Patent Description:
This application describes embodiments of apparatuses, methods, and systems for the use of a collapsible, clamping and/or steerable structure in conjunction with negative pressure.

Negative pressure, or partial vacuum, is widely used in many areas, such as in laboratories, medical facilities, factories, or even in household. The usefulness of negative pressure comes from a variety of characteristics. For example, negative pressure provides chemical inertness, promotes evaporation and sublimation, and produces suction powers. Also, some structure or materials may change its shape or structure under negative pressure. For example, a porous sponge may collapse under negative pressure. Even though a normal sponge will only shrink in all dimensions, development of a structure which changes shape into a more desirable shape under negative pressure may be possible. <CIT> discloses a negative pressure wound closure system and methods for using such a system. Embodiments disclosed therein facilitate closure of the wound by preferentially contracting to provide for movement of the tissue.

Embodiments of the present disclosure relate to apparatus, methods, and systems for the use in conjunction with the administration of negative pressure. Specifically, the apparatus of certain embodiments may be designed to adjust its curvature along its length under negative pressure. Such steerable structure would be useful in many ways and can be applied to various curved objects under various degrees of negative pressure. Or, such steerable structure may be also used as a clamping device under negative pressure, to grip and/or clamp around particular objects. By reversibly changing structure, a clamping device may releasably hold multiple articles together, and a steerable structure may grab one or multiple articles together by changing its curvature. However, it will be understood by one of skill of art that application of the apparatuses, methods, and systems described herein this specification may be in any manner in relation to negative pressure, and are not limited to the clamping or any other particular use. The invention is defined by the appended claims, which define an apparatus for use with negative pressure. Embodiments of the present disclosure which fall outside the scope of the appended claims, for example methods for use in conjunction with the administration of negative pressure, do not form part of the invention and are provided for understanding of the invention only.

In some embodiments, a collapsible structure may be provided to collapse under negative pressure. The collapsible structure may comprise a plurality of cells, wherein the cells are shaped to preferentially collapse to form one or more desired shapes. For example, the cells may be shaped to cause the structure to collapse from an initial shape, such as a straight shape or a crescent shape in which opposite ends of the structure are relatively further apart, to a collapsed shape, such as a relatively more curved shape or a circular shape wherein the ends of the structure are relatively closer together. Compound shapes may also be provided by combining multiple collapsible structures together in different orientations. The collapsible structure may be enclosed within a cover member to form an enclosed, airtight space. Application of negative pressure to the enclosed space can cause the collapsible structure to collapse from the initial shape to the collapsed shape.

According to the invention, an apparatus for use with negative pressure is provided, the apparatus comprises a clamping structure having a first end, a second end, a length extending from the first end and the second end, a width transverse to the length extending along a central transverse axis of the clamping structure, and a height transverse to the length and the width, wherein the length and width are greater than the height. The clamping structure comprises a first side and a second side extending the length of the clamping structure from the first end to the second end in parallel or semi-parallel fashion. The first side is opposite the second side.

A plurality of elongate strips extend the length of the clamping structure from the first end to the second end. The plurality of elongate strips comprise two outermost elongate strips defining the first side and the second side.

A plurality of intervening members connect the plurality of elongate strips. The plurality of intervening members are configured to pivot relative to the strips to allow the plurality of elongate strips to collapse relative to one another.

A plurality of cells are provided side-by-side in the clamping structure in a horizontal plane parallel to the length and width of the clamping structure. Each cell is defined by a plurality of walls formed by either the elongate strips or the intervening members. Each cell has a top end and a bottom end with an opening extending through the top and bottom ends. The clamping structure is configured such that, in use, upon collapse of the plurality of cells the curvature of the plurality of elongate strips within the horizontal plane increases along the length of the clamping structure and the distance between the first end and the second end decreases.

In certain embodiments, the first side of the clamping structure may be a concave side and the second side of the clamping structure may be a convex side. The concave side is curved or bent concavely with respect to the clamping structure. The convex side is curved or bent convexly with respect to the clamping structure. The first side and the second side may taper toward the first and second end. The length of the clamping structure is greater than the width of the clamping structure. The clamping structure may be symmetrical about the central transverse axis. The clamping structure may be at least partially crescent-shaped.

In certain embodiments, the plurality of elongate strips further comprises at least one elongate strip positioned between the first side and the second side. Each of the elongate strips may be arranged in parallel or semi-parallel fashion. In some embodiments, at least some of the cells are diamond-shaped. At least some of the diamond-shaped cells may be subdivided from larger diamond-shaped cells. At least some of the cells may parallelpiped-shaped. The lengths of the cells along an elongate strip may be progressively shorter toward the first end and the second end.

In certain embodiments, the clamping structure comprises one or more detachable segments. The one or more detachable segments may comprise attachment elements. The clamping structure may further comprise an inner segment at least partially surrounded by one or more detachable segments. The inner segment may comprise receiving elements configured to receive attachment elements of the one or more detachable segments.

In certain embodiments, an apparatus for use with negative pressure comprises a first clamping structure and a second clamping structure. The second clamping structure is positioned over the first clamping structure. The second clamping structure may be attached to a top of the first clamping structure. In certain embodiments, the second clamping structure comprises receiving elements configured to receive attachment elements of the first clamping structure.

