公开(公告)号：US20070185486A1

公开(公告)日：2007-08-09

申请号：US11647300

申请日：2006-12-29

申请人： John Hauck ,  Jeffrey Schweitzer ,  Troy Tegg ,  James Essington ,  Mark Johnson ,  Kedar Belhe

发明人： John Hauck ,  Jeffrey Schweitzer ,  Troy Tegg ,  James Essington ,  Mark Johnson ,  Kedar Belhe

IPC分类号： A61B18/18

CPC分类号： A61B5/6885 ,  A61B34/20 ,  A61B34/30 ,  A61B34/70 ,  A61B34/71 ,  A61B2017/00026 ,  A61B2034/2051 ,  A61B2034/301 ,  A61B2034/742 ,  A61B2090/064 ,  A61B2090/3784 ,  A61M25/0105

摘要： A robotic surgical system includes a track, a catheter holding device including a catheter receiving portion translatably associated with the track, a translation servo mechanism to control translation of the catheter holding device relative to the track, a catheter deflection control mechanism, a deflection servo mechanism to control the catheter deflection control mechanism, and a controller to control at least one of the servo mechanisms. The catheter receiving portion is adapted for quick installation and removal of a catheter. The catheter receiving portion may be rotatable, with a rotation servo mechanism to control the rotatable catheter receiving portion. The controller controls at least one of the deflection and rotation servo mechanisms to maintain a substantially constant catheter deflection as the catheter rotates. An introducer, which may be steerable, and an expandable, collapsible sterile tube may also be provided.

摘要翻译： 机器人手术系统包括轨道，导管保持装置，其包括可与轨道平行移动的导管接收部分，平移伺服机构，用于控制导管保持装置相对于轨道的平移，导管偏转控制机构，偏转伺服机构 以控制导管偏转控制机构，以及控制器来控制至少一个伺服机构。 导管接收部分适于快速安装和移除导管。 导管接收部分可以是可旋转的，具有旋转伺服机构以控制可旋转的导管接收部分。 控制器控制至少一个偏转和旋转伺服机构，以在导管旋转时保持基本恒定的导管偏转。 还可以提供可引导的导引器和可扩张的可收缩的无菌管。

公开(公告)号：US20070181139A1

公开(公告)日：2007-08-09

申请号：US11647272

申请日：2006-12-29

申请人： John Hauck

发明人： John Hauck

IPC分类号： A61B19/00 ,  A61B5/04 ,  A61B18/14

CPC分类号： A61B5/6885 ,  A61B34/20 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/00026 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/301 ,  A61B2034/742 ,  A61B2090/064 ,  A61B2090/3784 ,  A61M25/0105

摘要： A method of monitoring contact between a probe and a tissue surface includes placing the probe in proximity to the surface, robotically moving the probe, measuring a tissue parameter at the distal end of the probe, calculating an amount of change in the measured tissue parameter between measurements thereof, and indicating a change in proximity or degree of contact between the probe and the surface based upon the amount of change. The indication of change may be based directly upon the calculated amount of change in the measured parameter or upon a calculated rate of change in the parameter. The rate of change may be relative to the time between measurements or the distance traveled by the probe between measurements, and may be calculated as a first, second, or other derivative of the tissue parameter.

摘要翻译： 监测探针和组织表面之间的接触的方法包括将探针放置在靠近表面的位置，机械地移动探针，测量探头远端的组织参数，计算测量的组织参数的变化量 并且基于变化量指示探针和表面之间的接近度或接触程度的变化。 改变的指示可以直接基于所计算的测量参数的变化量或参数的计算变化率。 变化率可以相对于测量之间的时间或探针在测量之间行进的距离，并且可以被计算为组织参数的第一，第二或其他导数。

