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公开(公告)号：US20130090552A1
公开(公告)日：2013-04-11
申请号：US13602893
申请日：2012-09-04
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes a first optical fiber, a second optical fiber and a controller is provided. The first optical fiber is operatively coupled to an elongate body that is adapted to be placed inside a patient. The second optical fiber is operatively coupled to the patient, to an actuating element adapted to actuate the elongate body, or to a portion of an imaging system adapted to identify a location of the portion relative to the elongate body. The controller is operatively coupled to the first optical fiber and the second optical fiber and is adapted to receive a first signal from the strain sensor provided on the first optical fiber, receive a second signal from the strain sensor provided on the second optical fiber; and determine a position or orientation of the elongate body based on the first signal and based on the second signal.
摘要翻译： 提供一种包括第一光纤，第二光纤和控制器的仪器系统。 第一光纤可操作地耦合到适于放置在患者体内的细长主体。 第二光纤可操作地耦合到患者，适用于致动细长主体的致动元件，或适于识别该部分相对于细长主体的位置的成像系统的一部分。 控制器可操作地耦合到第一光纤和第二光纤，并且适于从设置在第一光纤上的应变传感器接收第一信号，从设置在第二光纤上的应变传感器接收第二信号; 并且基于第一信号并且基于第二信号来确定细长体的位置或取向。
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公开(公告)号：US20130085382A1
公开(公告)日：2013-04-04
申请号：US13603068
申请日：2012-09-04
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an elongate body, an optical fiber, a localization sensor and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The localization sensor is operatively coupled to the elongate body. The controller is operatively coupled to the optical fiber and to the localization sensor and is adapted to receive a first signal from the strain sensor, receive a second signal from the localization sensor, and determine a position or orientation of the elongate body based on the first signal and the second signal.
摘要翻译： 提供了一种包括细长体，光纤，定位传感器和控制器的仪器系统。 光纤可操作地耦合到细长主体并且具有设置在光纤上的应变传感器。 定位传感器可操作地连接到细长主体。 控制器可操作地耦合到光纤和定位传感器，并且适于从应变传感器接收第一信号，从定位传感器接收第二信号，并且基于第一信号确定细长体的位置或取向 信号和第二信号。
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公开(公告)号：US08388538B2
公开(公告)日：2013-03-05
申请号：US13073527
申请日：2011-03-28
IPC分类号： A61B8/00
CPC分类号： A61B8/12 , A61B8/4245 , A61B8/4461 , A61B8/461 , A61B8/466 , A61B8/467 , A61B8/483 , G01S7/52065 , G01S7/52084 , G01S7/52087 , G01S15/8934 , G01S15/894 , G01S15/8993
摘要： A system and method for recording and depicting ultrasound images of a moving object are disclosed. In a preferred embodiment, ultrasound images are acquired as the field of view of an ultrasound probe is advanced across the tissues of interest during a resting period between periods of relatively large-scale heart cycle motion. A series of images acquired during a particular resting period may be represented as a three-dimensional volume image, and the comparison of volume images from adjacent cardiac resting periods enables three-dimensional volume image modulation analysis which may be presented for a user as a moving volume image of the objects of interest within the field of view.
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公开(公告)号：US20120323075A1
公开(公告)日：2012-12-20
申请号：US13594629
申请日：2012-08-24
CPC分类号： G02B6/022 , A61B5/1076 , A61B5/6852 , A61B2017/00039 , A61B2017/00053 , A61B2034/2061 , A61B2090/067
摘要： A method for measuring bending is provided. The method includes receiving a reflected signal from a strain sensor provided on an optical fiber; determining a spectral profile of the reflected signal; and determining bending of the optical fiber based on a comparison of the spectral profile of the reflected signal with a predetermined spectral profile.
摘要翻译： 提供了一种测量弯曲的方法。 该方法包括从设置在光纤上的应变传感器接收反射信号; 确定反射信号的光谱分布; 以及基于所述反射信号的光谱轮廓与预定光谱轮廓的比较来确定所述光纤的弯曲。
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公开(公告)号：US20120109377A1
公开(公告)日：2012-05-03
申请号：US13324746
申请日：2011-12-13
IPC分类号： G06F7/00
CPC分类号： A61B1/00188 , A61B1/00149 , A61B1/0016 , A61B1/00193 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/77 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/301 , A61B2034/305
摘要： Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.
