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公开(公告)号：US09452276B2
公开(公告)日：2016-09-27
申请号：US13274208
申请日：2011-10-14
申请人： Vincent Duindam , Catherine J. Mohr , Carolyn M. Fenech , Giuseppe Maria Prisco , Kwok Wai Samuel Au , Caitlin Q. Donhowe
发明人： Vincent Duindam , Catherine J. Mohr , Carolyn M. Fenech , Giuseppe Maria Prisco , Kwok Wai Samuel Au , Caitlin Q. Donhowe
IPC分类号： A61B1/00 , A61M25/00 , A61B1/005 , A61B1/018 , A61B5/06 , A61B10/02 , A61M25/01 , A61B17/00 , A61B17/22 , A61B5/00
CPC分类号： A61M25/0662 , A61B1/00006 , A61B1/00078 , A61B1/00154 , A61B1/0052 , A61B1/0057 , A61B1/01 , A61B1/018 , A61B5/06 , A61B5/062 , A61B5/065 , A61B5/6852 , A61B10/02 , A61B10/04 , A61B2017/00292 , A61B2017/00323 , A61B2017/00809 , A61B2017/22074 , A61B2034/2051 , A61B2034/2055 , A61B2034/2061 , A61B2034/301 , A61M25/003 , A61M25/0074 , A61M25/0113 , A61M25/0147 , A61M2025/0034 , A61M2025/0166
摘要： A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when the medical probe is used. A small diameter catheter can thus provide vision and biopsy functionality.
摘要翻译： 医疗系统包括导管和视觉探头，其可以从导管移除并用医疗探针代替。 因此，可以使用视觉探针来引导和构成导管，然后当执行诸如肺活检的医疗任务时，将其移除并替换为医疗探针。 导管中的传感器系统至少部分地测量导管的姿势，并且当使用医疗探针时，控制逻辑控制导管的致动以维持期望的工作构型。 因此，小直径导管可以提供视力和活检功能。
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公开(公告)号：US08182415B2
公开(公告)日：2012-05-22
申请号：US11762191
申请日：2007-06-13
CPC分类号： A61B1/00149 , A61B1/00087 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： A surgical instrument is inserted through a guide tube. A telemanipulation system moves the distal end of the surgical instrument in all six Cartesian degrees of freedom independently of any guide tube movements.
摘要翻译： 手术器械通过导管插入。 远程操作系统以任何导管运动的方式移动所有六个笛卡尔自由度的手术器械的远端。
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23.发明申请METHOD AND SYSTEM FOR ABSOLUTE THREE-DIMENSIONAL MEASUREMENTS USING A TWIST-INSENSITIVE SHAPE SENSOR 有权使用双折射形状传感器进行绝对三维测量的方法和系统公开(公告)号：US20110202069A1
公开(公告)日：2011-08-18
申请号：US12839642
申请日：2010-07-20
申请人： Giuseppe M. Prisco , Theodore W. Rogers , Vincent Duindam , Myriam J. Curet , Catherine J. Mohr , Katherine D. Stoy
发明人： Giuseppe M. Prisco , Theodore W. Rogers , Vincent Duindam , Myriam J. Curet , Catherine J. Mohr , Katherine D. Stoy
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/20 , A61B34/71 , A61B2034/2061 , A61B2034/301 , A61B2562/00 , G01B11/24 , G01D5/35316
摘要： An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.
摘要翻译： 一种装置包括参考固定装置。 参考固定件包括接头和跟踪接头运动的联合跟踪器。 该装置还包括外科器械。 系绳连接在关节和手术器械之间。 形状传感器从参考固定件穿过关节，穿过系绳并进入外科器械。 形状传感器基本上没有扭曲。 联合跟踪器测量接头的运动。 来自形状传感器的来自联合跟踪器的信息的信息提供相对于参考固定装置的绝对三维信息，即在固定世界参考系中提供绝对三维信息。
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公开(公告)号：US20100274087A1
公开(公告)日：2010-10-28
申请号：US12780071
申请日：2010-05-14
CPC分类号： A61B34/37 , A61B1/00087 , A61B1/00193 , A61B1/0055 , A61B1/018 , A61B34/20 , A61B34/30 , A61B34/71 , A61B34/72 , A61B90/361 , A61B90/37 , A61B2017/00278 , A61B2017/00694 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.
