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公开(公告)号：US09033998B1
公开(公告)日：2015-05-19
申请号：US13106306
申请日：2011-05-12
申请人： Uwe Schaible , Jeffrey Allan Veltri , Amin Ahmadi Bidhendi , Reiza Rayman , Alexander Shvartsberg
发明人： Uwe Schaible , Jeffrey Allan Veltri , Amin Ahmadi Bidhendi , Reiza Rayman , Alexander Shvartsberg
CPC分类号： A61B17/00234 , A61B34/30 , A61B2017/003 , A61B2017/00314 , A61B2034/305 , A61B2034/306
摘要： A robotic system for use in Minimally Invasive Surgery (MIS) is provided that, in various aspects of this specification, comprises at least one elongated shaft known as the robotic arm. In certain aspects, the robotic arm is provided with an independent roll wrist mechanism, which can allow for imparting the roll motion to the end effectors while mitigating or potentially eliminating the need of rotating the entire robotic arm, thus ensuring independent movement of end effectors. The independent movement of the end effectors sweeps a considerably smaller conical volume, as compared to that swept by the entire robotic arm, thereby reducing the likelihood of collisions with neighboring tissues or organs.
摘要翻译： 提供了一种用于微创手术（MIS）的机器人系统，其在本说明书的各个方面包括至少一个称为机器臂的细长轴。 在某些方面，机器人手臂具有独立的滚动手腕机构，其可以允许将滚动运动赋予末端执行器，同时减轻或潜在地消除了旋转整个机器人手臂的需要，从而确保末端执行器的独立移动。 与整个机器人手臂扫描相比，末端执行器的独立运动扫过相当小的圆锥体积，从而减少与相邻组织或器官碰撞的可能性。
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公开(公告)号：US08295430B2
公开(公告)日：2012-10-23
申请号：US12792383
申请日：2010-06-02
CPC分类号： A61N5/1049 , A23V2002/00 , A61B5/055 , A61B6/03 , A61B6/0421 , A61B6/0457 , A61B6/4417 , A61N5/10 , A61N2005/1055 , A61N2005/1061 , G01R33/34084 , G01R33/4808
摘要： Radiation therapy of a lesion in a part of a patient is carried out by maintaining the patient on a patient support table in fixed position using an immobilization device while the table is rotated between a magnetic resonance imaging system, a CT imaging system for generating a 360 degree scanned image of the patient at the location of the lesion and the radiation therapy system for generating a beam of radiation for treatment of the lesion and for scanning the beam 360 degrees around the lesion. The MR image locates the lesion and the CT system is used to calculate the treatment. Registration between the MR image, the CT image and the radiation treatment is provided by the fixed position of the part of the patient on the table which is held fixed using an immobilization system suitable for the part concerned which may include a molded head mask where the head is involved.
摘要翻译： 通过使用固定装置将患者保持在固定位置的患者支撑台上，同时在磁共振成像系统，用于产生360°的CT成像系统之间旋转桌子的同时进行患者部分的病变的放射治疗 病变位置处的病人扫描图像和放射治疗系统，用于产生用于治疗病变的辐射束并用于扫描病灶周围360度的束。 MR图像定位病变，CT系统用于计算治疗。 MR图像，CT图像和放射线治疗之间的对照由患者部分的固定位置提供，该部分患者在使用适合于该部分的固定系统固定的桌子上，该固定系统可包括模制头罩，其中 头参与。
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公开(公告)号：US08513946B2
公开(公告)日：2013-08-20
申请号：US12780085
申请日：2010-05-14
IPC分类号： G01V3/00
CPC分类号： A61B5/0555
摘要： In MR imaging, the patient is placed on the table in a configuration convenient for a surgical procedure and while in the configuration the patient is moved into the field of view by moving the magnet longitudinally and the table is moved in the bore relative to the magnet so as to optimize the part to be imaged within the field of view of the magnet. After imaging the table is moved back to the preset position and removed from the magnet for the surgical procedure to commence or continue. The movement includes movement along the longitudinal axis; transverse movement side to side; rolling movement about a longitudinal axis; tilting movement about a transverse axis and bending movement of the table relative to at least one transverse hinge line in the table at a position spaced from the ends of the table.