摘要翻译： 机器人，远程实验和/或远程手术设备，系统和方法利用机器人结构和数据来响应于图像捕获设备，机器人末端执行器等的运动来计算图像捕获设备的焦点的变化 。 随着显示装置中所示的对象的图像的尺寸随着该对象与用于捕捉图像的图像捕获装置之间的间隔距离的变化而变化，可以响应于移动而改变移动指令输入之间的比例因子 系统的输入设备或相应的主/从机器人移动命令。 这可以增强输入命令和机器人运动之间的感知相关性，因为它们出现在呈现给系统操作者的图像中。
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公开(公告)号：US20120022405A1
公开(公告)日：2012-01-26
申请号：US13251370
申请日：2011-10-03
申请人： Daniel T. Wallace , Gregory Stahler , Alex Goldenberg , Gene Reis , Robert G. Younge , Mathew Clopp , David Camarillo , Toby St. John King
发明人： Daniel T. Wallace , Gregory Stahler , Alex Goldenberg , Gene Reis , Robert G. Younge , Mathew Clopp , David Camarillo , Toby St. John King
IPC分类号： A61B5/00 , A61M25/092
CPC分类号： A61M25/01 , A61B5/6885 , A61B17/3403 , A61B17/3476 , A61B2017/00243 , A61B2017/003 , A61B2017/00477 , A61B2034/301 , A61B2090/064 , A61B2090/065
摘要： A method for estimating the force on a distal end of a working catheter includes positioning a portion of a robotically controlled guide catheter and working catheter into a body lumen wherein a distal end of the working catheter projects distally from a distal end of the guide catheter. The working catheter and guide catheter are dithered with respect to one another using a dithering device operatively connected to a proximal portion of the working catheter. The coupling may occur directly to the working catheter or via a seal such as a Touhy seal. The force experienced by the working catheter at a proximal region is measured through at least one dithering cycle. The force at the distal end of the working catheter is then estimated based on the measured force at the proximal region. The estimated force may be displayed to a physician on, for example, a monitor.
摘要翻译： 用于估计工作导管的远端上的力的方法包括将机器人控制的引导导管和工作导管的一部分定位到体腔中，其中工作导管的远端从导向导管的远端远端突出。 工作导管和引导导管相对于彼此使用可操作地连接到工作导管的近端部分的抖动装置进行抖动。 联轴器可以直接发生在工作导管上，或通过诸如Touhy密封件的密封件。 通过至少一个抖动周期测量由近端区域上的工作导管所经受的力。 然后基于在近端区域处测量的力来估计工作导管远端处的力。 估计的力可以在例如监视器上向医生显示。
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7.发明申请SYSTEM AND METHOD FOR AUTOMATED MINIMALLY INVASIVE THERAPY USING RADIOMETRY 审中-公开使用放射免疫法自动进行最小入侵治疗的系统和方法公开(公告)号：US20110295247A1
公开(公告)日：2011-12-01
申请号：US12833929
申请日：2010-07-09
申请人： Randall L. Schlesinger , Christopher R. Carlson , Federico Barbagli , Bhaskar S. Ramamurthy , Matthew J. Roelle , Christopher M. Sewell , Daniel T. Wallace , Robert G. Younge
发明人： Randall L. Schlesinger , Christopher R. Carlson , Federico Barbagli , Bhaskar S. Ramamurthy , Matthew J. Roelle , Christopher M. Sewell , Daniel T. Wallace , Robert G. Younge
CPC分类号： B25J9/1689 , A61B18/1492 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/76 , A61B34/77 , A61B2017/00057 , A61B2017/0007 , A61B2017/00084 , A61B2017/00123 , A61B2017/00477 , A61B2018/00678 , A61B2018/00702 , A61B2018/00708 , A61B2018/00779 , A61B2018/00791 , A61B2018/00839 , A61B2034/301 , A61B2090/062 , A61B2090/064 , A61B2090/065
摘要： Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. In one embodiment a robotic catheter system may comprise a controller including a master input device; and an electromechanically steerable elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion being configured to be interactively navigated adjacent internal tissue structures of a patient's body in response to signals from the controller; wherein the distal portion of the elongate instrument comprises an antenna operatively coupled to the controller, and wherein the controller is configured to determine the temperature of structures adjacent to the distal portion of the elongate instrument utilizing radiometry analysis.
