公开(公告)号：US20130190726A1

公开(公告)日：2013-07-25

申请号：US13643625

申请日：2011-04-29

申请人： Samuel Kesner ,  Robert Howe ,  Shelton Yuen ,  Pedro Del Nido ,  Douglas Perrin ,  Nikolay Vasilyev

发明人： Samuel Kesner ,  Robert Howe ,  Shelton Yuen ,  Pedro Del Nido ,  Douglas Perrin ,  Nikolay Vasilyev

IPC分类号： A61M25/01

CPC分类号： A61M25/0116 ,  A61B8/0841 ,  A61B8/483 ,  A61B8/565 ,  A61B34/20 ,  A61M25/0045 ,  A61M25/0105 ,  A61M25/0113 ,  A61M25/0133 ,  A61M25/0147 ,  A61M2025/0046 ,  A61M2025/0166 ,  A61M2025/0681

摘要： A catheter system allows for percutaneous intervention on the fast-moving structures inside the heart. The device consists of a steerable catheter sheath, an actuated, multi-degree of freedom moving catheter, and a catheter end effector, such as a fixation device. An actuator controls the motion of the catheter guide-wire in the catheter sheath to follow the motion of the target tissue. A control system controls the actuator and compensates for mechanical characteristics of the system including friction and backlash. A 3-D imaging system can be used to view the motion of the target tissue and the catheter end effector and produce 3-D imaging data. The 3-D imaging data can be used by the control system to track the target tissue and accurately position the end effector with respect to the moving target tissue allowing a clinician to repair the target tissue while it is moving. The system can be used to perform mitral valve annuloplasty wherein the actuated catheter compensates for the heart valve motion and an end effector fixation device is used to place fixation items, like anchors or staples, into the heart valve tissue to fix the annulus.

摘要翻译： 导管系统允许对心脏内的快速移动结构进行经皮干预。 该装置由可导向的导管鞘，致动的多自由度移动导管和导管末端执行器（例如固定装置）组成。 执行器控制导管护套中导管导丝的运动，以跟随目标组织的运动。 控制系统控制致动器并补偿系统的机械特性，包括摩擦和齿隙。 3-D成像系统可用于观察目标组织和导管末端执行器的运动并产生3-D成像数据。 控制系统可以使用3-D成像数据来跟踪目标组织并相对于运动的目标组织精确地定位末端执行器，允许临床医生在移动时修复目标组织。 该系统可用于执行二尖瓣瓣膜成形术，其中致动的导管补偿心脏瓣膜运动，并且使用末端执行器固定装置将固定物品（如锚或钉）放置在心脏瓣膜组织中以固定环。

公开(公告)号：US20060097682A1

公开(公告)日：2006-05-11

申请号：US10973622

申请日：2004-10-26

申请人： Douglas Perrin ,  Robert Howe

发明人： Douglas Perrin ,  Robert Howe

IPC分类号： B25J5/00

CPC分类号： F15B21/12 ,  F16L55/30

摘要： A self-actuating robot or vehicle tether capable of moving itself, remaining free while traversing around obstacles, and free itself is disclosed. In a preferred embodiment of the invention, a valve is mounted to the tether or robot. An inflow conduit attached to or in the tether is connected to the valve. A fluid flows through the tether and the valve is opened and closed to create a waterhammer effect in the inflow conduit. The forces created on the tether from the waterhammer effect result in motion of the tether and in freeing of the tether from obstructions. Closing and opening the valve further creates pressure changes in the tether, thereby causing momentary dimensional changes in the tether. In an alternative embodiment, a plurality of valves are placed along the tether. Pulsing of the plurality of valves while a fluid flows through the tether results in the tether effectively moving itself.

摘要翻译： 公开了一种自行车机器人或车辆系绳，其能够自行移动，在穿过障碍物的同时保持自由。 在本发明的优选实施例中，阀安装到系绳或机器人上。 连接到系绳或其中的流入管道连接到阀门。 流体流过系绳并且阀被打开和关闭以在流入管道中产生水锤效应。 从水锤效应在系绳上产生的力导致系绳的运动并且使绳索从障碍物释放。 关闭和打开阀门进一步在系链中产生压力变化，从而导致系链中的瞬时尺寸变化。 在替代实施例中，沿着系绳放置多个阀。 当流体流过系绳时，多个阀的脉冲导致系绳有效地自身移动。