公开(公告)号：US20090130267A1

公开(公告)日：2009-05-21

申请号：US12122925

申请日：2008-05-19

申请人： John Hauck

发明人： John Hauck

IPC分类号： G01N33/02 ,  A01C1/00 ,  A01C1/06

CPC分类号： A23K50/30 ,  A23K10/30 ,  A23K50/10 ,  A23K50/75 ,  A23L7/152 ,  A23L7/197

摘要： A method of optimizing the nutritional content of seeds to create nutritionally enriched foodstuffs for consumption by both humans and animals alike. Seeds are germinated under controlled conditions amenable to large scale, high-throughput commercial processing, and their germination is arrested at the apex of germination, where they have achieved peak nutritional value. Arrested germination seeds can be consumed directly, or dried for long term storage and later use. Additionally, nutritionally optimized seeds can be popped or puffed to create nutritionally enriched snack foods.

摘要翻译： 一种优化种子营养成分以产生营养丰富的食物以供人和动物消费的方法。 种子在控制条件下发芽，适合大规模，高通量的商业加工，发芽在萌发的顶点被捕获，达到高峰营养价值。 捕获的萌发种子可以直接消费，或者干燥以便长期储存和以后使用。 此外，营养优化的种子可以弹出或膨化，以产生营养丰富的零食。

公开(公告)号：US20070198008A1

公开(公告)日：2007-08-23

申请号：US11647297

申请日：2006-12-29

申请人： John Hauck ,  Jeffrey Schweitzer ,  Kedar Belhe

发明人： John Hauck ,  Jeffrey Schweitzer ,  Kedar Belhe

IPC分类号： A61B18/18

CPC分类号： A61B34/71 ,  A61B5/6885 ,  A61B34/20 ,  A61B34/30 ,  A61B2017/00026 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/301 ,  A61B2034/742 ,  A61B2090/064 ,  A61B2090/3784 ,  A61M25/0105

摘要： A method of navigating a medical device through a body of a patient includes providing a topography of at least a portion of the body, accepting user input defining a navigation path, robotically navigating the medical device to a starting point on the path, and robotically navigating the medical device along the navigation path to an endpoint. Waypoints defining the navigation path may be input on a graphical representation of the topography using a user interface such as a pointing device or touchscreen. The navigation path may also be defined by tracing a substantially continuous path on the graphical representation. A therapy may be administered while robotically navigating the medical device along the navigation path, either forward or in reverse, or while navigating the medical device along a return path defined by a plurality of virtual breadcrumbs generated as the medical device traverses the navigation path.

摘要翻译： 通过患者身体导航医疗装置的方法包括提供身体的至少一部分的形貌，接受定义导航路径的用户输入，将医疗装置机器人导航到路径上的起点，以及机器人导航 沿导航路径的医疗设备到端点。 定义导航路径的航点可以使用诸如指点设备或触摸屏的用户界面在地形的图形表示上输入。 还可以通过在图形表示上跟踪基本连续的路径来定义导航路径。 可以沿着导航路径机器人地导航医疗装置，无论是前进还是反向地，或者沿着由医疗装置穿过导航路径生成的多个虚拟面包屑所定义的返回路径导航医疗装置时，可以进行治疗。

公开(公告)号：US20070244479A1

公开(公告)日：2007-10-18

申请号：US11734191

申请日：2007-04-11

申请人： Graydon Beatty ,  Jeffrey Budd ,  John Hauck

发明人： Graydon Beatty ,  Jeffrey Budd ,  John Hauck

IPC分类号： A61B18/18

CPC分类号： A61B5/0422 ,  A61B5/053 ,  A61B5/0538 ,  A61B5/1076

摘要： A mapping catheter is positioned in a heart chamber, and active electrode sites are activated to impose an electric field within the chamber. The blood volume and wall motion modulates the electric field, which is detected by passive electrode sites on the preferred catheter. Electrophysiology measurements, as well as geometry measurements, are taken from the passive electrodes and used to display a map of intrinsic heart activity.