摘要翻译： 在耦合控制模式中，外科医生直接控制相关联的从动操纵器与输入装置的运动，同时间接控制一个或多个非关联从动操纵器的运动，响应于直接控制的从动操纵器的指令运动，以实现次级 目的。 通过耦合控制模式自动执行次要任务，通过减少外科医生切换到另一种直接模式以手动实现所需的次要目标的需求，可以提高系统的可用性。 因此，耦合控制模式允许外科医生更好地关注执行医疗过程并且更少关注管理系统。
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25.发明申请BRACING OF BUNDLED MEDICAL DEVICES FOR SINGLE PORT ENTRY, ROBOTICALLY ASSISTED MEDICAL PROCEDURES 有权为单一入境手术配套医疗器械，机动辅助医疗程序公开(公告)号：US20070283970A1
公开(公告)日：2007-12-13
申请号：US11762222
申请日：2007-06-13
申请人： Catherine J. Mohr , David Q. Larkin , Bruce Schena
发明人： Catherine J. Mohr , David Q. Larkin , Bruce Schena
IPC分类号： A61B19/00
CPC分类号： A61B34/72 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B90/14 , A61B90/361 , A61B90/50 , A61B2034/305 , A61B2090/371
摘要： Medical devices robotically manipulated by a medical robotic system for performing a medical procedure on a patient are bundled together as a bundled unit and inserted into the patient through a single entry port. Bracing of the bundled unit at the surgical site so as to be constrained in one or more degrees of freedom of movement may be performed using an anchor secured to an anatomic structure at the surgical site and physically coupled to the bundled unit, or using a tool extending out of a distal end of the bundled unit that extends out to an anatomic structure at the surgical site.
摘要翻译： 由用于对患者执行医疗程序的医疗机器人系统机器人操作的医疗设备作为捆绑单元捆绑在一起，并通过单个入口插入患者体内。 可以在外科手术部位的捆绑单元的支撑被限制在一个或多个运动自由度中，可以使用固定到外科手术部位的解剖结构的锚固件并且物理地联接到捆扎单元或使用工具 从在外科手术部位延伸到解剖结构的捆绑单元的远端延伸出来。
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26.发明授权Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor 有权使用扭转不敏感形状传感器进行绝对三维测量的方法和系统公开(公告)号：US09285246B2
公开(公告)日：2016-03-15
申请号：US12839642
申请日：2010-07-20
申请人： Giuseppe M. Prisco , Theodore W. Rogers , Vincent Duindam , Myriam J. Curet , Catherine J. Mohr , Katherine D. Stoy
发明人： Giuseppe M. Prisco , Theodore W. Rogers , Vincent Duindam , Myriam J. Curet , Catherine J. Mohr , Katherine D. Stoy
CPC分类号： A61B34/30 , A61B34/20 , A61B34/71 , A61B2034/2061 , A61B2034/301 , A61B2562/00 , G01B11/24 , G01D5/35316
摘要： An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.
摘要翻译： 一种装置包括参考固定装置。 参考固定件包括接头和跟踪接头运动的联合跟踪器。 该装置还包括外科器械。 系绳连接在关节和手术器械之间。 形状传感器从参考固定件穿过关节，穿过系绳并进入外科器械。 形状传感器基本上没有扭曲。 联合跟踪器测量接头的运动。 来自形状传感器的来自联合跟踪器的信息的信息提供相对于参考固定装置的绝对三维信息，即在固定世界参考系中提供绝对三维信息。
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公开(公告)号：US09060678B2
公开(公告)日：2015-06-23
申请号：US11762165
申请日：2007-06-13
IPC分类号： A61B1/00 , A61B1/04 , A61B1/06 , A61B17/00 , A61B19/00 , A61B1/002 , A61B5/00 , A61B8/12 , A61B1/05 , A61B1/005 , A61B1/018 , A61B17/34
CPC分类号： A61B1/00149 , A61B1/00087 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends trough a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.
