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    Stabilizer for robotic beating-heart surgery
    1.
    发明申请
    Stabilizer for robotic beating-heart surgery 有权
    用于机器人跳动心脏手术的稳定器

    公开(公告)号：US20050033270A1

    公开(公告)日：2005-02-10

    申请号：US10864899

    申请日：2004-06-08

    申请人： Andris Ramans ,  David Rosa ,  Volkmar Falk

    发明人： Andris Ramans ,  David Rosa ,  Volkmar Falk

    IPC分类号： A61B17/00 ,  A61B17/04 ,  A61B19/00

    CPC分类号： A61B19/2203 ,  A61B17/04 ,  A61B17/0469 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B90/361 ,  A61B2017/00243 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2034/715 ,  A61B2034/742

    摘要： Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficiently to treat the target tissues with robotic surgical tools which move in response to inputs of a robotic system operator. A stabilizing surface of the stabilizer is coupled to a drive system to position the surface from outside the patient, preferably by actuators of the robotic servomechanism. Exemplary stabilizers includes a suture or other flexible tension member spanning between a pair of jointed bodies, allowing the member to occlude a coronary blood vessel and/or help stabilize the target region between the stabilizing surfaces.

    摘要翻译： 手术方法和装置允许在心脏跳动时对患者的心脏进行闭胸手术。 通过使心脏的表面与稳定剂接合而不必停止心脏来稳定心脏的区域。 目标组织的运动受到充分的抑制，用机器人手术工具治疗目标组织，这些手术工具响应于机器人系统操作者的输入而移动。 稳定器的稳定表面联接到驱动系统以将表面从患者外部优选地通过机器人伺服机构的致动器定位。 示例性稳定器包括横跨在一对接合体之间的缝合线或其它柔性张紧构件，允许构件闭塞冠状血管和/或帮助稳定稳定表面之间的目标区域。

    METHOD FOR HANDLING AN OPERATOR COMMAND EXCEEDING A MEDICAL DEVICE STATE LIMITATION IN A MEDICAL ROBOTIC SYSTEM
    7.
    发明申请
    METHOD FOR HANDLING AN OPERATOR COMMAND EXCEEDING A MEDICAL DEVICE STATE LIMITATION IN A MEDICAL ROBOTIC SYSTEM 有权
    用于处理在医疗机器人系统中超过医疗设备状态限制的操作者指令的方法

    公开(公告)号：US20070142825A1

    公开(公告)日：2007-06-21

    申请号：US11613926

    申请日：2006-12-20

    申请人： GIUSEPPE PRISCO ,  David Rosa

    发明人： GIUSEPPE PRISCO ,  David Rosa

    IPC分类号： A61B17/00

    CPC分类号： A61B34/37 ,  A61B1/00193 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B34/74 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00115 ,  A61B2017/00119 ,  A61B2017/00123 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2034/744 ,  A61B2090/065 ,  B25J3/04 ,  B25J9/1674 ,  B25J9/1689

    摘要： A medical robotic system has a robotic arm holding a medical device, and a control system for controlling movement of the arm according to operator manipulation of an input device. If the medical device is being commanded to a state exceeding a limitation by a threshold amount, then the control system disengages control of the medical device by the input device, servos the arm so that it remains in its current state, servos the input device so that it is set at a position such that a force being applied on the input device remains at its current level, requests the operator to lighten hold of the input device, sets a parameter associated with the input device upon detecting such lightened hold so that the medical device is commanded to a different state that does not exceed the limitation, and reengages control of the medical device by the input device.

    摘要翻译： 医疗机器人系统具有保持医疗装置的机器人手臂，以及用于根据操作者操纵输入装置来控制手臂的移动的控制系统。 如果医疗装置被指示超过限制阈值的状态，则控制系统通过输入装置解除医疗装置的控制，伺服臂使其保持在其当前状态，使输入装置伺服 将其设置在使得施加在输入装置上的力保持在其当前水平的位置，请求操作者减轻输入装置的保持，在检测到这种减轻保持时设置与输入装置相关联的参数，使得 医疗器械被命令到不超过限制的不同状态，并且通过输入装置重新控制医疗装置。

    Cardiac tissue ablation instrument with flexible wrist
    8.
    发明申请
    Cardiac tissue ablation instrument with flexible wrist 审中-公开
    心脏组织消融仪器具有柔韧的手腕

    公开(公告)号：US20060199999A1

    公开(公告)日：2006-09-07

    申请号：US11367836

    申请日：2006-03-02

    申请人： Michael Ikeda ,  David Rosa ,  Thomas Cooper ,  S. Anderson

    发明人： Michael Ikeda ,  David Rosa ,  Thomas Cooper ,  S. Anderson

    IPC分类号： A61B1/00

    CPC分类号： A61B1/0052 ,  A61B1/00142 ,  A61B1/00149 ,  A61B1/0055 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/018 ,  A61B34/30 ,  A61B34/70 ,  A61B34/71 ,  A61B90/361 ,  A61B2017/00243 ,  A61B2017/00309 ,  A61B2017/00323 ,  A61B2034/301 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/306 ,  A61B2034/715

    摘要： An articulate minimally invasive surgical instrument with a flexible wrist to facilitate the safe placement and provide visual verification of the ablation catheter or other devices in Cardiac Tissue Ablation (CTA) treatments is described. In one embodiment, the instrument is an endoscope which has an elongate shaft, a flexible wrist at the working end of the shaft, and a vision scope lens at the tip of the flexible wrist. The flexible wrist has at least one degree of freedom to provide the desired articulation. It is actuated and controlled by a drive mechanism located in the housing at the distal end of the shaft. The articulation of the endoscope allows images of hard-to-see places to be taken for use in assisting the placement of the ablation catheter on the desired cardiac tissue. The endoscope may further include couplings to releasably attach an ablation device/catheter or a catheter guide to the endoscope thereby further utilizing the endoscope articulation to facilitate placement of the ablation catheter on hard-to-reach cardiac tissues. In another embodiment, the articulate instrument is a grasper or any other instrument with a flexible wrist and a built-in lumen to allow an endoscope to insert and be guided to the distal end of the instrument.

    摘要翻译： 描述了一种具有柔性手腕的关节微创手术器械，以便于安全放置，并提供消融导管或心脏组织消融（CTA）治疗中的其他装置的视觉验证。 在一个实施例中，仪器是具有细长轴，在轴的工作端的柔性腕部和在柔性腕部的尖端处的视力范围透镜的内窥镜。 柔性手腕具有至少一个自由度以提供所需的铰接。 它由位于轴远端的壳体中的驱动机构致动和控制。 内窥镜的关节运动允许观看难看的位置的图像用于辅助将消融导管放置在期望的心脏组织上。 内窥镜还可以包括联接器以将消融装置/导管或导管引导件可释放地附接到内窥镜，从而进一步利用内窥镜关节以便于将消融导管放置在难以到达的心脏组织上。 在另一个实施例中，关节式器械是具有柔性手腕和内置内腔的抓紧器或任何其它器械，以允许内窥镜插入并被引导到器械的远端。