公开(公告)号：US08409234B2

公开(公告)日：2013-04-02

申请号：US12126814

申请日：2008-05-23

申请人： Gregory J. Stahler ,  Christopher R. Carlson ,  Robert G. Younge

发明人： Gregory J. Stahler ,  Christopher R. Carlson ,  Robert G. Younge

IPC分类号： A61B17/32

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/361 ,  A61B90/80 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2017/00477 ,  A61B2017/2906 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/293 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/306 ,  A61B2034/741

摘要： Robotic instrument systems, apparatus, and methods for controllably rotating a tool or adapter coupled to a distal portion of a medical instrument such as a catheter. An interface, which may be integral with the medical instrument or a component of a separate rotatable apparatus or adapter, is operably coupled, e.g. fixedly coupled, to the distal end of the instrument. A tool, such as a rotatable portion of a collar or tool base, or a working instrument operably coupled thereto, is rotatable relative to the interface. The interface and collar have guide channels. A control element extends through the medical instrument and respective guide channels such that the tool or collar is controllably rotatable about the instrument axis by axial movement of the control element relative to the instrument.

摘要翻译： 用于可控地旋转耦合到诸如导管的医疗器械的远端部分的工具或适配器的机器人仪器系统，装置和方法。 可以与医疗器械或单独的可旋转装置或适配器的部件一体的界面可操作地耦合，例如， 固定地连接到仪器的远端。 工具，例如套环或工具底座的可旋转部分或可操作地联接到其上的工作装置可相对于界面旋转。 界面和衣领有引导通道。 控制元件延伸穿过医疗器械和相应的引导通道，使得通过控制元件相对于器械的轴向移动，工具或环可以围绕仪器轴线可控地旋转。

公开(公告)号：US20110172680A1

公开(公告)日：2011-07-14

申请号：US13073295

申请日：2011-03-28

申请人： Robert G. Younge ,  Bhaskar S. Ramamurthy ,  Neal A. Tanner ,  Randall L. Schlesinger ,  Eric Udd

发明人： Robert G. Younge ,  Bhaskar S. Ramamurthy ,  Neal A. Tanner ,  Randall L. Schlesinger ,  Eric Udd

IPC分类号： A61B19/00 ,  A61B5/05

CPC分类号： G02B6/022 ,  A61B5/1076 ,  A61B5/6852 ,  A61B2017/00039 ,  A61B2017/00053 ,  A61B2034/2061 ,  A61B2090/067

摘要： A medical instrument system includes an elongate instrument body defining a longitudinal axis and capable of being twisted about its longitudinal axis and an optical fiber sensor coupled to the instrument body. A detector is operatively coupled to the optical fiber sensor and configured to detect respective light signals transmitted on the optical fiber sensor. A controller is operatively coupled to the detector and configured to determine a twist of a portion of the instrument body about its longitudinal axis based on an analysis of detected light signals.

摘要翻译： 医疗器械系统包括限定纵向轴线并能够围绕其纵向轴线扭转的细长器械主体和耦合到器械主体的光纤传感器。 检测器可操作地耦合到光纤传感器并且被配置为检测在光纤传感器上传输的各个光信号。 控制器可操作地耦合到检测器并且被配置为基于对检测到的光信号的分析来确定仪器主体的围绕其纵向轴线的一部分的扭转。

公开(公告)号：US20100048998A1

公开(公告)日：2010-02-25

申请号：US12507706

申请日：2009-07-22

申请人： Robert G. Younge ,  Bhaskar S. Ramamurthy ,  Randall L. Schlesinger ,  Neal A. Tanner

发明人： Robert G. Younge ,  Bhaskar S. Ramamurthy ,  Randall L. Schlesinger ,  Neal A. Tanner

IPC分类号： A61B1/04

CPC分类号： A61B5/06 ,  A61B5/065 ,  A61B34/20 ,  A61B2017/00243 ,  A61B2034/2046 ,  A61B2034/2051 ,  A61B2034/2072 ,  A61B2090/0812

摘要： A method and system for maintaining calibration of a distributed localization system are presented. After a baseline calibration of sensors distributed on a working instrument and reference instrument, if movement of the reference instrument is detected, shape sensing data from a Bragg shape sensing fiber also coupled to the reference instrument may be utilized to recalibrate the localization system. The reference instrument preferably is located intraoperatively in a relatively constrained anatomical environment, such as in the coronary sinus of the heart, to prevent significant movement.