摘要翻译： 手术器械的远端可以独立于远程手术操作的外科系统的其他部件，以全部六个笛卡尔度的自由度移动。 手术器械通过导管延伸。 远端由远程手动控制的致动器移动。
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公开(公告)号：US08740885B2
公开(公告)日：2014-06-03
申请号：US13446417
申请日：2012-04-13
IPC分类号： A61B17/00
CPC分类号： A61B1/00149 , A61B1/00087 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： A telemanipulatively controlled guide tube acts as a wrist mechanism for a surgical instrument that extends through the guide tube. The instrument may be removed and replaced with another instrument. In some aspects the instruments are commercial, off the shelf minimally invasive surgical instruments.
摘要翻译： 远程控制导向管作为延伸穿过导管的手术器械的手腕机构。 仪器可能被移除，并用另一种仪器更换。 在某些方面，仪器是商业的，现成的微创手术器械。
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29.发明授权Bracing of bundled medical devices for single port entry, robotically assisted medical procedures 有权捆绑医疗器械用于单端口入口，机器人辅助医疗程序公开(公告)号：US08029516B2
公开(公告)日：2011-10-04
申请号：US11762222
申请日：2007-06-13
申请人： Catherine J. Mohr , David Q. Larkin , Bruce Schena
发明人： Catherine J. Mohr , David Q. Larkin , Bruce Schena
IPC分类号： A61B19/00
CPC分类号： A61B34/72 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B90/14 , A61B90/361 , A61B90/50 , A61B2034/305 , A61B2090/371
摘要： Medical devices robotically manipulated by a medical robotic system for performing a medical procedure on a patient are bundled together as a bundled unit and inserted into the patient through a single entry port. Bracing of the bundled unit at the surgical site so as to be constrained in one or more degrees of freedom of movement may be performed using an anchor secured to an anatomic structure at the surgical site and physically coupled to the bundled unit, or using a tool extending out of a distal end of the bundled unit that extends out to an anatomic structure at the surgical site.
摘要翻译： 由用于对患者执行医疗程序的医疗机器人系统机器人操作的医疗设备作为捆绑单元捆绑在一起，并通过单个入口插入患者体内。 可以在外科手术部位的捆绑单元的支撑被限制在一个或多个运动自由度中，可以使用固定到外科手术部位的解剖结构的锚固件并且物理地联接到捆扎单元或使用工具 从在外科手术部位延伸到解剖结构的捆绑单元的远端延伸出来。
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30.发明申请公开(公告)号：US20090171372A1
公开(公告)日：2009-07-02
申请号：US11964936
申请日：2007-12-27
申请人： Catherine J. Mohr
发明人： Catherine J. Mohr
IPC分类号： A61B19/00
CPC分类号： A61B18/24 , A61B17/00491 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B2017/00203 , A61B2017/00314 , A61B2018/00601 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B2034/741
摘要： A medical device used in a medical robotic system has a conduit and an orientable tip. An optical fiber coupled to a laser source and/or a catheter coupled to one or more biomaterial sources extends through the conduit and tip so that the tip of the medical device may be robotically directed towards a target tissue for laser and/or biomaterial application as part of a medical procedure performed at a surgical site within a patient. A protective sheath covers the fiber as it extends through the conduit and tip. A first coupler adjustably secures at least the sheath to the medical device and a second coupler adjustably secures the fiber to at least the sheath. A similar dual coupler mechanism may be used to secure the sheathed catheter to the medical device.
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