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公开(公告)号：US08092397B2
公开(公告)日：2012-01-10
申请号：US11678001
申请日：2007-02-22
申请人： Daniel T. Wallace , Gregory Stahler , Alex Goldenberg , Gene Reis , Robert G. Younge , Mathew Clopp , David B. Camarillo , Toby St. John King
发明人： Daniel T. Wallace , Gregory Stahler , Alex Goldenberg , Gene Reis , Robert G. Younge , Mathew Clopp , David B. Camarillo , Toby St. John King
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 robotic catheter manipulator includes a guide catheter including proximal and distal ends and lumen extending there through. A flexible bellows is secured at one end to the proximal end of the guide catheter and at the other end to a seal configured to receive a working catheter. In a loaded state, the working catheter is fixed relative to the seal. A ditherer is operatively connected to the seal for dithering the working catheter relative to the guide catheter when placed therein. The robotic catheter manipulator includes at least one force sensor for measuring the force applied to the working catheter by the ditherer. Force measurements may be translated into an estimated force that is experienced at the distal end of the working catheter which may then be displayed to the physician via a monitor or display.
摘要翻译： 机器人导管操纵器包括导管，其包括近端和远端以及在其延伸的内腔。 柔性波纹管在一端固定到引导导管的近端，另一端固定在被构造成接收工作导管的密封件上。 在加载状态下，工作导管相对于密封件固定。 一个搅拌器可操作地连接到该密封件上，用于当将工作导管放置在其中时相对于导向导管进行高频抖动。 机器人导管操纵器包括至少一个力传感器，用于测量施加在工作导管上的力。 力测量可以被转换成在工作导管的远端处经历的估计力，然后可以经由监视器或显示器将其显示给医师。
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公开(公告)号：US20120116253A1
公开(公告)日：2012-05-10
申请号：US13345886
申请日：2012-01-09
申请人： Daniel T. Wallace , Gregory Stahler , Alex Goldenberg , Gene Reis , Robert G. Younge , Mathew Clopp , David B. Camarillo , Toby St. John King
发明人： Daniel T. Wallace , Gregory Stahler , Alex Goldenberg , Gene Reis , Robert G. Younge , Mathew Clopp , David B. Camarillo , Toby St. John King
IPC分类号： A61B5/00
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 robotic catheter manipulator includes a guide catheter including proximal and distal ends and lumen extending there through. A flexible bellows is secured at one end to the proximal end of the guide catheter and at the other end to a seal configured to receive a working catheter. In a loaded state, the working catheter is fixed relative to the seal. A ditherer is operatively connected to the seal for dithering the working catheter relative to the guide catheter when placed therein. The robotic catheter manipulator includes at least one force sensor for measuring the force applied to the working catheter by the ditherer. Force measurements may be translated into an estimated force that is experienced at the distal end of the working catheter which may then be displayed to the physician via a monitor or display.
摘要翻译： 机器人导管操纵器包括导管，其包括近端和远端以及在其延伸的内腔。 柔性波纹管在一端固定到引导导管的近端，另一端固定在被构造成接收工作导管的密封件上。 在加载状态下，工作导管相对于密封件固定。 一个搅拌器可操作地连接到该密封件上，用于当将工作导管放置在其中时相对于导向导管进行高频抖动。 机器人导管操纵器包括至少一个力传感器，用于测量施加在工作导管上的力。 力测量可以被转换成在工作导管的远端处经历的估计力，然后可以经由监视器或显示器将其显示给医师。
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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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公开(公告)号：US08052621B2
公开(公告)日：2011-11-08
申请号：US11678016
申请日：2007-02-22
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
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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公开(公告)号：US08388556B2
公开(公告)日：2013-03-05
申请号：US13251370
申请日：2011-10-03
申请人： Daniel T. Wallace , Gregory J. Stahler , Alex Goldenberg , Gene Reis , Robert G. Younge , Mathew Clopp , David Camarillo , Toby St. John King
发明人： Daniel T. Wallace , Gregory J. Stahler , Alex Goldenberg , Gene Reis , Robert G. Younge , Mathew Clopp , David Camarillo , Toby St. John King
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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公开(公告)号：US5702365A
公开(公告)日：1997-12-30
申请号：US674964
申请日：1996-07-03
申请人： Toby St. John King
发明人： Toby St. John King
CPC分类号： A61M29/02
摘要： A dual-lumen blood-treatment catheter has inner and outer lumina open towards the patient end. The catheter has expandable portions in the outer lumen located near the patient end for atraumatically preventing collapse of the blood vessel to ensure free flow of blood into and out of the catheter, In one embodiment, the outer lumen has a plurality of slits around its circumference which form slats therebetween. Withdrawal of the inner lumen relative to the outer lumen causes the slits to open, thereby bowing the slats to expand the outer lumen.