In certain embodiments, the apparatus for use with negative pressure further comprises a source or negative pressure, a drape and/or a port. The port is configured to transmit negative pressure through a drape placed over the structure.

In certain embodiments not according to the invention, a method of grabbing one or more objects comprises providing the clamping structure and applying the clamping structure on the surface of one or more objects. In some embodiments, the first side of the clamping structure is a concave side and the second side of the clamping structure is a convex side and the concave side is curved or bent concavely with respect to the clamping structure, and the convex side is curved or bent convexly with respect to the clamping structure. The one or more objects may comprise a curve along its surface and the clamping structure is applied on the surface of one or more object so that the concave side is aligned along the curve of the one or more objects. In certain embodiments, the method further comprises covering the clamping structure with a drape sealed to the surface of one or more objects surrounding one or more object and applying negative pressure through the drape to the structure via a source of negative pressure, wherein the application of negative pressure causes the stabilizing structure to horizontally collapse.

Other embodiments of an apparatus for use with negative pressure, devices and associated apparatuses are described below.

Embodiments disclosed in this section or elsewhere in this specification relate to apparatuses and methods to be used with reduced pressure, including clamping structures that collapse and transform with reduced pressure.

As is used in this section or elsewhere in this specification, reduced or negative pressure levels, such as -X mmHg, represent pressure levels that are below standard atmospheric pressure, which corresponds to <NUM> mmHg (or <NUM> atm, <NUM> inHg, <NUM> kPa, <NUM> psi, etc.). Accordingly, a negative pressure value of -X mmHg reflects absolute pressure that is X mmHg below <NUM> mmHg or, in other words, an absolute pressure of (<NUM>-X) mmHg. In addition, negative pressure that is "less" or "smaller" than -X mmHg corresponds to pressure that is closer to atmospheric pressure (e.g., -<NUM> mmHg is less than - <NUM> mmHg). Negative pressure that is "more" or "greater" than -X mmHg corresponds to pressure that is further from atmospheric pressure (e.g., -<NUM> mmHg is more than -<NUM> mmHg).

The negative pressure range for some embodiments of the present disclosure can be approximately -<NUM> mmHg, or between about -<NUM> mmHg and -<NUM> mmHg. Note that these pressures are relative to normal ambient atmospheric pressure. Thus, -<NUM> mmHg would be about <NUM> mmHg in practical terms. In some embodiments, the pressure range can be between about -<NUM> mmHg and -<NUM> mmHg. Alternatively, a pressure range of up to -<NUM> mmHg, up to -<NUM> mmHg or over -<NUM> mmHg can be used. Also in other embodiments, a pressure range of below -<NUM> mmHg can be used. Alternatively, a pressure range of over approximately -<NUM> mmHg, or even -<NUM> mmHg, can be supplied by the negative pressure apparatus. In some embodiments, the negative pressure range can be as small as about -<NUM> mmHg or about -<NUM> mmHg, which may be useful to reduce fistulas.

It will be understood that throughout this specification in some embodiments reference is made to an elongate, elongated or longitudinal strip or strips. It is to be understood that these terms are to be broadly construed and refer in some embodiments to an elongate material having two parallel or substantially parallel faces, where in crosssection a thickness of the material as measured perpendicular to the faces is relatively smaller than a height of the material measured parallel to the faces. While in some embodiments the strips may be constructed from discrete lengths of material, in other embodiments the strips may simply refer to elongate portions of an overall structure having two parallel or substantially parallel faces. The strips in some embodiments have a rectangular or generally rectangular-shaped faces, wherein a length of the face is longer than the height of the face. In some embodiments, the length of the face may be more than <NUM> times, <NUM> times, <NUM> times, <NUM> time, <NUM> times, <NUM> times or greater than the height of the face.

The terms "horizontal," "vertical," "longitudinal," and "lateral" may be used to describe the clamping structures described throughout this specification. When describing these structures or devices, these terms should not be construed to require that the structures or devices necessarily be placed in a certain orientation, though in certain embodiments, it may be preferable to do so.

<FIG> illustrates an embodiment of a negative pressure system <NUM> having a site <NUM> where negative pressure is applied. A single drape <NUM> or multiple drapes may be placed over the site <NUM> to create a fluid-tight seal. Under the drape <NUM>, the system may include a collapsible structure which is not shown in <FIG>. The collapsible structure may include porous materials such as foam, and in some embodiments, one or more clamping structures described in further detail in this section or elsewhere in this specification. An aperture <NUM> may be made through the drape <NUM> which can be manually made or preformed into the drape <NUM> so as to provide a fluidic connection from the site <NUM> to a source of negative pressure such as a pump <NUM>. Preferably, the fluidic connection between the aperture <NUM> and the pump <NUM> is made via a conduit <NUM>. Of course, in some embodiments, the drape <NUM> may not necessarily comprise an aperture <NUM>, and the fluidic connection to the pump <NUM> may be made by placing the conduit <NUM> below the drape.

