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1. 发明授权

US08672837B2 Methods and devices for controlling a shapeable medical device 有权
标题翻译：用于控制可塑性医疗器械的方法和装置
公开(公告)号：US08672837B2
公开(公告)日：2014-03-18
申请号：US12823032
申请日：2010-06-24
申请人： Matthew J. Roelle , Neal A. Tanner , Robert G. Younge , Christopher Carlson , Federico Barbagli , David Camarillo
发明人： Matthew J. Roelle , Neal A. Tanner , Robert G. Younge , Christopher Carlson , Federico Barbagli , David Camarillo
IPC分类号： A61B1/00
CPC分类号： A61B1/0051 , A61B1/00006 , A61B1/00039 , A61B1/0011 , A61B1/0016 , A61B1/008 , A61B34/20 , A61B34/30 , A61B2017/00477 , A61B2034/105 , A61B2034/301 , A61B2090/061 , A61M25/0147
摘要： Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region.
摘要翻译：本文描述了使用形状数据改进对可成型或可操纵的仪器的控制的系统和方法。附加方法包括准备与可成形器械一起使用的机器人医疗系统，并控制解剖学路径内的可塑性医疗装置的进展。本文还描述了用于改变解剖区域的数据模型的方法。

2. 发明授权

US08460236B2 Fiber optic instrument sensing system 有权
标题翻译：光纤仪器感应系统
公开(公告)号：US08460236B2
公开(公告)日：2013-06-11
申请号：US12822876
申请日：2010-06-24
申请人： Matthew J. Roelle , Neal A. Tanner , Robert G. Younge , Christopher Carlson , Federico Barbagli , David Camarillo
发明人： Matthew J. Roelle , Neal A. Tanner , Robert G. Younge , Christopher Carlson , Federico Barbagli , David Camarillo
IPC分类号： A61M31/00
CPC分类号： A61M25/0133 , A61B1/00149 , A61B1/00165 , A61B1/008 , A61B34/30 , A61B34/37 , A61B34/76 , A61B2017/003 , A61B2017/00477 , A61B2034/102 , A61B2034/2053 , A61B2034/2059 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/742 , A61B2034/744
摘要： Systems are described herein that improve control of a shapeable or steerable instrument using shape data. Additional systems use such shape data for improved mapping or adjusting models of the instrument. Such systems include robotic medical systems for controlling a shapeable instrument within an anatomical region having a controller, one or more actuators, and a localization system for guiding one or more shapeable instruments.
摘要翻译：本文描述了使用形状数据改进对可成形或可操纵的仪器的控制的系统。附加系统使用这种形状数据来改进仪器的映射或调整模型。这样的系统包括用于控制具有控制器，一个或多个致动器和用于引导一个或多个可成形器械的定位系统的解剖区域内的可成形器械的机器人医疗系统。

3. 发明申请

US20110295268A1 SYSTEM AND METHOD FOR AUTOMATED MASTER INPUT SCALING 审中-公开
标题翻译：自动主输入放大系统与方法
公开(公告)号：US20110295268A1
公开(公告)日：2011-12-01
申请号：US12833935
申请日：2010-07-09
申请人： Matthew J. Roelle , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Neal A. Tanner , Daniel T. Wallace
发明人： Matthew J. Roelle , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Neal A. Tanner , Daniel T. Wallace
IPC分类号： A61B19/00
CPC分类号： B25J9/1689 , A61B18/1492 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/76 , A61B34/77 , A61B2017/00057 , A61B2017/0007 , A61B2017/00084 , A61B2017/00123 , A61B2017/00477 , A61B2018/00678 , A61B2018/00702 , A61B2018/00708 , A61B2018/00779 , A61B2018/00791 , A61B2018/00839 , A61B2034/301 , A61B2090/062 , A61B2090/064 , A61B2090/065
摘要： Embodiments are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic medical instrument system, comprising an elongate instrument having proximal and distal ends; a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move the instrument; a master input device in communication with the controller and configured to generate input commands in response to a directional movement of the master input device; and a load sensor operatively coupled to the elongate instrument and configured to sense magnitude and direction of loads applied to the distal end of the elongate instrument; wherein the controller is configured to compute an instrument movement command to selectively move the instrument based upon the input commands and an input command scaling factor applied to the input commands, the input command scaling factor being variable with the magnitude of sensed loads.
摘要翻译：描述了用于自动化患者的微创治疗治疗方面的实施例。一种机器人医疗器械系统，包括具有近端和远端的细长器械; 控制器，被配置为选择性地致动一个或多个可操作地耦合到所述仪器的电机，从而选择性地移动所述仪器; 与所述控制器通信并被配置为响应于主输入设备的定向移动而产生输入命令的主输入设备; 以及负载传感器，其操作地耦合到所述细长仪器并且被配置为感测施加到所述细长仪器的远端的负载的大小和方向; 其中所述控制器被配置为基于所述输入命令和施加到所述输入命令的输入命令缩放因子来计算仪器移动命令以选择性地移动所述仪器，所述输入命令缩放因子随所感测负载的大小而变化。