摘要翻译： 映射导管位于心室中，活性电极位置被激活以在腔室内施加电场。 血液体积和壁运动调节电场，该电场由优选导管上的被动电极位点检测。 从被动电极获取电生理学测量以及几何测量，并用于显示内在心脏活动的图。

公开(公告)号：US20050203394A1

公开(公告)日：2005-09-15

申请号：US11044344

申请日：2005-01-27

申请人： John Hauck

发明人： John Hauck

IPC分类号： A61B5/042 ,  A61B5/107 ,  A61B19/00 ,  A61N1/05 ,  A61N1/08 ,  A61N1/362 ,  A61N1/37 ,  A61B8/00 ,  A61N1/18

CPC分类号： A61B8/0841 ,  A61B5/0422 ,  A61B5/1076 ,  A61B5/6852 ,  A61B8/0883 ,  A61B8/12 ,  A61B8/4254 ,  A61B8/463 ,  A61B8/466 ,  A61B8/5223 ,  A61B8/5253 ,  A61B8/5292 ,  A61B34/20 ,  A61B34/25 ,  A61B90/36 ,  A61B2017/00243 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2053 ,  A61B2090/367 ,  A61B2090/378 ,  A61B2090/3983 ,  A61B2562/0209 ,  A61B2562/046 ,  A61N1/056 ,  A61N1/3625 ,  A61N1/37 ,  A61N1/3702

摘要： Catheter navigation is coupled with ultrasound imaging to yield a context map showing the location on a heart of the ultrasonically imaged frame.

摘要翻译： 导管导航与超声成像相结合，产生显示超声成像帧的心脏位置的上下文映射。

公开(公告)号：US08454538B2

公开(公告)日：2013-06-04

申请号：US13015643

申请日：2011-01-28

申请人： Frederik H. Wittkampf ,  John Hauck

发明人： Frederik H. Wittkampf ,  John Hauck

IPC分类号： A61B5/103

CPC分类号： A61B5/065 ,  A61B5/066 ,  A61B5/1076 ,  A61B5/6885 ,  A61B5/7246 ,  A61B5/743 ,  A61B34/20 ,  A61B2034/105 ,  G01B7/008 ,  G01B21/04

摘要： A system for mapping a tissue surface includes a probe for mapping a tissue surface, a localization system to measure a location data point indicative of the probe's location, a memory in which to store the location data point, a servo mechanism to move the probe along at least a portion of the tissue surface, a controller to move the probe to a plurality of locations and to record in the memory a plurality of location data points, and a contact-sensing processor to analyze the plurality of location data points and to identify a subset thereof on the tissue surface. A modeling processor generates a model of the tissue surface using the subset of location data points. The contact-sensing processor utilizes probe velocity, or a rate of change in the distance moved by the probe, to determine contact between the probe and the tissue surface.

公开(公告)号：US20080033284A1

公开(公告)日：2008-02-07

申请号：US11843589

申请日：2007-08-22

申请人： John HAUCK

发明人： John HAUCK

IPC分类号： A61B5/00 ,  A61B19/00 ,  G01S15/00

CPC分类号： A61B19/20 ,  A61B1/0052 ,  A61B5/042 ,  A61B5/7257 ,  A61B34/20 ,  A61B34/30 ,  A61B34/70 ,  A61B34/71 ,  A61B90/10 ,  A61B2017/003 ,  A61B2017/00699 ,  A61B2017/00703 ,  A61B2017/00725 ,  A61B2017/22075 ,  A61B2017/3409 ,  A61B2034/2051 ,  A61B2034/2053 ,  A61B2034/301 ,  A61B2034/742 ,  A61B2560/0223 ,  A61M25/0105 ,  A61M25/0133

摘要： A method of calibrating a robotic device, such as a cardiac catheter, includes oscillating the device on an actuation axis by applying an oscillation vector at an oscillation frequency. While oscillating, a location of the device is periodically measured to generate a plurality of location data points, which may express the location of the device relative to a plurality of measurement axes. The location data points are then processed using a signal processing algorithm, such as a Fourier transform algorithm, to derive a transfer function relating a position of the device to a movement vector for the actuation axis. The transfer function may be resolved into and expressed as a calibration vector for the actuation axis, which may include one or more components, including zero components, directed along each of the measurement axes. The process may be repeated for any actuation axes on which calibration is desired.