Development of a structure which changes shape into a more desirable shape under negative pressure may be possible. For instance, a structure having length may be designed to adjust its curvature along its length under negative pressure. Such steerable structure would be useful in many ways and can be applied to various curved objects under various degrees of negative pressure. For example, such steerable structures may be used for steerable endoscopes, stents or catheters. Such steerable structures may be also used for splints to stabilize limbs, where the curvature and shape of the splint can be adjusted by negative pressure. Further, compound shapes may also be provided by combining multiple collapsible structures together in different orientations. Or, such steerable structure may be also used as a clamping device under negative pressure, to grip and/or clamp around particular objects. By reversibly changing structure, a clamping device may releasably hold multiple articles together, and a steerable structure may grab one or multiple articles together by changing its curvature. Such clamping devices may be utilized as powered forceps or tweezers, particularly where no electrical isolation is required.

<FIG> illustrate an embodiment of a clamping structure <NUM> comprising a plurality of elongate strips <NUM> arranged in parallel or semi-parallel fashion. <FIG> is a photograph of an embodiment of a clamping structure <NUM>. In embodiments, the elongate strips may also be arranged in a non-parallel fashion. The various cells within this clamping structure <NUM> may have a variety of shapes and sizes. As will be described in greater detail below, the length and shape of the elongate strips <NUM>, intervening members <NUM>, and cells <NUM> may be designed so as to facilitate collapse and thus greater transformation of the clamping structure. In certain embodiments, the junctions <NUM> between the elongate strips and intervening members may be thinned to better facilitate rotation and thus clamping of the clamping structures. In some embodiments, the clamping structure is tearable, such that the structure may be shaped into any desired size or shape. As described elsewhere in the specification, tears may be completed at the intersections between intervening members and elongate strips or at any suitable location along the elongate strip or intervening member.

All clamping structures described herein this section or elsewhere in the specification may be fashioned to be any size. However, to better accommodate the needs of the clinical environment, in certain embodiments, the clamping structures described herein may be provided in a pack of two sizes, one smaller clamping structure and one larger clamping structure about <NUM> times as larger, about <NUM> times as large, about <NUM> times as large, about <NUM> times as larger, about <NUM> times as larger, about <NUM> times as large, about <NUM> times as large, about <NUM> times as large, or more than about <NUM> times as large. In some embodiments, the pack may comprise more than two sizes, such as three sizes, four sizes, five sizes, or more than five sizes. The clamping structures within the pack may be of a variety of sizes in relation to one another such as the ratios described above.

In certain embodiments, the clamping structure <NUM> can collapse in any manner described in this section or elsewhere in this specification with or without the application of negative pressure. For example, the clamping structure may collapse significantly more in one plane than in another plane upon application of negative pressure. In some embodiments, a particular row of cells may collapse in a first direction, while another row may collapse in the same or an opposing direction. In certain embodiments, the clamping structure may collapse along the width of the clamping structure while remaining relatively rigid along the length and the height of the clamping structure. In certain embodiments, the clamping structure may also transform its overall shape while collapsing.

The clamping structure may be comprised of any materials described in this section or elsewhere in this specification, including: flexible plastics such as silicone, polyurethane, rigid plastics such as polyvinyl chloride, semi-rigid plastics, semi-flexible plastics, biocompatible materials, composite materials, metals, and foam.

Returning to <FIG>, clamping structure <NUM> may have a concave side <NUM> and a convex side <NUM>, each extending the length of the clamping structure from a first end <NUM> to a second end <NUM> and the convex side is opposing the concave side. The concave side <NUM> and the convex side <NUM> are defined by two outermost elongate strips. In some embodiments, as shown by <FIG>, each of the concave side and the convex side may have a partial-elliptical shape. In certain embodiments, the concave side and the convex side are bent or curved in same direction so that they are aligned in semi-parallel fashion. For example, as shown by <FIG>, the concave side may be bent or curved concavely with respect to the clamping structure and the convex side may be bent or curved convexly with respect to the clamping structure. In other embodiments, the concave side may be straight while the convex side is curved or bent. In other embodiments, the concave side and the convex side may be bent or curved in opposite direction. In some embodiments, such as in <FIG>, the concave side and the convex side may taper toward the first and the second end. In some embodiments, the clamping structure may be at least partially crescent-shaped. In other embodiments, the clamping structure may be at least partially half-elliptical-shaped. In some embodiments, the clamping structure may be symmetrical about the central transverse axis.

The clamping structure <NUM> further may comprise a concave side wall <NUM> defined by the concave side <NUM> along the height of the clamping structure, and a convex side wall <NUM> defined by the convex side <NUM> along the height of the clamping structure. In some embodiments, both of concave side wall and the convex side wall are parallel with the height and make up the right angle with regard to the horizontal plane. In other embodiments, either of the concave side wall and the convex side wall will be tilted with regard to the height. In some embodiments, the concave side wall and the convex side wall are straight along the height. In other embodiments, the concave side wall and the convex side wall may be curved along the height, so that the clamping structure can be more suitably applied to a contoured object. For example, when the concave side wall of the clamping structure is configured to be applied to a spherical object, the side wall may be designed to be concave along the height as well, so that it better fits with the spherical object.