4. 发明申请

US20100331856A1 MULTIPLE FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS FOR MINIMALLY INVASIVE OPERATIONS 审中-公开
标题翻译：多个灵活和可操纵的ELENATE仪器用于最小的入侵操作
公开(公告)号：US20100331856A1
公开(公告)日：2010-12-30
申请号：US12637622
申请日：2009-12-14
申请人： Christopher R. Carlson , Neal A. Tanner , Gregory J. Stahler , Gene Reis , Enrique Romo , Federico Barbagli
发明人： Christopher R. Carlson , Neal A. Tanner , Gregory J. Stahler , Gene Reis , Enrique Romo , Federico Barbagli
IPC分类号： A61B19/00
CPC分类号： A61B1/00147 , A61B1/0051 , A61B1/01 , A61B1/018 , A61B1/313 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/361 , A61B2017/00314 , A61B2017/00327 , A61B2017/00464 , A61B2017/00477 , A61B2017/2906 , A61B2017/2927 , A61B2034/102 , A61B2034/2059 , A61B2034/301 , A61B2034/306 , A61B2034/742 , A61B2090/306 , A61B2090/3614
摘要： Configurations are described for conducting minimally invasive medical interventions utilizing elongate robotically controlled instruments and assemblies thereof. In one embodiment, a junction sheath may be utilized to facilitate surgical triangulation of two interventional instrument assemblies, while also directing them to the surgical theater through a minimal single wound or surgical port. One or more instrument drivers, and one or more master input devices comprising an operator workstation, may be utilized to independently and simultaneously control multiple degrees of freedom pertinent to each instrument comprising one or more instrument assembly.
摘要翻译：描述了使用细长的机器人控制的仪器及其组件进行微创医疗干预的配置。在一个实施例中，可以使用连接护套来促进两个介入器械组件的手术三角测量，同时还通过最小的单个伤口或手术端口将它们引导到外科手术室。可以使用一个或多个仪器驱动器和包括操作员工作站的一个或多个主输入装置来独立地并且同时地控制与包括一个或多个仪器组件的每个仪器相关的多个自由度。

5. 发明申请

US20090076476A1 SYSTEMS AND METHODS EMPLOYING FORCE SENSING FOR MAPPING INTRA-BODY TISSUE 审中-公开
标题翻译：使用力感测系统和方法进行体内组织
公开(公告)号：US20090076476A1
公开(公告)日：2009-03-19
申请号：US12192974
申请日：2008-08-15
申请人： Federico Barbagli , Christopher R. Carlson , Neal A. Tanner , Christopher M. Sewell
发明人： Federico Barbagli , Christopher R. Carlson , Neal A. Tanner , Christopher M. Sewell
IPC分类号： A61B5/103 , A61N1/00 , A61M31/00
CPC分类号： A61B5/1076 , A61B5/0215 , A61B5/042 , A61B5/6885 , A61B90/06 , A61B2090/064
摘要： A medical instrument system includes a controller and a guide instrument coupled to an instrument driver, the instrument driver configured to manipulate a distal end portion of the guide instrument in response to control signals generated by the controller. A force sensor is associated with the guide instrument or with a working instrument carried by the guide instrument, and generates force signals responsive to a force applied to a respective distal end portion of the guide instrument or working instrument. A position determining system generates position data indicative of a position of the respective guide or working instrument distal end portion associated with the force sensor, and a processor operatively coupled to the force sensor and position determining system processes respective force signals and position data to generate and display a geometric rendering of an internal body tissue surface based on sensed forces applied to the respective instrument distal end portion as the guide instrument is maneuvered within an interior region of a body containing the body surface.
摘要翻译：医疗仪器系统包括控制器和耦合到仪器驱动器的引导器，所述仪器驱动器被配置为响应于由所述控制器产生的控制信号来操纵所述引导器械的远端部分。力传感器与导向仪器或由导向仪器承载的工作仪器相关联，并且响应于施加到引导仪器或工作仪器的相应远端部分的力而产生力信号。位置确定系统产生指示与力传感器相关联的相应导向或工作仪器远端部分的位置的位置数据，以及可操作地耦合到力传感器和位置确定系统的处理器处理相应的力信号和位置数据以产生和当在包含身体表面的身体的内部区域内操纵导向仪器时，基于施加到相应器械远端部分的感测力，显示内部身体组织表面的几何渲染。