摘要翻译： 提出了一种用于维护分布式定位系统校准的方法和系统。 在分布在工作仪器和参考仪器上的传感器进行基线校准后，如果检测到参考仪器的移动，则可以利用来自参考仪器的布拉格形状传感光纤的形状感测数据来重新校准定位系统。 参考仪器优选地在手术中位于相对受限的解剖环境中，例如在心脏的冠状窦中，以防止显着的运动。

公开(公告)号：US20080285909A1

公开(公告)日：2008-11-20

申请号：US12106254

申请日：2008-04-18

申请人： Robert G. Younge ,  Bhaskar S. Ramamurthy ,  Neal A. Tanner ,  Randall L. Schlesinger ,  Eric Udd

发明人： Robert G. Younge ,  Bhaskar S. Ramamurthy ,  Neal A. Tanner ,  Randall L. Schlesinger ,  Eric Udd

IPC分类号： G02B6/00

CPC分类号： G02B6/022 ,  A61B5/1076 ,  A61B5/6852 ,  A61B2017/00039 ,  A61B2017/00053 ,  A61B2034/2061 ,  A61B2090/067

摘要： A medical instrument system includes an elongate flexible instrument body with an optical fiber substantially encapsulated in a wall of the instrument body, the optical fiber including one or more fiber gratings. A detector is operatively coupled to the optical fiber and configured to detect respective light signals reflected by the one or more fiber gratings. A controller is operatively coupled to the detector, and configured to determine a twist of at least a portion of the instrument body based on detected reflected light signals. The instrument may be a guide catheter and may be robotically or manually controlled.

摘要翻译： 医疗仪器系统包括具有基本上封装在仪器主体的壁中的光纤的细长柔性仪器本体，所述光纤包括一个或多个光纤光栅。 检测器可操作地耦合到光纤并且被配置为检测由一个或多个光纤光栅反射的各个光信号。 控制器可操作地耦合到检测器，并且被配置为基于检测到的反射光信号来确定仪器主体的至少一部分的扭转。 仪器可以是引导导管，并且可以是机器人或手动控制的。

公开(公告)号：US06866671B2

公开(公告)日：2005-03-15

申请号：US09929826

申请日：2001-08-13

申请人： Michael J. Tierney ,  Thomas Cooper ,  Chris Julian ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  Robert G. Younge

发明人： Michael J. Tierney ,  Thomas Cooper ,  Chris Julian ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  Robert G. Younge

IPC分类号： A61B17/00 ,  A61B19/00 ,  A61B19/08 ,  G06Q30/02

CPC分类号： A61B34/30 ,  A61B17/00234 ,  A61B18/1445 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/76 ,  A61B46/13 ,  A61B90/361 ,  A61B90/90 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2034/305 ,  A61B2090/0803 ,  A61B2090/0818 ,  A61B2090/506 ,  G06Q30/02 ,  H01H36/0046 ,  H01H85/0056 ,  Y10S901/41 ,  Y10T74/20305 ,  Y10T74/20311

摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

摘要翻译： 用于准备和执行机器人手术的机器人手术工具，系统和方法包括安装在该工具上的存储器。 当工具装载在工具操纵器上时，存储器可以执行多种功能：首先，存储器可以提供一个信号，以验证该工具是否与该特定机器人系统兼容。 其次，工具存储器可以识别机器人系统的工具类型，使得机器人系统可以重新配置其编程。 第三，工具的记忆可以指示工具特定的信息，包括指示工具驱动系统的未对准的测量校准偏移，工具寿命数据等。 该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。 本发明还提供了用于将机器人外科手术工具与机械手结构相结合的改进的接合结构。

公开(公告)号：US06468265B1

公开(公告)日：2002-10-22

申请号：US09436982

申请日：1999-11-09

申请人： Philip C. Evans ,  Frederic H. Moll ,  Gary S. Guthart ,  William C. Nowlin ,  Rand P. Pendleton ,  Christopher P. Wilson ,  Andris D. Ramans ,  David J. Rosa ,  Volkmar Falk ,  Robert G. Younge

发明人： Philip C. Evans ,  Frederic H. Moll ,  Gary S. Guthart ,  William C. Nowlin ,  Rand P. Pendleton ,  Christopher P. Wilson ,  Andris D. Ramans ,  David J. Rosa ,  Volkmar Falk ,  Robert G. Younge

IPC分类号： A61B1700

CPC分类号： A61B34/32 ,  A61B17/04 ,  A61B17/0469 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B2017/00243 ,  A61B2017/00703 ,  A61B2034/2065 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/064

摘要： A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant. A video monitor is coupled to the control computer; and an input system is coupled to the servo-mechanical system and to the control computer for providing a movement of the surgical instrument. The video monitor displays movement of the surgical instrument while the resultant surgical cardiac worksite appears substantially stationary, and while a relative position of the surgical instrument moving in unison with the resultant surgical cardiac worksite, as a result from the movement information gathered by the motion tracking system, remains generally constant. A method of performing cardiac surgery without cardioplegia comprising removing at least one degree of movement freedom from a moving surgical cardiac worksite to produce at least a partially stationary surgical cardiac worksite while allowing a residual heart section, generally separate from the at least partially stationary surgical cardiac worksite, to move as a residual moving heart part. Cardiac surgery is performed on the at least partially stationary cardiac worksite with a surgical instrument such as needle drivers, forceps, blades and scissors.