FIG. 2 is a block diagram of the water system flow according to the present disclosure.
  • FIG. 3 is logic diagram of the TDS sensing process and water fill used to form clear ice according to the present disclosure.
  • a system for making ice while controlling the water inlet and outlet based on the water conductivity in the sump trough The water inlet valve is energized to bring all of the water in at one time prior to initiating the freeze cycle. Preferably, the amount of water is sufficient make a single batch of ice through one freeze and harvest cycle. And a conductivity measurement is made and depending upon the measurement the water valve may be energized again throughout the ice making or freezing cycle, as is necessary to maintain the conductivity or TDS level at or below a predetermined amount. During the freeze cycle, sensor readings are periodically taken of the water in the sump to determine if additional water needs to be added to reduce the TDS level, thereby producing substantially clear ice.
  • the system measures TDS of the supply water in the sump as water enters the system. If TDS is below the lower limit of normal, then no more water is brought into the sump and ice is made with that minimal amount of water. That is, the sump is initially filled until water contacts the lower level sensor which allows measurements of TDS. If the TDS measurement is between the lower and upper limit of normal, then an additional quantity of water is added to the sump by filling the sump until water contacts the upper level sensor and ice is continued to be made with that total water quantity. If TDS is above the upper limit of normal, then an additional quantity of water is added to the sump by filling the sump until water contacts the upper level sensor during the course of the ice making cycle.
  • FIG. 1 is block diagram of water system 1 used in the system of the present disclosure.
  • System 1 initiates the ice making process via control board 3 which sends output signals via electrical conduits 5 and 7 to energize water inlet valve 9 and de-energize water dump valve 11 , respectively.
  • control board 3 sends output signals via electrical conduits 5 and 7 to energize water inlet valve 9 and de-energize water dump valve 11 , respectively.
  • water inlet valve 9 energized, water from water supply 13 passes through water inlet valve 9 via conduit 15 into water sump trough 17 where it is pump via pump 19 into conduit 21 and thereafter to water distributor 23 .
  • Water from water distributor 23 is then distributed over evaporator 25 where it is formed into ice. Water that does not freeze onto evaporator 25 is then returned to water sump trough 17 for recycling to water distributor 23 .
  • a water level probe 27 is capable of measuring the water level in water sump trough 17 , as well as detecting the conductivity of the water in water sump trough 17 , so that the TDS level of the water can be monitored by control board 3 .
  • FIG. 1 depicts water level probe 27 , wherein probe ‘A’ is disposed at the level of water needed to for the ice making cycle to make a desired quantity of ice. Probes ‘B’ and ‘C’ are both disposed at the low level and measure conductivity of the water. As the water level drops during the ice making cycle from level ‘A’ where is registered low TDS or low conductivity toward levels ‘B’ and ‘C’, then conductivity tends to increase.
  • control board 3 opens water inlet valve 9 so that fresh or additional water from water supply 13 passes through conduit 15 into water sump trough 17 . This additional water is then pumped to water distributor 23 via pump 19 and conduit 21 so that the ice being formed on evaporator 25 remains substantially clear. If additional water is not added when the conductivity or TDS level reaches an undesirably high level, then the ice being formed would tend to get cloudy which is not appealing to consumers. See Table 1 below:
  • FIG. 1 is a diagram showing the relative probe location.
  • the high level probe is identified as “A” in this figure and is used to determine the high water level of the water sump.
  • Probes “B” and “C” are low water level probes and are used to identify the low water sump level, as well as to measure the conductivity of the water present in the sump.
  • FIG. 3 is a logic diagram that depicts the ice making method of the present disclosure.
  • the user will initiate the start of the ice cycle 31 .
  • the system then check to see if ice cycle is beginning 33 . If the ice cycle does not begin, then the system returns to 31 . If the ice cycle does begin, then the conductivity of the water in sump trough 17 is measured 35 by water level probe 27 and control board 3 .
  • Control board 3 compares 37 measured conductivity (M) to preset conductivities (H,N,L).
  • Conductivity is a measurement of a materials ability to conduct electricity.
  • the water level probe is also measuring the conductivity of the water in the water sump.
  • the resistance between the probes indicates the water's concentration of total dissolved solids (TDS) and scale.
  • TDS total dissolved solids
  • the table in FIG. 1 describes the threshold levels for low to high levels of TDS and scale.
  • the controller measures the conductivity of the water via probes “B” and “C” ( FIG. 1 ) and compares the measurement to a stored value resident in the controller.
  • M measured conductivity
  • the system determines if the measured conductivity (M) is high 49 , i.e., M ⁇ H preset valve. If the measured conductivity is not high, then the system returns to compare measured M to preset (H,N,L) 37 . If the measured conductivity is high where M ⁇ H, then control board 3 energize water inlet 9 such that additional or fresh water is supplied to water sump trough 17 via water supply 13 during the freeze cycle 51 and then ends the ice formation 47 . End of ice Formation 47 means that the machine operates until it is signaled from the Ice Thickness Probe (ITP) at which point the machine enters into harvest cycle and ultimately the completion of the complete cycle.
  • ITP Ice Thickness Probe
  • control board 3 energizes the water dump valve 11 , such that all of the water in sump trough 17 is dumped at the end of the ice making cycle 53 and then the freeze cycle is ended 43 .
  • the Ice Thickness Probe determines when the machine is to enter into the harvest mode. When the ice forms on the evaporator to a point where the individual cubes are interconnected (bridged) the ice contacts the ITP and a signal is sent to the control board which initiates harvest. That is, the system continues its' normal freeze cycle and is terminated when the Ice Thickness Probe (ITP) signals the controller.