摘要翻译： 在MR成像中，患者以便于外科手术的结构被放置在桌子上，并且在配置中，通过纵向移动磁体将患者移动到视野内，并且使床相对于磁体在孔中移动 以便在磁体的视场内优化要成像的部分。 成像后，将桌子移回到预设位置，并从磁铁上取出外科手术以开始或继续。 运动包括沿着纵轴的运动; 横向移动一侧; 围绕纵向轴线的滚动运动; 围绕横向轴线倾斜运动，并且在与工作台的端部间隔开的位置处相对于工作台中的至少一个横向铰链线弯曲工作台的运动。
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公开(公告)号：US20090306495A1
公开(公告)日：2009-12-10
申请号：US12333032
申请日：2008-12-11
CPC分类号： A61B5/0555 , A61B5/0035 , A61B5/6814 , A61B6/0457 , A61B6/0464 , A61B6/102 , A61B6/105 , A61B6/4411 , A61B6/4417 , A61B6/4441 , A61B6/4464 , A61B6/4476 , A61B2562/222 , G01R33/307 , G01R33/34046 , G01R33/34084 , G01R33/341 , G01R33/4812
摘要： A patient table for a common imaging system including Magnetic Resonance and X-ray retains the patient stationary in position prior to, during and subsequent to the imaging and includes a base, a patient support portion cantilevered from the base and a mattress. The RF posterior coil portions for the head and for the chest can be inserted into and removed from an operating position underneath the head and chest of the patient while patient remains supported. The chest coil is inserted from one edge in a cavity in the mattress which is reinforced by a sleeve. The signal communication cable from the chest coil is routed in front of the mattress and over the mattress so as to not to be exposed at the sides. The head coil is carried on a base plate of the patient support alongside the head support which remains in place.
摘要翻译： 用于包括磁共振和X射线的常见成像系统的患者台保持患者在成像之前，期间和之后静止就位，并且包括基座，从基座悬伸的患者支撑部分和床垫。 用于头部和胸部的RF后部线圈部分可以在患者保持支撑的同时插入患者头部和胸部之下的操作位置并从其移除。 胸部线圈从床垫中的空腔中的一个边缘插入，该套由套筒加强。 来自胸部线圈的信号通信电缆被布置在床垫的前面并且在床垫之上，以便不被暴露在侧面。 磁头线圈沿着保持在适当位置的头部支撑件被携带在患者支架的基板上。 所有的MR和X射线兼容？
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公开(公告)号：US08604789B2
公开(公告)日：2013-12-10
申请号：US12770882
申请日：2010-04-30
IPC分类号： G01V3/00
CPC分类号： G01R33/34084 , G01R33/34007 , G01R33/3415
摘要： An apparatus for intra-operative MRI includes a patient table with a movable magnet and an RF coil having an upper portion and a lower portion. The upper portion is formed of a foam material flexible to different shapes with a pair of stiffeners formed of connected pivotal elements extending from a central back-bone embedded in the top sheet of the foam to hold the flexible material in the different shapes and is carried at one end of a flexible foam arm attached to a side rail of the table and stiffened by a longitudinal stiffener. A head clamp is attached to the table with a C-shaped holder for the skull clamp pins. The lower coil is movable by flexing about longitudinal lines to different curvatures and is held channel shaped by the C-shaped holder. It is attached at one longitudinal end to an adjustable mount connected to the head clamp.