As described above, the clamping structure <NUM> comprises a plurality of cells <NUM> provided side-by-side, each cell defined by one or more walls, each cell having a top end and a bottom end with an opening extending through the top and bottom ends. As with the other clamping structures described herein this section and elsewhere in the specification, the clamping structure <NUM> may be configured to collapse by collapsing one or more cells <NUM>. In some embodiments, the cells are all of the same approximate shape and size; however, in other embodiments, the cells are of different shapes and sizes.

The elongate strips <NUM> may be made from one single material, such as those described elsewhere in the specification, or the elongate strips may be made from multiple materials. For example, elongate strips <NUM> may comprise sections of more rigid material and sections of more flexible material. The elongate strips <NUM> may be curved along their length so as to facilitate the curve of concave side and/or the convex side the clamping structure <NUM>. The elongate strips may be curved in same direction with the either of the concave side or the convex side. In some embodiments, each of the elongate strips may be curved in same direction so that they are arranged in parallel or semi-parallel fashion. The arch of the curves of the elongate strips <NUM> may vary considerably, with some strips <NUM> being highly curved while other are minimally curved or even straight. In some embodiments, the clamping structure may have one elongate strip between the concave side and the convex side. In other embodiments, the clamping structure may have zero, two, three, four or more elongate strips between the concave side and the convex side.

Similarly, the clamping structure <NUM> further comprises a plurality of intervening members <NUM> connected to the elongate strips <NUM>. The intervening members <NUM> may all be of a similar shape and size or they may be of a variety of shapes and sizes. The intervening members may be constructed from any material disclosed herein this section or elsewhere in the specification. Further, the intervening members may be constructed from multiple materials.

The clamping structure <NUM> and all clamping structures described in this section or elsewhere in this specification can collapse on a variety of timescales in a dynamic fashion. In certain embodiments, the majority of the collapse may occur within the first few minutes upon application of negative pressure. However, after the initial collapse, the clamping structure may continue to collapse at a much slower rate, thereby applying increasing longitudinal tension over a long period of time and drawing the first end and the second together.

In certain embodiments, up to <NUM>% of the collapse of the clamping structure may occur within the first few minutes upon application of negative pressure, while the remaining <NUM>% of the collapse may occur slowly over a period of many minutes, hours, days, weeks, or months. In other embodiments, up to about <NUM>% of the collapse, up to about <NUM>%, up to about <NUM>%, up to about <NUM>%, up to about <NUM>%, up to about <NUM>%, up to about <NUM>%, up to about <NUM>%, or about <NUM>% of the collapse will occur immediately within the first few minutes upon application of negative pressure while the remainder of the collapse occurs at a much slower rate such as over the course of many minutes, hours, days weeks, or months. In other embodiments, the clamping structure can collapse at a variable rate. In some embodiments, the entirety of the collapse occurs at a slowed rate, while in other embodiments the entirety of the collapse occurs almost immediately within the first few minutes. In further embodiments, the collapse can occur at any rate and the rate can vary over time. In certain embodiments, the rate of collapse can be altered in a variable fashion by adding and/or removing portions of the structure or by controlling the application of negative pressure.

<FIG> is an illustration of a top view of the clamping structure embodiment of <FIG>. In some embodiments, the pattern of the clamping structure <NUM> is designed in such a way as to facilitate maximum collapse of the clamping structure. In embodiments, maximum closure is in a direction perpendicular to the length of the elongate members and within the horizontal plane. As will be described in greater detail below, greater closure may be achieved by varying the length of the elongate strips <NUM>, the length of the intervening members <NUM>, and the shape of the cells <NUM>. The shape of the cells <NUM> may comprise any shape described herein this section or elsewhere in the specification. For example, as depicted in <FIG>, the cells <NUM> may be diamond-shaped or parallelepiped with smaller diamond-like shapes <NUM> located within larger diamonds <NUM>. Such a construction may provide greater overall clamping of the clamping device <NUM> to provide for maximum clamping. Additionally, the smaller diamond-like shapes <NUM> located within larger diamonds <NUM> can spread the load over a greater area.

<FIG> is a photograph of an embodiment of apparatus for use with negative pressure with the clamping structure <NUM>. In this embodiment, the clamping structure <NUM> is contained within an air-tight plastic bag. However, in other embodiments, the apparatus may contain other means of forming air-tight seal to maintain the negative pressure environment around the clamping structure. For example, in some embodiments, a drape described in this section or elsewhere in the specification may be used with the clamping structure to maintain the negative pressure.

Any of the clamping structures described herein this section or elsewhere in the specification may be constructed from any suitable means. For example, the clamping structures may be constructed via molding or may be printed directly using 3D printing technology. In certain embodiments, the clamping structures of <FIG> may be constructed from a single polymer via 3D printing. In some embodiments, the clamping structures may be constructed from a single polymer, two different polymers, three different polymers, or more than three different polymers. The clamping structures may be constructed from any material disclosed herein this section or elsewhere in the specification. The clamping structure can be made by cutting the structure out of a solid block of material. Methods used for cutting can include, for example, water jet cutting, laser cutting, or die cutting. The clamping structures may be cut to size along the walls of the cells <NUM>. For example, the intervening members along the outside face of elongate strips <NUM> can be cut off to appropriately size the clamping structure. The clamping structure may be cut along the walls, along any portions of the elongate strips, and/or along any portions of the intervening members. In certain embodiments, the clamping structure may be created from a mold.