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  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Production, Working, Storing, Or Distribution Of Ice (AREA)
  • Investigating Or Analyzing Materials By The Use Of Electric Means (AREA)
US13/194,257 2010-08-03 2011-07-29 Method and system for producing clear ice Abandoned US20120031114A1 (en)

Priority Applications (1)

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US13/194,257 US20120031114A1 (en) 2010-08-03 2011-07-29 Method and system for producing clear ice

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Application Number Priority Date Filing Date Title
US37042210P 2010-08-03 2010-08-03
US13/194,257 US20120031114A1 (en) 2010-08-03 2011-07-29 Method and system for producing clear ice

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US (1) US20120031114A1 (zh)
EP (1) EP2600959A1 (zh)
JP (1) JP5650842B2 (zh)
CN (2) CN202149657U (zh)
BR (1) BR112013002564A2 (zh)
MX (1) MX2013001370A (zh)
WO (1) WO2012018686A1 (zh)

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US20120031115A1 (en) * 2010-08-03 2012-02-09 Manitowoc Foodservice Companies, Llc Low pressure control for signaling a time delay for ice making cycle start up
WO2014117111A1 (en) * 2013-01-25 2014-07-31 True Manufacturing Co., Inc. Ice maker with slide out slump
US20160290697A1 (en) * 2015-04-06 2016-10-06 True Manufacturing Co., Inc. Ice maker with automatic descale and sanitize feature
US20160370061A1 (en) * 2015-06-19 2016-12-22 Manitowoc Foodservice Companies, Llc Method and apparatus for sanitation of ice production and dispensing system
US10092359B2 (en) 2010-10-11 2018-10-09 Ecole Polytechnique Federale De Lausanne Mechanical manipulator for surgical instruments
WO2018189329A1 (en) * 2017-04-12 2018-10-18 Wli Trading Limited A cooling bath for cooling a liquid
US10265129B2 (en) 2014-02-03 2019-04-23 Distalmotion Sa Mechanical teleoperated device comprising an interchangeable distal instrument
US10325072B2 (en) 2011-07-27 2019-06-18 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical teleoperated device for remote manipulation
US10357320B2 (en) 2014-08-27 2019-07-23 Distalmotion Sa Surgical system for microsurgical techniques
US10363055B2 (en) 2015-04-09 2019-07-30 Distalmotion Sa Articulated hand-held instrument
US10413374B2 (en) 2018-02-07 2019-09-17 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
IT201800006580A1 (it) * 2018-06-22 2019-12-22 Dispositivo produttore di ghiaccio e procedimento per utilizzarlo
US10548680B2 (en) 2014-12-19 2020-02-04 Distalmotion Sa Articulated handle for mechanical telemanipulator
US10568709B2 (en) 2015-04-09 2020-02-25 Distalmotion Sa Mechanical teleoperated device for remote manipulation
US10646294B2 (en) 2014-12-19 2020-05-12 Distalmotion Sa Reusable surgical instrument for minimally invasive procedures
US10786272B2 (en) 2015-08-28 2020-09-29 Distalmotion Sa Surgical instrument with increased actuation force
US10864052B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Surgical instrument with articulated end-effector
US10864049B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Docking system for mechanical telemanipulator
US11039820B2 (en) 2014-12-19 2021-06-22 Distalmotion Sa Sterile interface for articulated surgical instruments
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
US20220065515A1 (en) * 2018-08-03 2022-03-03 Hoshizaki America, Inc. Ice machine
US20230139820A1 (en) * 2021-10-31 2023-05-04 Thomas Joseph Francl Portable And Environmentally Friendly Ice Maker Configured To Deliver Ice On-Demand
US11662129B2 (en) 2021-11-03 2023-05-30 Haier Us Appliance Solutions, Inc. Method and apparatus for making clear ice
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
US12114945B2 (en) 2021-09-13 2024-10-15 Distalmotion Sa Instruments for surgical robotic system and interfaces for the same
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
WO2025260291A1 (en) * 2024-06-19 2025-12-26 Haier Us Appliance Solutions, Inc. Icemaker appliance and method for reducing total dissolved solids