摘要翻译： 用于手术中MRI的装置包括具有可移动磁体的患者台和具有上部和下部的RF线圈。 上部由泡沫材料形成，弹性体具有不同形状，一对加强件由连接的枢转元件形成，所述连接的枢转元件从嵌入泡沫顶片中的中心背骨延伸，以将柔性材料保持在不同形状并被携带 在柔性泡沫臂的一端，其附接到桌子的侧轨，并由纵向加强筋加固。 头夹用C形夹持器固定在桌子上，用于颅骨夹紧销。 下线圈可以通过围绕纵向线弯曲成不同的曲率而移动，并且通过C形保持器保持通道形状。 它在一个纵向端附接到连接到头夹的可调安装件。
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公开(公告)号：US20100329414A1
公开(公告)日：2010-12-30
申请号：US12792383
申请日：2010-06-02
CPC分类号： A61N5/1049 , A23V2002/00 , A61B5/055 , A61B6/03 , A61B6/0421 , A61B6/0457 , A61B6/4417 , A61N5/10 , A61N2005/1055 , A61N2005/1061 , G01R33/34084 , G01R33/4808
摘要： Radiation therapy of a lesion in a part of a patient is carried out by maintaining the patient on a patient support table in fixed position using an immobilization device while the table is rotated between a magnetic resonance imaging system, a CT imaging system for generating a 360 degree scanned image of the patient at the location of the lesion and the radiation therapy system for generating a beam of radiation for treatment of the lesion and for scanning the beam 360 degrees around the lesion. The MR image locates the lesion and the CT system is used to calculate the treatment. Registration between the MR image, the CT image and the radiation treatment is provided by the fixed position of the part of the patient on the table which is held fixed using an immobilization system suitable for the part concerned which may include a molded head mask where the head is involved.
摘要翻译： 通过使用固定装置将患者保持在固定位置的患者支撑台上，同时在磁共振成像系统，用于产生360°的CT成像系统之间旋转桌子的同时进行患者部分的病变的放射治疗 病变位置处的病人扫描图像和放射治疗系统，用于产生用于治疗病变的辐射束并用于扫描病灶周围360度的束。 MR图像定位病变，CT系统用于计算治疗。 MR图像，CT图像和放射线治疗之间的对照由患者部分的固定位置提供，该部分患者在使用适合于该部分的固定系统固定的桌子上，该固定系统可包括模制头罩，其中 头参与。
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公开(公告)号：US20100249575A1
公开(公告)日：2010-09-30
申请号：US12413953
申请日：2009-03-30
IPC分类号： A61B5/055
CPC分类号： G01R33/30 , A61B6/0407 , A61B90/14 , G01R33/307 , G01R33/4812
摘要： A structural support component such as a head clamp for use in imaging of a part of a patient using Magnetic Resonance and X-ray imaging is formed of different materials each of which has an Aluminum equivalence factor of less than 10 mm and generally less than 6 mm and is arranged such that the presence of the structural support component in an imaging zone of a magnetic resonance imaging system when generating the image does not generate any visually determinable distortion in the image. The materials can be epoxy resin combined with a glass fiber substrate for easily machined parts, polyphenylene sulphide with random fiber reinforcement using glass fibers for high wear parts and polyurethane foam or Polymethacrylimide foam shaped to form a required member and covered on its outer surface with a layer formed from aramid fibers for elongate parts.
摘要翻译： 使用磁共振和X射线成像用于成像患者部分的头部夹具的结构支撑部件由不同的材料形成，每种材料的铝当量系数小于10mm，通常小于6 并且被布置成使得当产生图像时磁共振成像系统的成像区域中的结构支撑部件的存在在图像中不产生任何视觉上可确定的失真。 该材料可以是环氧树脂与玻璃纤维基材结合，用于容易加工的部件，具有使用玻璃纤维的无规纤维增强剂用于高耐磨部件的聚苯硫醚和聚氨酯泡沫或聚甲基丙烯酰胺泡沫塑料，形成所需部件并在其外表面上覆盖 由芳族聚酰胺纤维形成的用于细长部件的层。
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公开(公告)号：US08369929B2
公开(公告)日：2013-02-05
申请号：US12333032
申请日：2008-12-11
IPC分类号： A61B5/055
CPC分类号： A61B5/0555 , A61B5/0035 , A61B5/6814 , A61B6/0457 , A61B6/0464 , A61B6/102 , A61B6/105 , A61B6/4411 , A61B6/4417 , A61B6/4441 , A61B6/4464 , A61B6/4476 , A61B2562/222 , G01R33/307 , G01R33/34046 , G01R33/34084 , G01R33/341 , G01R33/4812
摘要： A patient table for a common imaging system including Magnetic Resonance and X-ray retains the patient stationary in position prior to, during and subsequent to the imaging and includes a base, a patient support portion cantilevered from the base and a mattress. The RF posterior coil portions for the head and for the chest can be inserted into and removed from an operating position underneath the head and chest of the patient while patient remains supported. The chest coil is inserted from one edge in a cavity in the mattress which is reinforced by a sleeve. The signal communication cable from the chest coil is routed in front of the mattress and over the mattress so as to not to be exposed at the sides. The head coil is carried on a base plate of the patient support alongside the head support which remains in place.