摘要翻译： 校准诸如心脏导管的机器人装置的方法包括通过施加振荡频率的振荡矢量来振荡装置在致动轴上。 在振荡的同时，周期性地测量设备的位置以产生多个位置数据点，其可以表示设备相对于多个测量轴的位置。 然后使用诸如傅立叶变换算法的信号处理算法来处理位置数据点，以导出将装置的位置与致动轴的运动矢量相关联的传递函数。 传递函数可以被解析为并且表示为用于致动轴的校准矢量，其可以包括沿着每个测量轴指向的一个或多个零件，包括零分量。 对于期望校准的任何致动轴，可以重复该过程。

公开(公告)号：US20070225558A1

公开(公告)日：2007-09-27

申请号：US11647304

申请日：2006-12-29

申请人： John Hauck ,  Jeffrey Schweitzer ,  Eric Olson ,  Eric Voth

发明人： John Hauck ,  Jeffrey Schweitzer ,  Eric Olson ,  Eric Voth

IPC分类号： A61B1/04 ,  H04N5/225

CPC分类号： A61B5/6885 ,  A61B34/20 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/00026 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/301 ,  A61B2034/742 ,  A61B2090/064 ,  A61B2090/3784 ,  A61M25/0105

摘要： A method of generating a three-dimensional model of at least a portion of a heart includes inserting an electrode within the portion of a heart, robotically moving the electrode therein, periodically detecting position information of the electrode to generate a plurality of location points defining a space occupied by the portion of the heart, and generating a three-dimensional model of the portion of the heart including position information for at least some of the plurality of location points within the portion of the heart. The plurality of location points includes at least some location points on the surface of the heart and at least some location points interior thereto. The model is generated by utilizing a surface construction algorithm such as a shrink-wrap algorithm to identify the surface points and isolate or eliminate the interior points.

摘要翻译： 产生心脏的至少一部分的三维模型的方法包括将电极插入心脏的部分内，使电极在其中自动移动，周期性地检测电极的位置信息，以产生多个定位点 由心脏部分占据的空间，以及生成心脏部分的三维模型，包括心脏部分内的多个位置点中的至少一些位置信息。 多个位置点包括心脏表面上的至少一些位置点和其内部的至少一些位置点。 该模型通过利用诸如收缩包裹算法的表面构造算法来生成，以识别表面点并隔离或消除内部点。

公开(公告)号：US20070060833A1

公开(公告)日：2007-03-15

申请号：US11227580

申请日：2005-09-15

申请人： John Hauck

发明人： John Hauck

IPC分类号： A61B5/05

CPC分类号： A61B5/053 ,  A61B5/0538 ,  A61B5/063 ,  A61B2034/2053 ,  Y10T29/49004

摘要： A method for scaling the impedance measured during the course of an electrophysiology study accounts for impedance drifts. By scaling the impedance there is greater assurance that previously recorded positional information can be used to accurately relocate an electrode at a prior visited position. The scale factor may be based upon a mean value across several sensing electrodes. Alternatively, the scale factor may be calculated specifically with respect to an orientation of a dipole pair of driven electrodes.

摘要翻译： 在电生理学研究过程中测量的阻抗的缩放方法考虑了阻抗漂移。 通过缩放阻抗，可以确保先前记录的位置信息可以用于在先前访问位置处精确地重新定位电极。 比例因子可以基于跨几个感测电极的平均值。 或者，可以相对于驱动电极的偶极子对的取向来具体地计算比例因子。