In some embodiments, the clamping structure <NUM> of <FIG> can be configured to include perforations or detachable sections that allow portions of the device to separate from the remainder of the device. For example, perforations may be incorporated into the joints <NUM> between various cells <NUM> contained within the clamping structure <NUM>, allowing for the removal of individual rows or cells to alter the shape of the clamping structure <NUM>.

In some embodiments, the clamping structure <NUM> of <FIG> may have holes or notches on the elongate strips <NUM> and/or intervening members <NUM> defining cells <NUM>, such that cells are in fluidic communication with each other. This feature may act as a fluid pathway and help propagation of negative pressure along the clamping structure, thus facilitate collapsing of the clamping structure <NUM>.

Applicable to all clamping structures described in this section or elsewhere in the specification, the clamping structure may be tearable such that the clamping structure may be shaped into any desirable shape. In some embodiments, the clamping structure may be torn at the intersections between intervening members and elongate strips, while in further embodiments, the elongate strips or intervening members may be torn at any suitable position.

<FIG> illustrate an embodiment of a clamping structure <NUM> having a cell configuration as described above. <FIG> illustrate perspective views of the transformation of an embodiment of the clamping structure <NUM> before application of negative pressure, the clamping structure <NUM> during collapse with or without negative pressure, and the clamping structure <NUM> after collapse with or without negative pressure. As shown by <FIG>, when cells <NUM> collapse with or without negative pressure, the curvature of the elongate strips of the clamping structure increases and the distance between first end <NUM> and the second end <NUM> decreases. In some embodiments, the first end and the second end completely touches each other upon the collapse of the clamping structure. In other embodiments, the distance between the first end and the second end after collapse is less than <NUM>%, <NUM>%, <NUM>%, <NUM>%, <NUM>%, <NUM>%, <NUM>%, or <NUM>% of the original distance between the first end and the second end. In some embodiments where one or more object is placed between the first end and the second end, the clamping structure may grab the one or more object. In other embodiments where objects are attached to the first end and the second end, the clamping structure may pull objects attached to the first end and the second end closer.

To facilitate various types and degree of transformation (for example, maximum clamping) the shape, size, and location of the elongate strips, intervening members, and cells may be determined via various methods. <FIG> illustrate a top view of the embodiment of <FIG>. For example, as depicted in <FIG>, each collapsible cell <NUM> may have four sides, and each intersection between an intervening member(s) and/or elongated strip(s) may be modeled via pin-joints <NUM>. As depicted in <FIG>, the clamping structure <NUM> may be modeled to collapse from an open state to a semi-collapsed state <NUM>, and to a fully collapsed state <NUM>. In some scenarios, maximum collapse down to the embodiment depicted by <FIG>, <FIG> and <FIG> may be desirable to maximize clamping by drawing the first end and the second end of the clamping structure close together as possible. <FIG> are photographs of an embodiment of the clamping structure <NUM> before negative pressure is applied, and the clamping structure <NUM> after negative pressure is applied.

As illustrated in <FIG>, in certain embodiments, the process of determining the optimal shape, size, and location of the elongate strips, intervening members, and cells for clamping may be facilitated by modeling the clamping structure as a mirrored pattern on opposite sides of a mirror line <NUM> (which may also be referred to as the transverse axis, perpendicular to a length of the clamping structure), thereby making the curve and collapse of the clamping structure symmetrical. The mirror line may be located in any suitable location within the clamping structure, such as diagonally across the clamping structure. In certain embodiments, this method may lead to large diamond-shaped cells near the center line. These large diamond-shaped structures <NUM> may be further subdivided to further support the clamping structure by including smaller diamond shapes <NUM> within larger shapes. In some embodiments, these smaller shapes <NUM> within a larger shape <NUM> may comprise any shape disclosed herein this section or elsewhere in the specification. The larger cells may be further subdivided by two smaller shapes, three smaller shapes, four smaller shapes, or more than four smaller shapes. In some embodiments, the clamping structure may contain multiple mirror lines, thereby having multiple subsections that are symmetrical or different.

As illustrated in <FIG>, for a four-sided cell to completely collapse, it must follow a simple formula: a + b = c + d, where a, b, c, and d are the lengths of individual sides of a single cell within the clamping structure such as the cell <NUM> of <FIG>. When members c and b collapse together, then d and a collapse together. Such a formula may be the basis for developing a pattern for a clamping structure that maximizes collapsibility.

Further, as illustrated in <FIG>, elongate strip cell sections were progressively lengthened (a4 > a3 > a2 > a1) towards the horizontal mirror line <NUM>, thereby achieving a curve following the curve of elongated strips in the clamping structure while preventing any of the intervening members <NUM> from becoming perpendicular to the elongate strips <NUM> (i.e. having an internal angle of <NUM> degrees). As illustrated in <FIG>, a value for b1 may be chosen, at which point an arbitrary offset value x may also be chosen to ease the construction of the various cell geometries. Using the progressive values for a1 through a4, illustrated visually in <FIG> <NUM>, values for b1-b4 may be calculated <NUM>. Using calculated values derived from equations <NUM> for the various walls of the individual cells allows for the design of a clamping structure that collapses completely, such as those depicted in <FIG>.