摘要翻译： 双腔血液治疗导管具有向患者端开放的内腔和外腔。 该导管在位于患者端附近的外腔中具有可膨胀部分，用于无创伤地防止血管破裂，以确保血液自由流入和流出导管。在一个实施例中，外腔在其周围具有多个狭缝 其间形成板条。 内腔相对于外腔的抽出导致狭缝打开，从而使板条弯曲以使外腔膨胀。
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公开(公告)号：US20130012809A1
公开(公告)日：2013-01-10
申请号：US13604281
申请日：2012-09-05
CPC分类号： G01D5/35303 , A61B1/0055 , A61B5/065 , A61B34/77 , A61B2034/2061 , A61B2034/301 , A61M25/0009 , A61M25/0147 , A61M2025/0166 , G02B6/02042 , G02B6/02057 , G02B6/02076 , G02B23/26
摘要： An instrument system that includes an elongate body, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor and a localization sensor provided thereon. The controller is operatively coupled to the elongate body and to the optical fiber and adapted to receive a first signal from the strain sensor, receive a second signal from the localization sensor, and determine a position of the elongate body based on the first signal and the second signal.
摘要翻译： 提供一种包括细长体，光纤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应变传感器和设置在其上的定位传感器。 控制器可操作地耦合到细长主体和光纤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，并且 第二信号。
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公开(公告)号：US20100114115A1
公开(公告)日：2010-05-06
申请号：US12507727
申请日：2009-07-22
IPC分类号： A61B19/00
CPC分类号： G01D5/35303 , A61B1/0055 , A61B5/065 , A61B34/77 , A61B2034/2061 , A61B2034/301 , A61M25/0009 , A61M25/0147 , A61M2025/0166 , G02B6/02042 , G02B6/02057 , G02B6/02076 , G02B23/26
摘要： A medical instrument system comprises an elongate instrument body; an optical fiber coupled in a constrained manner to the elongate instrument body, the optical fiber including one or more Bragg gratings; a detector operably coupled to a proximal end of the optical fiber and configured to detect respective light signals reflected by the one or more Bragg gratings; and a controller operatively coupled to the detector, wherein the controller is configured to determine a geometric configuration of at least a portion of the elongate instrument body based on a spectral analysis of the detected reflected portions of the light signals.
摘要翻译： 医疗仪器系统包括细长的仪器本体; 以限制的方式耦合到细长仪器主体的光纤，所述光纤包括一个或多个布拉格光栅; 检测器，可操作地耦合到所述光纤的近端并被配置为检测由所述一个或多个布拉格光栅反射的各个光信号; 以及可操作地耦合到所述检测器的控制器，其中所述控制器被配置为基于所检测的所述光信号的反射部分的光谱分析来确定所述细长器械主体的至少一部分的几何构型。
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公开(公告)号：US20120327392A1
公开(公告)日：2012-12-27
申请号：US13604250
申请日：2012-09-05
IPC分类号： G01B11/16
CPC分类号： G01D5/35303 , A61B1/0055 , A61B5/065 , A61B34/77 , A61B2034/2061 , A61B2034/301 , A61M25/0009 , A61M25/0147 , A61M2025/0166 , G02B6/02042 , G02B6/02057 , G02B6/02076 , G02B23/26
摘要： An instrument system that includes an elongate body and an optical fiber is provided. The elongate body includes a first elongate portion having a hollow lumen and a second elongate portion adjacent to the first elongate portion. The optical fiber is located in the lumen of the first elongate portion and in the second elongate portion. The optical fiber has a strain sensor provided thereon. The lumen is adapted to allow the optical fiber to move in the lumen relative to the elongate body, and the second elongate portion is adapted to prohibit all movement of the optical fiber relative to the elongate body.
摘要翻译： 提供了一种包括细长体和光纤的仪器系统。 细长体包括具有中空内腔的第一细长部分和与第一细长部分相邻的第二细长部分。 光纤位于第一细长部分的内腔中并位于第二细长部分中。 光纤具有设置在其上的应变传感器。 内腔适于允许光纤相对于细长主体在内腔中移动，并且第二细长部分适于禁止光纤相对于细长主体的所有移动。
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