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US20170176079A1 (en) * 2015-12-16 2017-06-22 Emerson Climate Technologies, Inc. Ice machine including vapor-compression system
CN106123994A (zh) * 2016-08-30 2016-11-16 芜湖美的厨卫电器制造有限公司 空气净化器及用于其的加湿盘水位检测装置和方法
CN106382966A (zh) * 2016-09-12 2017-02-08 莱克电气绿能科技(苏州)有限公司 一种应用于水箱缺水检测的系统
US10641535B2 (en) 2018-03-19 2020-05-05 Emerson Climate Technologies, Inc. Ice maker and method of making and harvesting ice
CN112254388B (zh) * 2020-10-26 2022-04-22 哈尔滨海威艾斯制冷设备有限公司 生产大体积透明冰系统与方法
KR20240073660A (ko) * 2022-11-18 2024-05-27 삼성전자주식회사 냉장고 및 냉장고의 제어방법
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US9217597B2 (en) * 2010-08-03 2015-12-22 Manitowoc Foodservice Companies, Llc Low pressure control for signaling a time delay for ice making cycle start up
US20120031115A1 (en) * 2010-08-03 2012-02-09 Manitowoc Foodservice Companies, Llc Low pressure control for signaling a time delay for ice making cycle start up
US10092359B2 (en) 2010-10-11 2018-10-09 Ecole Polytechnique Federale De Lausanne Mechanical manipulator for surgical instruments
US11076922B2 (en) 2010-10-11 2021-08-03 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
US11200980B2 (en) 2011-07-27 2021-12-14 Ecole Polytechnique Federale De Lausanne (Epfl) Surgical teleoperated device for remote manipulation
US10510447B2 (en) 2011-07-27 2019-12-17 Ecole Polytechnique Federale De Lausanne (Epfl) Surgical teleoperated device for remote manipulation
US10325072B2 (en) 2011-07-27 2019-06-18 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical teleoperated device for remote manipulation
WO2014117111A1 (en) * 2013-01-25 2014-07-31 True Manufacturing Co., Inc. Ice maker with slide out slump
US10265129B2 (en) 2014-02-03 2019-04-23 Distalmotion Sa Mechanical teleoperated device comprising an interchangeable distal instrument
US12329481B2 (en) 2014-02-03 2025-06-17 Distalmotion Sa Mechanical teleoperated device comprising an interchangeable distal instrument
US10357320B2 (en) 2014-08-27 2019-07-23 Distalmotion Sa Surgical system for microsurgical techniques
US12262969B2 (en) 2014-12-19 2025-04-01 Distalmotion Sa Reusable surgical instrument for minimally invasive procedures
US12262880B2 (en) 2014-12-19 2025-04-01 Distalmotion Sa Sterile interface for articulated surgical instruments
US11039820B2 (en) 2014-12-19 2021-06-22 Distalmotion Sa Sterile interface for articulated surgical instruments
US11571195B2 (en) 2014-12-19 2023-02-07 Distalmotion Sa Sterile interface for articulated surgical instruments
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WO2012018686A1 (en) 2012-02-09
EP2600959A1 (en) 2013-06-12
CN102345953B (zh) 2014-04-23
BR112013002564A2 (pt) 2016-06-07
CN102345953A (zh) 2012-02-08
CN202149657U (zh) 2012-02-22

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