In some embodiments, a method for generating a clamping structure design may include steps to speed up the initial geometry construction. For example, if all members from left to right are in a specific row, as visualized by intervening members <NUM> in <FIG>, a pattern then emerges where alternating vertical members are also the same length. Walls of the same length are indicated by their respective labels <NUM>, <NUM>, <NUM>, and <NUM>. Once the initial design is generated then individual cells may be modified by lengthening, shortening, removing or inserted according to the formulas of <FIG> to achieve the desired shape of the overall clamping structure.

<FIG> illustrate an embodiment of a clamping structure <NUM>, similar to the clamping structures disclosed previously in <FIG>, <FIG>, and <FIG>. Here, clamping structure <NUM> comprises inner segment <NUM> and a detachable segment <NUM>. In some embodiments, the detachable segment <NUM> at least partially surrounds the inner segment <NUM>. In some embodiments, each of the segments may have a crescent shape. To adjust the clamping structure to desired shape or size, in embodiments, the detachable segment of the clamping structure <NUM> may be removed from the overall structure to form a smaller clamping structure such as the inner segment <NUM>. In certain embodiments, there may be at least: one, two, three, four, five, six, seven, eight, nine or ten removable segments.

One of skill in the art will understand that the detachable sections of the clamping structures of <FIG>, and any clamping structure disclosed herein this section or elsewhere in the specification, may be removed in any suitable direction. For example, the clamping structure may be configured such that the detachable section(s) may be removed horizontally within an x-y plane parallel to the longest dimension of the clamping structure. In certain embodiments, the clamping structure may be configured such that detachable sections may be removed in a vertical direction in the z axis, perpendicular to the x-y plane. The clamping structure may have at least one detachable section removable in a horizontal direction and one section removable in a vertical direction. The detachable section(s) may be attached to the clamping structure in such a manner that the detachable section(s) may only be removed in a single direction, such as by the use of slots and/or channels as the attachment and receiving elements.

In embodiments, the clamping structure segments may be cut from the clamping structure <NUM> to produce a smaller structure. In certain embodiments, the clamping structure may have pre-cuts along the shape of the segments <NUM> and <NUM> to allow the segments to be tearable and easily removed by hand from the clamping structure. The detachable segments may be adhered to the remainder of the clamping structure via adhesive, Velcro®, or other suitable adhesive means. In certain embodiments, the removable sections may be held together by the tightness of the structures squeezing together and/or via friction. In some embodiments, magnets and/or suction cups may be used to keep the segments together.

As shown in <FIG>, in some embodiments, detachable segments <NUM> may comprise one or more attachment elements <NUM>, which may be in the form of prongs, hooks, tongues, screws, nails, or other suitable attachment means. <FIG> are photographs of such embodiments. As shown in <FIG>, the attachment elements <NUM> attach to receiving elements <NUM> of the inner segment <NUM> which may be in the form of grooves, holes, windows, or any suitable means. For example, <FIG> depicts an embodiment of a clamping structure <NUM> where the attachment elements <NUM> are tongues which fit into the receiving elements, which are grooves <NUM>. The attachment elements serve to maintain attachment of the detachable segment to the inner segment or another detachable segment until the clamping element is re-sized by applying suitable force to separate the attachment elements from the receiving elements. In certain embodiments, detachable segments and inner segment may comprise both attachment elements and receiving elements. For example, a detachable segment may comprise attachment elements on one side and receiving elements on the opposite side to allow the detachable elements to be stacked one after another. In certain embodiments, segments may comprise at least about <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, or more than <NUM> attachment elements. In some embodiments, segments may comprise at least about <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, or more than <NUM> receiving elements.

<FIG> depicts an embodiment of a clamping structure <NUM> where the attachment elements <NUM> are prongs. <FIG> depicts an embodiment of a clamping structure <NUM> where the attachment elements <NUM> are claws which fit into the receiving elements, which are grooves <NUM>. <FIG> depicts an embodiment of a clamping structure <NUM> where the attachment elements <NUM> are hooked and the receiving elements are configured to receive the hooks. <FIG> depicts an embodiment of a clamping structure <NUM> where adhesive <NUM> may be applied to certain areas of the detachable segments for adhesion to the outer surfaces of other detachable segments or the inner segment. Adhesive may also be applied to the inner segment.

<FIG> depicts a clamping structure <NUM> similar to the clamping structures of <FIG>. Here the detachable segments <NUM> comprise extended cells <NUM> which fit into recesses <NUM> of inner segment <NUM> or another detachable segment <NUM>. In embodiments, the extended cells are configured to snap fit into the recesses, such that the different segments can be separated from one another by the application of force. For example, separation can occur by the application of force by a user.