摘要翻译： 描述了用于自动化患者的微创治疗治疗方面的系统和方法。 在一个实施例中，机器人导管系统可包括包括主输入装置的控制器; 以及具有近端接口部分和远端部分的机电可操纵的细长器械，所述近端接口部分被配置为可操作地耦合到与所述控制器连通的机电仪器驱动器，所述远端部分被配置为相互接近地导航邻近的内部组织结构 响应于来自控制器的信号的患者身体; 其中所述细长器械的远端部分包括可操作地耦合到所述控制器的天线，并且其中所述控制器被配置成利用辐射测量分析来确定与所述细长仪器的远端部分相邻的结构的温度。
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公开(公告)号：US08041413B2
公开(公告)日：2011-10-18
申请号：US11906746
申请日：2007-10-02
申请人： Frederico Barbagli , Aditya Koolwal , Christopher R. Carlson , Daniel T. Wallace , Robert G. Younge
发明人： Frederico Barbagli , Aditya Koolwal , Christopher R. Carlson , Daniel T. Wallace , Robert G. Younge
IPC分类号： A61B8/12
CPC分类号： A61B5/06 , A61B5/065 , A61B8/0833 , A61B8/12 , A61B8/4254 , A61B8/445 , A61B8/4477 , A61B8/4483 , A61B8/483 , A61B8/543 , A61B18/1492 , A61B90/36 , A61B2017/00252 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/256 , A61B2090/0811 , A61B2090/367 , A61B2090/378 , A61B2090/3784 , A61B2090/3929
摘要： An automated medical system comprises a first instrument assembly including a first ultrasound transducer having a first transducer field of view that transmits and receives ultrasound signals in imaging planes disposed circumferentially about a guide instrument, and a second instrument assembly including a second ultrasound transducer having a second transducer field of view coupled to one of a second flexible guide instrument and a working instrument. A computing system is operatively coupled to the respective first and second transducers and configured to determine a relative spatial orientation of the respective first and second transducers based at least in part on detecting a signal transmitted by one of the first and second transducers and received by the other of the first and second transducers, the received signal having an amplitude indicating the receiving one of the transducers is in the field of view of the transmitting one of the transducers.
摘要翻译： 一种自动医疗系统包括第一仪器组件，该第一仪器组件包括第一超声换能器，该第一超声波换能器具有第一换能器视场，该第一超声波换能器在围绕导向器周围设置的成像平面中发射和接收超声信号;以及第二仪器组件， 传感器视场耦合到第二柔性引导仪器和工作仪器之一。 计算系统可操作地耦合到相应的第一和第二换能器并且被配置为至少部分地基于检测由第一和第二换能器中的一个发射的信号并由第一和第二换能器接收的信号来确定相应的第一和第二换能器的相对空间取向 第一和第二换能器中的另一个，具有指示换能器中的接收换能器之一的振幅的接收信号处于发射换能器之一的视野中。
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公开(公告)号：US08021326B2
公开(公告)日：2011-09-20
申请号：US11176954
申请日：2005-07-06
申请人： Frederic H. Moll , Daniel T. Wallace , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
发明人： Frederic H. Moll , Daniel T. Wallace , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
IPC分类号： A61M31/00
CPC分类号： A61B8/12 , A61B5/7285 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B34/77 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/035 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397
摘要： A robotic medical system comprises an operator control station having a master input device, a catheter instrument, and an instrument driver in communication with the operator control station. The catheter instrument includes an elongate flexible catheter member, a flexible control element extending within the catheter member, and a proximal drivable assembly configured to axially move the control element relative to the catheter member to perform a kinematic function at a distal end of the catheter member. The instrument driver is configured to operate the drivable assembly to axially move the control element in response to control signals generated, at least in part, by the master input device. The drivable assembly is mounted to the instrument driver, thereby providing mechanically close relationship between the drivable assembly and the instrument driver.
摘要翻译： 机器人医疗系统包括具有与操作者控制站通信的主输入装置，导管仪器和仪器驱动器的操作员控制站。 导管仪器包括细长的柔性导管构件，在导管构件内延伸的柔性控制元件，以及配置成相对于导管构件轴向移动控制元件以在导管构件的远端处执行运动功能的近端可驱动组件 。 仪器驱动器被配置为操作可驱动组件以响应于至少部分地由主输入设备产生的控制信号来轴向移动控制元件。 可驱动组件安装到仪器驱动器，从而在可驱动组件和仪器驱动器之间提供机械密切的关系。
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公开(公告)号：US07976539B2
公开(公告)日：2011-07-12
申请号：US11185432
申请日：2005-07-19
IPC分类号： A61B18/04
CPC分类号： A61B18/1492 , A61B17/00234 , A61B17/3478 , A61B18/1477 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B2017/00199 , A61B2017/00243 , A61B2018/1425 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2034/742 , A61B2090/065 , A61B2090/378
摘要： A method for modifying a geometry of a collagenous tissue mass includes heating the collagenous tissue mass to a temperature sufficient to cause denaturation, and introducing a biocompatible fixative, such as genepin, into the collagenous tissue mass.
摘要翻译： 修饰胶原组织块的几何形状的方法包括将胶原组织块加热至足以引起变性的温度，并将生物相容性固定剂（如genepin）导入胶原组织块。
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