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    Flexible and steerable elongate instruments with shape control and support elements
    1.
    发明授权
    Flexible and steerable elongate instruments with shape control and support elements 有权
    灵活和可操纵的细长仪器，具有形状控制和支撑元件

    公开(公告)号：US09254123B2

    公开(公告)日：2016-02-09

    申请号：US12432683

    申请日：2009-04-29

    申请人： Jeffery B. Alvarez ,  Casey Lewis ,  Francis MacNamara ,  Enrique Romo ,  Neal A. Tanner ,  William K. Yee

    发明人： Jeffery B. Alvarez ,  Casey Lewis ,  Francis MacNamara ,  Enrique Romo ,  Neal A. Tanner ,  William K. Yee

    IPC分类号： A61B1/00 ,  A61M25/01 ,  A61B17/00 ,  A61B1/005 ,  A61B19/00

    CPC分类号： A61B34/30 ,  A61B1/00078 ,  A61B1/0055 ,  A61B1/0057 ,  A61B17/00234 ,  A61B34/71 ,  A61B2017/00318 ,  A61B2017/00327 ,  A61B2034/301 ,  A61B2034/303 ,  A61M25/0136 ,  A61M25/0138 ,  A61M25/0144 ,  A61M25/0147 ,  A61M2025/015 ,  A61M2025/0161

    摘要： An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member. Furthermore, the flex member may be configured to selectively decouple articulation or steering forces of a first portion of the elongate body away from a second portion of the elongate body; thereby, preventing compression of the second portion of the elongate body while maintaining elasticity or flexibility of the second portion of the elongate body.

    摘要翻译： 具有柔性和细长主体的器械包括至少一个内腔和设置在内腔内的柔性构件。 柔性构件可以能够向细长主体的第一部分提供转向控制，同时向细长主体的第二部分提供承载支撑。 拉线可以设置在柔性构件内，并且牵引线的至少远端部分可以联接到细长主体，并且拉线的近侧部分可以可操作地联接到控制单元。 控制单元可以联接到细长主体的近端部分。 此外，控制构件可以可操作地联接到控制单元，使得控制构件的远侧部分可以定位在柔性构件的近侧部分附近。 控制构件可以被配置为支撑柔性构件并且控制柔性构件的运动或位移。 此外，柔性构件可以被构造成选择性地将细长体的第一部分的铰接或转向力分离离开细长体的第二部分; 从而防止细长主体的第二部分的压缩，同时保持细长主体的第二部分的弹性或柔性。

    Sterile interface apparatus
    3.
    发明授权
    Sterile interface apparatus 有权
    无菌接口装置

    公开(公告)号：US08720448B2

    公开(公告)日：2014-05-13

    申请号：US12614349

    申请日：2009-11-06

    申请人： Gene Reis ,  Gregory J. Stahler ,  Gregory Francis Hirth ,  Enrique Romo

    发明人： Gene Reis ,  Gregory J. Stahler ,  Gregory Francis Hirth ,  Enrique Romo

    IPC分类号： A61B19/08

    CPC分类号： A61B46/10 ,  A61B34/30 ,  A61B2017/00477

    摘要： A robotic surgical system configured to perform minimally invasive surgical procedures. In one variation, this robotic surgical system includes an instrument driver configured to steer an elongate instrument of an instrument assembly in one or more degrees of motion. A drape is disposed between the instrument driver and the instrument assembly. A drive interface apparatus is operatively coupled to the drape. The drape and drive interface apparatus may form a fluid barrier between the instrument driver and the instrument assembly. Drive interface apparatus may be disposed on a top surface of the instrument driver and on a bottom surface of the instrument assembly. The drive interface apparatus may transmit torque from the instrument driver to the instrument assembly. The input torque drives a pulley in the instrument assembly that operates one or more control wires to steer an elongate instrument of the instrument assembly for performing minimally invasive surgical procedures.