In certain embodiments, the detachable segments such as those disclosed above in relation to <FIG> may be packaged within a separate kit from the clamping structure. The separately packaged detachable segments may comprise attachment elements and/or receiving elements such as those disclosed herein this section or elsewhere in the specification. Such separately packaged detachable segments may then be added to main clamping structure to increase the size and/or alter the shape of the clamping structure. In certain embodiments, the separate kit(s) of detachable segments may contain one detachable segment, two detachable segments, three detachable segments, four detachable segments, five detachable segments, or more than five detachable segments. In some embodiments, the detachable segments may be in the form of a crescent.

Clamping structures may collapse in different fashion depending on the shape of the clamping structure. For example, in some embodiments, when the curvature of a clamping structure increases upon collapse of cells, the increase of the curvature is greater when the difference between the length of the concave side and the convex side is greater. The difference between the length of the concave side and the convex side may be adjusted with the installation or removal of detachable segments. For example, in <FIG>, the difference between the length of the concave side and the convex side is greater in the clamping structure <NUM> than in the inner segment <NUM>.

<FIG> compares the clamping of an embodiment of the clamping structure <NUM> and the inner segment <NUM> without the detachable segment <NUM>. Before collapse, the curvature of the concave side <NUM> and the distance between the first end <NUM> and the second end <NUM> is identical as shown in <FIG> and <FIG>. However, after collapse, the clamping structure with the detachable segment installed which is illustrated in <FIG> shows greater degree of transformation than the clamping structure without detachable segment which is illustrated in <FIG>. Photographs of such embodiment are shown in <FIG>. Here, an embodiment of object <NUM> subject to clamping of <NUM> is shown. Here, the concave side <NUM> of the clamping structure <NUM> in <FIG> would form a relatively more intimate contact with the contoured object with <NUM> than the collapsed clamping structure <NUM> of <FIG> would have formed. Therefore, where such proper fit of curvature between the concave side and contoured object is desired, the control of curvature by installing and removing detachable segments may be useful. In some embodiments, the clamping structure may show gradually greater clamping activity as one, two, three and more detachable segments are installed, so that the user of the clamping structure may adjust the degree of clamping activity by removing or installing the detachable structure. In other embodiments, the clamping structure may be designed to clamp in smaller degree with the detachable segments installed.

<FIG> depicts an embodiment of a clamping device <NUM>, comprising <NUM> and <NUM>, similar to those disclosed elsewhere in the specification, such as in relation to <FIG>. However, here, the clamping structures <NUM> and <NUM> may be stacked one atop the other to provide a clamping device <NUM> with greater height. With greater height, the stacked clamping device will have wider side walls and may be applied to a larger object. <FIG> illustrates an exploded view of such embodiments. In some embodiments, the clamping device may comprise two stackable clamping structures, three stackable clamping structures, four stackable clamping structures, five stackable clamping structures, or more than five stackable clamping structures. In some embodiments, all stackable clamping structures have the same size. In other embodiments, stackable clamping structures have different sizes. Similar to the detachable segments described above, the stackable clamping structures may be packaged separately as kits. In some embodiments, the stackable clamping structures contain attachment elements and/or receiving elements, such as those disclosed herein this section or elsewhere in the specification, allowing the stackable clamping structures to be attached to one another. In some embodiments, the stacked clamping device has similar collapsing behavior to that of individual clamping devices.

In some embodiments, as shown in <FIG>, stackable clamping structures may further comprise detachable elements <NUM> and <NUM>, so that user can adjust both width and height of the clamping device. As described above in relation to <FIG>and <FIG>, in some embodiments, adjusting the width by installing or removing the detachable elements may affect the collapsing behavior of the clamping structure. <FIG> and <FIG> are photographs of an embodiment of stackable clamping structures <NUM> which is similar with the stackable clamping structures described in relation to <FIG> and applied around a spherical object <NUM>.

As described elsewhere in the specification, clamping structures or clamping devices may be utilized for tools such as powered pincers or tweezers. <FIG> illustrate schematic view of an embodiment of a pincer having a clamping structure. In <FIG>, a pincer <NUM> contains a clamping structure <NUM>, a flexible membrane <NUM> and a tube <NUM>. The clamping structure <NUM> may be identical or similar with any clamping structures described in relation with <FIG> or elsewhere in the specification. For example, in some embodiments, the clamping structure <NUM> may have a fluid path or notches (not shows) between cells, such that negative pressure can propagate through the fluid path or notches.

The tube <NUM> may be configured to deliver negative pressure to the clamping structure <NUM>. The tube <NUM> may be fluidically connected with a source of negative pressure, and in some embodiments, the source of negative pressure may be integrated or mounted on the tube <NUM>. In some embodiments, the pincer <NUM> may have additional conduits to deliver negative pressure to the clamping structure <NUM>. The tube <NUM> may be constructed from relatively rigid material and maintain its structure, so that the tube <NUM> may be utilized as a grip or stick which the user of the pincer can hold.

The flexible membrane <NUM> may cover the clamping structure <NUM> and form a fluid-tight seal with the tube <NUM>. In some embodiments, the membrane <NUM> may include a port, such that the tube <NUM> can be connected with the membrane <NUM>. The flexible membrane <NUM> may be constructed from a flexible film material or any other suitable materials. In some embodiments, the flexible membrane <NUM> may only cover the top end and the bottom end of the cells, forming a fluid tight seal with the clamping structure.