6. 发明申请

US20110295267A1 SYSTEM AND METHOD FOR AUTOMATED TISSUE STRUCTURE TRAVERSAL 审中-公开
标题翻译：用于自动组织结构的系统和方法TRAVERSAL
公开(公告)号：US20110295267A1
公开(公告)日：2011-12-01
申请号：US12833927
申请日：2010-07-09
申请人： Neal A. Tanner , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Christopher M. Sewell , Daniel T. Wallace
发明人： Neal A. Tanner , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Christopher M. Sewell , Daniel T. Wallace
IPC分类号： A61B19/00
CPC分类号： B25J9/1689 , A61B18/1492 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/76 , A61B34/77 , A61B2017/00057 , A61B2017/0007 , A61B2017/00084 , A61B2017/00123 , A61B2017/00477 , A61B2018/00678 , A61B2018/00702 , A61B2018/00708 , A61B2018/00779 , A61B2018/00791 , A61B2018/00839 , A61B2034/301 , A61B2090/062 , A61B2090/064 , A61B2090/065
摘要： Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic tissue structure traversal system may comprise a controller including a master input device, an electromechanically controlled elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion comprising a traversing tip and being configured to be interactively navigated about internal structures of a patient's body in response to signals from the controller; and a load sensor operatively coupled between the distal portion of the elongate instrument and the controller; wherein the controller is configured to automatically advance the traversing tip through a thickness of an internal structure by observing loads from the load sensor.
摘要翻译：描述了用于自动化患者的微创治疗治疗方面的系统和方法。机器人组织结构遍历系统可以包括控制器，该控制器包括主输入设备，具有近端接口部分和远端部分的机电控制的细长仪器，所述近端接口部分被配置为可操作地耦合到机电仪器驱动器，控制器，所述远端部分包括横向末端并且被配置为响应于来自所述控制器的信号而被围绕所述患者身体的内部结构交互地导航; 以及负载传感器，其可操作地联接在所述细长仪器的远端部分和所述控制器之间; 其中所述控制器被配置为通过观察来自所述负载传感器的负载来自动地使所述横向前端穿过内部结构的厚度。

7. 发明申请

US20110295248A1 SYSTEM AND METHOD FOR AUTOMATED MINIMALLY INVASIVE INSTRUMENT COMMAND 审中-公开
标题翻译：用于自动微型入侵仪器命令的系统和方法
公开(公告)号：US20110295248A1
公开(公告)日：2011-12-01
申请号：US12833932
申请日：2010-07-09
申请人： Daniel T. Wallace , Federico Barbagli , Alex Goldenberg , Randall L. Schlesinger , Neal A. Tanner
发明人： Daniel T. Wallace , Federico Barbagli , Alex Goldenberg , Randall L. Schlesinger , Neal A. Tanner
IPC分类号： A61M25/092 , A61B18/18
CPC分类号： B25J9/1689 , A61B18/1492 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/76 , A61B34/77 , A61B2017/00057 , A61B2017/0007 , A61B2017/00084 , A61B2017/00123 , A61B2017/00477 , A61B2018/00678 , A61B2018/00702 , A61B2018/00708 , A61B2018/00779 , A61B2018/00791 , A61B2018/00839 , A61B2034/301 , A61B2090/062 , A61B2090/064 , A61B2090/065
摘要： In one embodiment a system may comprise a controller including a master input device; and an electromechanically steerable elongate instrument having proximal interface and portions, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion being configured to be interactively navigated adjacent internal tissue structures of a patient's body in response to signals from the controller; wherein the controller is operatively coupled to a treatment interactivity variable sensor selected from the group consisting of: a cardiac electrogram electrode, an RF generator power output sensor, an instrument distal portion impedance sensor, and an instrument distal portion force sensor; and wherein the controller is configured to affect the operation of the electromechanically steerable elongate catheter by automatically executing an instrument movement or treatment command based upon changes in information received from the treatment interactivity variable sensor.
摘要翻译：在一个实施例中，系统可以包括包括主输入设备的控制器; 以及具有近端界面和部分的机电可操纵的细长器械，所述近端接口部分被配置为可操作地联接到与所述控制器连通的机电仪器驱动器，所述远端部分被配置为相互导向相邻的患者身体的内部组织结构响应于来自控制器的信号; 其中所述控制器可操作地耦合到选自以下的治疗交互性变量传感器：心电图电极，RF发生器功率输出传感器，器械远侧部阻抗传感器和器械远端部力传感器; 并且其中所述控制器被配置为通过基于从所述治疗交互性变量传感器接收的信息的变化自动执行仪器移动或治疗命令来影响所述机电可操纵的细长导管的操作。