    摘要翻译： 构造成执行微创外科手术的机器人手术系统。 在一个变型中，该机器人手术系统包括被配置为以一个或多个运动程度转向仪器组件的细长仪器的仪器驱动器。 在仪器驱动器和仪器组件之间设置悬垂布置。 驱动器接口装置可操作地联接到悬垂。 悬垂和驱动接口装置可以在仪器驱动器和仪器组件之间形成流体屏障。 驱动接口装置可以设置在仪器驱动器的顶表面上和仪器组件的底表面上。 驱动接口装置可以将仪器驱动器的扭矩传递到仪器组件。 输入扭矩驱动仪器组件中的滑轮，其操作一个或多个控制线以引导器械组件的细长仪器，以执行微创外科手术。

    Modular interfaces and drive actuation through barrier
    4.
    发明授权
    Modular interfaces and drive actuation through barrier 有权
    模块化接口和驱动器驱动通过屏障

    公开(公告)号：US08602031B2

    公开(公告)日：2013-12-10

    申请号：US12352551

    申请日：2009-01-12

    申请人： Gene Reis ,  Gregory Francis Hirth ,  Enrique Romo

    发明人： Gene Reis ,  Gregory Francis Hirth ,  Enrique Romo

    IPC分类号： A61B19/08 ,  A61B19/00

    CPC分类号： A61B19/081 ,  A61B34/30 ,  A61B46/10 ,  A61B46/23 ,  A61B90/40 ,  A61B2090/0813 ,  Y10T74/19967

    摘要： The invention relates generally to robotically controlled systems, such as medical robotic systems. In one variation, a robotic catheter system is configured with a sterile barrier capable for transmitting a rotary force from a drive system on one side of the barrier to surgical tool on the other side of the sterile barrier for performing minimally invasive diagnostic and therapeutic procedures. Modularized drive systems for robotics arc also disclosed herein.

    摘要翻译： 本发明一般涉及机器人控制的系统，例如医疗机器人系统。 在一个实施例中，机器人导管系统配置有无菌屏障，其能够将阻力的一侧上的驱动系统的旋转力传递到无菌屏障的另一侧上的手术工具，以执行微创诊断和治疗过程。 本文还公开了用于机器人的模块化驱动系统。

    STERILE INTERFACE APPARATUS
    5.
    发明申请
    STERILE INTERFACE APPARATUS 有权
    无缝界面装置

    公开(公告)号：US20100170519A1

    公开(公告)日：2010-07-08

    申请号：US12614349

    申请日：2009-11-06

    申请人： Enrique ROMO ,  Gene REIS ,  Gregory J. STAHLER ,  Gregory Francis HIRTH

    发明人： Enrique ROMO ,  Gene REIS ,  Gregory J. STAHLER ,  Gregory Francis HIRTH

    IPC分类号： A61B19/10 ,  A61B19/00

    CPC分类号： A61B46/10 ,  A61B34/30 ,  A61B2017/00477

    摘要： A robotic surgical system configured to perform minimally invasive surgical procedures. In one variation, this robotic surgical system includes an instrument driver configured to steer an elongate instrument of an instrument assembly in one or more degrees of motion. A drape is disposed between the instrument driver and the instrument assembly. A drive interface apparatus is operatively coupled to the drape. The drape and drive interface apparatus may form a fluid barrier between the instrument driver and the instrument assembly. Drive interface apparatus may be disposed on a top surface of the instrument driver and on a bottom surface of the instrument assembly. The drive interface apparatus may transmit torque from the instrument driver to the instrument assembly. The input torque drives a pulley in the instrument assembly that operates one or more control wires to steer an elongate instrument of the instrument assembly for performing minimally invasive surgical procedures.

    摘要翻译： 构造成执行微创外科手术的机器人手术系统。 在一个变型中，该机器人手术系统包括被配置为以一个或多个运动程度转向仪器组件的细长仪器的仪器驱动器。 在仪器驱动器和仪器组件之间设置悬垂布置。 驱动器接口装置可操作地联接到悬垂。 悬垂和驱动接口装置可以在仪器驱动器和仪器组件之间形成流体屏障。 驱动接口装置可以设置在仪器驱动器的顶表面上和仪器组件的底表面上。 驱动接口装置可以将仪器驱动器的扭矩传递到仪器组件。 输入扭矩驱动仪器组件中的滑轮，其操作一个或多个控制线以引导器械组件的细长仪器，以执行微创外科手术。