摘要翻译： 用于包括磁共振和X射线的常见成像系统的患者台保持患者在成像之前，期间和之后静止就位，并且包括基座，从基座悬伸的患者支撑部分和床垫。 用于头部和胸部的RF后部线圈部分可以在患者保持支撑的同时插入患者头部和胸部之下的操作位置并从其移除。 胸部线圈从床垫中的空腔中的一个边缘插入，该套由套筒加强。 来自胸部线圈的信号通信电缆被布置在床垫的前面并且在床垫之上，以便不被暴露在侧面。 磁头线圈沿着保持在适当位置的头部支撑件被携带在患者支架的基板上。
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公开(公告)号：US08245335B2
公开(公告)日：2012-08-21
申请号：US12413953
申请日：2009-03-30
CPC分类号： G01R33/30 , A61B6/0407 , A61B90/14 , G01R33/307 , G01R33/4812
摘要： A structural support component such as a head clamp for use in imaging of a part of a patient using Magnetic Resonance and X-ray imaging is formed of different materials each of which has an Aluminum equivalence factor of less than 10 mm and generally less than 6 mm and is arranged such that the presence of the structural support component in an imaging zone of a magnetic resonance imaging system when generating the image does not generate any visually determinable distortion in the image. The materials can be epoxy resin combined with a glass fiber substrate for easily machined parts, polyphenylene sulphide with random fiber reinforcement using glass fibers for high wear parts and polyurethane foam or Polymethacrylimide foam shaped to form a required member and covered on its outer surface with a layer formed from aramid fibers for elongate parts.
摘要翻译： 使用磁共振和X射线成像用于成像患者部分的头部夹具的结构支撑部件由不同的材料形成，每种材料的铝当量系数小于10mm，通常小于6 并且被布置成使得当产生图像时磁共振成像系统的成像区域中的结构支撑部件的存在在图像中不产生任何视觉上可确定的失真。 该材料可以是环氧树脂与玻璃纤维基材结合，用于容易加工的部件，具有使用玻璃纤维的无规纤维增强剂用于高耐磨部件的聚苯硫醚和聚氨酯泡沫或聚甲基丙烯酰胺泡沫塑料，形成所需部件并在其外表面上覆盖 由芳族聚酰胺纤维形成的用于细长部件的层。
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公开(公告)号：US20110267059A1
公开(公告)日：2011-11-03
申请号：US12770882
申请日：2010-04-30
IPC分类号： G01R33/44
CPC分类号： G01R33/34084 , G01R33/34007 , G01R33/3415
摘要： An apparatus for intra-operative MRI includes a patient table with a movable magnet and an RF coil having an upper portion and a lower portion. The upper portion is formed of a foam material flexible to different shapes with a pair of stiffeners formed of connected pivotal elements extending from a central back-bone embedded in the top sheet of the foam to hold the flexible material in the different shapes and is carried at one end of a flexible foam arm attached to a side rail of the table and stiffened by a longitudinal stiffener. A head clamp is attached to the table with a C-shaped holder for the skull clamp pins. The lower coil is movable by flexing about longitudinal lines to different curvatures and is held channel shaped by the C-shaped holder. It is attached at one longitudinal end to an adjustable mount connected to the head clamp.
摘要翻译： 用于手术中MRI的装置包括具有可移动磁体的患者台和具有上部和下部的RF线圈。 上部由泡沫材料形成，弹性体具有不同形状，一对加强件由连接的枢转元件形成，所述连接的枢转元件从嵌入泡沫顶片中的中心背骨延伸，以将柔性材料保持在不同形状并被携带 在柔性泡沫臂的一端，其附接到桌子的侧轨，并由纵向加强筋加固。 头夹用C形夹持器固定在桌子上，用于颅骨夹紧销。 下线圈可以通过围绕纵向线弯曲成不同的曲率而移动，并且通过C形保持器保持通道形状。 它在一个纵向端附接到连接到头夹的可调安装件。
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