8. 发明申请

US20110015484A1 ENDOSCOPIC ROBOTIC CATHETER SYSTEM 审中-公开
公开(公告)号：US20110015484A1
公开(公告)日：2011-01-20
申请号：US12504569
申请日：2009-07-16
申请人： Jeffrey B. Alvarez , Federico Barbagli , Christopher R. Carlson , Gregory J. Stahler , Neal A. Tanner
发明人： Jeffrey B. Alvarez , Federico Barbagli , Christopher R. Carlson , Gregory J. Stahler , Neal A. Tanner
IPC分类号： A61B1/04 , A61B1/06 , A61M25/00
CPC分类号： A61B1/307 , A61B18/24 , A61B34/30 , A61B2017/00477 , A61B2034/301 , A61B2090/306 , A61B2090/3614 , A61M25/0105
摘要： A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

9. 发明申请

US20130090552A1 SYSTEM AND METHOD FOR SENSING SHAPE OF ELONGATED INSTRUMENT 有权
标题翻译：用于感应仪器的形状的系统和方法
公开(公告)号：US20130090552A1
公开(公告)日：2013-04-11
申请号：US13602893
申请日：2012-09-04
申请人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
发明人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
IPC分类号： A61B1/00 , A61B19/00 , A61B5/00 , A61B6/12 , A61B8/00
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes a first optical fiber, a second optical fiber and a controller is provided. The first optical fiber is operatively coupled to an elongate body that is adapted to be placed inside a patient. The second optical fiber is operatively coupled to the patient, to an actuating element adapted to actuate the elongate body, or to a portion of an imaging system adapted to identify a location of the portion relative to the elongate body. The controller is operatively coupled to the first optical fiber and the second optical fiber and is adapted to receive a first signal from the strain sensor provided on the first optical fiber, receive a second signal from the strain sensor provided on the second optical fiber; and determine a position or orientation of the elongate body based on the first signal and based on the second signal.
摘要翻译：提供一种包括第一光纤，第二光纤和控制器的仪器系统。第一光纤可操作地耦合到适于放置在患者体内的细长主体。第二光纤可操作地耦合到患者，适用于致动细长主体的致动元件，或适于识别该部分相对于细长主体的位置的成像系统的一部分。控制器可操作地耦合到第一光纤和第二光纤，并且适于从设置在第一光纤上的应变传感器接收第一信号，从设置在第二光纤上的应变传感器接收第二信号; 并且基于第一信号并且基于第二信号来确定细长体的位置或取向。

10. 发明申请

US20130085382A1 SYSTEM AND METHOD FOR SENSING SHAPE OF ELONGATED INSTRUMENT 有权
标题翻译：用于感应仪器的形状的系统和方法
公开(公告)号：US20130085382A1
公开(公告)日：2013-04-04
申请号：US13603068
申请日：2012-09-04
申请人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
发明人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
IPC分类号： A61B1/00 , A61B8/08 , A61B5/00
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an elongate body, an optical fiber, a localization sensor and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The localization sensor is operatively coupled to the elongate body. The controller is operatively coupled to the optical fiber and to the localization sensor and is adapted to receive a first signal from the strain sensor, receive a second signal from the localization sensor, and determine a position or orientation of the elongate body based on the first signal and the second signal.
摘要翻译：提供了一种包括细长体，光纤，定位传感器和控制器的仪器系统。光纤可操作地耦合到细长主体并且具有设置在光纤上的应变传感器。定位传感器可操作地连接到细长主体。控制器可操作地耦合到光纤和定位传感器，并且适于从应变传感器接收第一信号，从定位传感器接收第二信号，并且基于第一信号确定细长体的位置或取向信号和第二信号。

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