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    Torque-based catheter articulation
    2.
    发明授权
    Torque-based catheter articulation 有权

    公开(公告)号：US09636483B2

    公开(公告)日：2017-05-02

    申请号：US14867980

    申请日：2015-09-28

    申请人： HANSEN MEDICAL, INC.

    发明人： J. Scot Hart ,  Francis Macnamara

    IPC分类号： A61B19/00 ,  A61M25/01 ,  A61B34/00 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00

    CPC分类号： A61M25/0147 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/03 ,  A61B2034/301 ,  A61B2090/031 ,  A61B2090/066 ,  A61M2205/332 ,  A61M2205/52

    摘要： A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter. The present embodiment further contemplates a robotic surgical method for the articulation of a steerable catheter wherein an input device is manipulated to communicate a desired catheter position to a control computer and motor torque commands are outputted to an instrument driver. The robotic system may further comprise a torque sensor. The robotic system may also incorporate closed loop feedback in which data from the torque measuring device is used to ensure that the torque in the motor or tension in the pull-wire closely matches the motor torque command from the control computer.

    Slider control of catheters and wires
    3.
    发明授权
    Slider control of catheters and wires 有权
    滑块控制导管和电线

    公开(公告)号：US09532840B2

    公开(公告)日：2017-01-03

    申请号：US14201582

    申请日：2014-03-07

    申请人： Hansen Medical, Inc.

    发明人： Serena H. Wong ,  Sean P. Walker ,  June Park ,  Richard Henderson

    IPC分类号： G05B19/00 ,  B25J15/02 ,  A61B19/00

    CPC分类号： A61B34/74 ,  A61B34/30 ,  A61B34/76 ,  A61B2034/301

    摘要： One exemplary user interface for a medical robotics system may include a control panel and one or more sliders that may be slidably carried by the control panel to actuate one or more motors for moving a surgical instrument of the medical robotics system. The sliders may be configured to actuate the motors to move the surgical instrument along a respective one of a plurality of degrees of freedom.

    摘要翻译： 用于医疗机器人系统的一个示例性用户界面可以包括控制面板和一个或多个滑块，其可以由控制面板可滑动地承载以致动用于移动医疗机器人系统的外科器械的一个或多个电动机。 滑块可以被配置为致动马达以沿多个自由度的相应的一个移动手术器械。

    Active drives for robotic catheter manipulators
    7.
    发明授权
    Active drives for robotic catheter manipulators 有权
    机器人导管机械手的主动驱动器

    公开(公告)号：US09326822B2

    公开(公告)日：2016-05-03

    申请号：US13803535

    申请日：2013-03-14

    申请人： HANSEN MEDICAL, INC.

    发明人： Paul E. Lewis ,  Alan L. Yu

    IPC分类号： A61B19/00 ,  A61F2/95 ,  A61B17/00

    CPC分类号： A61B34/30 ,  A61B17/3403 ,  A61B17/3415 ,  A61B2017/00477 ,  A61B2017/2924 ,  A61B2017/3409 ,  A61B2034/301 ,  A61F2/95 ,  A61M25/01 ,  A61M25/0105 ,  A61M25/0113 ,  A61M2025/0175 ,  Y10S901/36

    摘要： An instrument driver comprises a base and a jaw assembly coupled to the base. The jaw assembly includes a first jaw having a gripping surface and a second jaw having a gripping surface. The instrument driver further comprises a driver assembly operably coupled to the jaw assembly to advance an elongated member relative to the base by translating the first and second jaws toward each other, thereby closing the jaw assembly and gripping the member between the respective gripping surfaces of the first and second jaws, translating the jaw assembly in a first axial direction when the jaw assembly is closed, translating the first and second jaws away from each other, thereby opening the jaw assembly and releasing the member from between the respective gripping surfaces of the first and second jaws, and translating the jaw assembly in a second axial direction when the jaw assembly is opened.

    摘要翻译： 仪器驱动器包括底座和联接到基座的钳口组件。 钳口组件包括具有抓握表面的第一钳口和具有抓握表面的第二钳口。 仪器驱动器还包括可操作地联接到钳口组件的驱动器组件，以通过将第一和第二钳口朝向彼此平移来推进细长构件，由此闭合钳口组件并将构件夹持在相应的夹持表面之间 第一和第二钳口，当钳口组件关闭时，在第一轴向方向上平移钳口组件，使第一和第二钳口彼此远离，从而打开钳口组件并将构件从第一和第二钳口组件的相应夹紧表面之间释放 和第二钳口，并且当钳口组件打开时，在第二轴向方向上平移钳口组件。

    BALLOON VISUALIZATION FOR TRAVERSING A VESSEL
    9.
    发明申请
    BALLOON VISUALIZATION FOR TRAVERSING A VESSEL 审中-公开
    用于搬运船只的气球可视化

    公开(公告)号：US20150314110A1

    公开(公告)日：2015-11-05

    申请号：US14269649

    申请日：2014-05-05

    申请人： Hansen Medical, Inc.

    发明人： June Park

    IPC分类号： A61M25/10 ,  A61B1/05 ,  A61B1/07 ,  A61B1/06

    CPC分类号： A61B1/3137 ,  A61B1/00082 ,  A61B1/05 ,  A61B1/0676 ,  A61B1/07 ,  A61M25/1002 ,  A61M2025/1004

    摘要： Systems and methods for controllably traversing a tubular vessel, e.g., of a patient's vasculature. In one example, a distal end of a catheter is positioned and/or repositioned utilizing direct visualization out the distal end of the catheter, as facilitated by an imaging element disposed within the distal tip of the catheter. An inflatable balloon may comprise a portion of the distal tip of the catheter for structural and/or visualization media purposes. The balloon may define one or more channels configured to facilitate fluid flow between proximal and distal ends of the balloon after the balloon is inflated within the tubular vessel.

    摘要翻译： 用于可控地穿过例如病人脉管系统的管状容器的系统和方法。 在一个示例中，如通过设置在导管的远端中的成像元件所促进的，使用导管的远端的直接可视化来定位和/或重新定位导管的远端。 可充气气囊可以包括用于结构和/或可视化媒体目的的导管的远侧末端的一部分。 气球可以限定一个或多个通道，其构造成在气囊在管状容器内充气之前促进流体在气囊的近端和远端之间流动。