    ANTI-BUCKLING MECHANISMS AND METHODS
    7.
    发明申请
    ANTI-BUCKLING MECHANISMS AND METHODS 有权
    抗起球机制及方法

    公开(公告)号：US20120071895A1

    公开(公告)日：2012-03-22

    申请号：US13174563

    申请日：2011-06-30

    申请人： Gregory J. Stahler ,  Enrique Romo ,  Aaron M. Weiss

    发明人： Gregory J. Stahler ,  Enrique Romo ,  Aaron M. Weiss

    IPC分类号： A61B19/00

    CPC分类号： A61B19/2203 ,  A61B6/12 ,  A61B6/4423 ,  A61B6/487 ,  A61B8/0841 ,  A61B8/12 ,  A61B8/4218 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B46/10 ,  A61B90/361 ,  A61B2017/00991 ,  A61B2034/102 ,  A61B2034/301 ,  A61B2034/715 ,  A61B2034/742 ,  G06T19/00 ,  G06T2210/41

    摘要： Anti-buckling devices for supporting flexible elongated members are described herein. In one variation, an anti-buckling device includes a first coupler for coupling to a first device, a second coupler for coupling to a second device that is configured to position a catheter member, a first set of support members coupled between the first coupler and the second coupler, and a plurality of holders coupled to the support members, the holders configured for supporting the catheter member, wherein the first set of support members form a support frame that can be extended by moving the first and second couplers away from each other, and can be collapsed by moving the first and second couplers towards each other.

    摘要翻译： 本文描述了用于支撑柔性细长构件的抗弯曲装置。 在一个变型中，抗弯曲装置包括用于联接到第一装置的第一联接器，用于联接到构造成定位导管构件的第二装置的第二联接器，联接在第一联接器和第二联接器之间的第一组支撑构件 所述第二联接器以及联接到所述支撑构件的多个保持器，所述保持器被构造成用于支撑所述导管构件，其中所述第一组支撑构件形成支撑框架，所述支撑框架可以通过使所述第一和第二联接器彼此远离地移动而被延伸 并且可以通过朝向彼此移动第一和第二耦合器来折叠。

    LOCKABLE SUPPORT ASSEMBLY AND METHOD
    9.
    发明申请
    LOCKABLE SUPPORT ASSEMBLY AND METHOD 审中-公开
    可靠的支持组件和方法

    公开(公告)号：US20100228191A1

    公开(公告)日：2010-09-09

    申请号：US12398763

    申请日：2009-03-05

    申请人： Jeffery B. Alvarez ,  Enrique Romo ,  Neal A. Tanner

    发明人： Jeffery B. Alvarez ,  Enrique Romo ,  Neal A. Tanner

    IPC分类号： A61M37/00 ,  A61M25/00

    CPC分类号： A61M25/0105 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/01 ,  A61M25/0138 ,  A61M25/0147 ,  A61M2025/0161

    摘要： Assemblies and methods related to controllably lockable support structures are described. An assembly may comprise an interface defined by two adjacent tubular structures whereby the adjacent structures may be spatially locked and unlocked relative to each other with application of a load. The tubular structures may comprise one or more spring members configured to deflect with application of a load greater than a preconfigured threshold, thereby causing a locking state of the interface to change from a first locking state to a second locking state. Embodiments are described wherein such load may be a tensile and/or compressive load. Various embodiments are described wherein an interface may be locked without application of a load and unlocked upon application of the requisite load, or locked only after application of a load.

    摘要翻译： 描述了与可控制的可锁定支撑结构相关的组件和方法。 组件可以包括由两个相邻的管状结构限定的接口，由此相邻结构可以通过施加负载而相对于彼此在空间上锁定和解锁。 管状结构可以包括一个或多个弹簧构件，所述弹簧构件配置成在施加大于预配置阈值的载荷时偏转，从而导致界面的锁定状态从第一锁定状态改变到第二锁定状态。 描述了实施例，其中这种负载可以是拉伸和/或压缩载荷。 描述了各种实施例，其中可以在不施加负载的情况下锁定接口并且在施加必需的负载时被解锁，或者仅在施加负载之后被锁定。