<FIG> illustrates another embodiment of a pincer <NUM>. The pincer <NUM> may be similar with the pincer <NUM> of <FIG>. However here, the pincer <NUM> may contain a tube <NUM> directly integrated with a clamping structure <NUM>. The tube <NUM> may have one or more air holes <NUM> which is configured to fluidically connect the tube <NUM> with one or more cells of <NUM>. In some embodiments, the clamping structure <NUM> may have a fluid path or notches (not shows) between cells, such that negative pressure can further propagate through the fluid path or notches.

In some embodiments, the tube <NUM> and the clamping structure <NUM> could be constructed as a single piece. The pincer <NUM> may further include a flexible membrane which encases the clamping structure and form a fluid tight seal around the clamping structure <NUM>. In some embodiments, the flexible membrane may only cover the top end and the bottom end of each cells, forming fluid tight seal with the clamping structure.

Even though clamping structures shown in <FIG> are singlecurved structures which will increase their curvature upon collapse under negative pressure, different designs and further applications of these embodiments are also possible. For example, a straight-line shaped collapsible structure having similar cell configuration with clamping structures described in relation with <FIG> may bend along its length upon application of negative pressure. Compound shapes may also be provided by combining multiple collapsible structures similar with clamping structures described in relation with <FIG> together in different orientations. The collapsible structure may be enclosed within a cover member to form an enclosed, airtight space. Application of negative pressure to the enclosed space can cause the collapsible structure to collapse from the initial shape to the collapsed shape. In some embodiments, a more complex structure may constructed from more rigid parts (e.g., beams, skeletons) and collapsible structures similar with clamping structures described in relation with <FIG> which connect and act as joints of more rigid parts, such that the overall shape of the structure transforms in predetermined fashion upon application of negative pressure.

Although this disclosure describes certain embodiments, it will be understood by those skilled in the art that many aspects of the methods and devices shown and described in the present disclosure may be differently combined and/or modified to form still further embodiments or acceptable examples. All such modifications and variations are intended to be included herein within the scope of this disclosure. Indeed, a wide variety of designs and approaches are possible and are within the scope of this disclosure. No feature, structure, or step disclosed herein is essential or indispensable. Moreover, while illustrative embodiments have been described herein, the scope of any and all embodiments having equivalent elements, modifications, omissions, combinations (e.g., of aspects across various embodiments), substitutions, adaptations and/or alterations as would be appreciated by those in the art based on the present disclosure. While certain embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of protection defined by the appended claims.

Features, materials, characteristics, or groups described in conjunction with a particular aspect, embodiment, or example are to be understood to be applicable to any other aspect, embodiment or example described in this section or elsewhere in this specification unless incompatible therewith.

Furthermore, certain features that are described in this disclosure in the context of separate implementations can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombinations. Moreover, although features may be described above as acting in certain combinations, one or more features from a claimed combination can, in some cases, be excised from the combination, and the combination may be claimed as a subcombination or variation of a subcombination.

Claim 1:
An apparatus for use with negative pressure, comprising:
a clamping structure (<NUM>, <NUM>, <NUM>) having a first end (<NUM>), a second end (<NUM>), a length extending from the first end (<NUM>) and the second end (<NUM>), a width transverse to the length extending along a central transverse axis of the clamping structure (<NUM>, <NUM>, <NUM>), and a height transverse to the length and the width, wherein the length and width are greater than the height, the clamping structure (<NUM>, <NUM>, <NUM>) comprising:
a first side (<NUM>) and a second side (<NUM>) extending the length of the clamping structure (<NUM>, <NUM>, <NUM>) from the first end (<NUM>) to the second end (<NUM>) in substantially parallel fashion wherein the first side (<NUM>) is opposite the second side (<NUM>);
a plurality of elongate strips (<NUM>, <NUM>) extending the length of the clamping structure (<NUM>, <NUM>, <NUM>) from the first end (<NUM>) to the second end (<NUM>), wherein the plurality of elongate strips (<NUM>, <NUM>) comprise two outermost elongate strips (<NUM>, <NUM>) defining the first side (<NUM>) and the second side (<NUM>);
a plurality of intervening members (<NUM>) connecting the plurality of elongate strips (<NUM>, <NUM>), wherein the plurality of intervening members (<NUM>) are configured to pivot relative to the strips (<NUM>, <NUM>) to allow the plurality of elongate strips (<NUM>, <NUM>) to collapse relative to one another; and
a plurality of cells (<NUM>) provided side-by-side in a horizontal plane parallel to the length and width of the clamping structure (<NUM>, <NUM>, <NUM>), each cell (<NUM>) defined by a plurality of walls formed by either the elongate strips (<NUM>, <NUM>) or the intervening members (<NUM>), each cell (<NUM>) having a top end and a bottom end with an opening extending through the top and bottom ends;
wherein the clamping structure (<NUM>, <NUM>, <NUM>) is configured such that, in use, upon collapse of the plurality of cells (<NUM>) the curvature of the plurality of elongate strips (<NUM>, <NUM>) within the horizontal plane increases along the length of the clamping structure (<NUM>, <NUM>, <NUM>) and the distance between the first end (<NUM>) and the second end (<NUM>) decreases.