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公开(公告)号:US20070233044A1
公开(公告)日:2007-10-04
申请号:US11678001
申请日:2007-02-22
申请人: Daniel Wallace , Gregory Stahler , Alex Goldenberg , Gene Reis , Robert Younge , Mathew Clopp , David Camarillo , Toby King
发明人: Daniel Wallace , Gregory Stahler , Alex Goldenberg , Gene Reis , Robert Younge , Mathew Clopp , David Camarillo , Toby King
IPC分类号: A61M25/08
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:US20070197939A1
公开(公告)日:2007-08-23
申请号:US11678016
申请日:2007-02-22
申请人: Daniel Wallace , Gregory Stahler , Alex Goldenberg , Gene Reis , Robert Younge , Mathew Clopp , David Camarillo , Toby King
发明人: Daniel Wallace , Gregory Stahler , Alex Goldenberg , Gene Reis , Robert Younge , Mathew Clopp , David Camarillo , Toby King
IPC分类号: A61B5/103
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: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: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: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: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:US08872819B2
公开(公告)日:2014-10-28
申请号:US11226068
申请日:2005-09-14
申请人: Alex Goldenberg
发明人: Alex Goldenberg
IPC分类号: G06T17/00
CPC分类号: G05B19/4099 , G05B2219/35118 , G05B2219/36279 , G05B2219/45143 , Y02P90/265
摘要: One or more embodiments of the presently preferred invention provides a method and a computer-program product for creating a parametric corner on a sheet metal design. The parametric corner is a machinery corner that can be constructed in the formed or unformed state and successfully handles a bend corner with different radii and bend angles. Further, the machinery corner allows placing features thereon, as well as producing unformed geometrical representations of said placement.
摘要翻译: 当前优选的发明的一个或多个实施例提供了一种用于在钣金设计上创建参数角的方法和计算机程序产品。 参数角是可以在成形或未成形状态下构造的机械角,并成功地处理具有不同半径和弯曲角度的弯角。 此外,机械角允许在其上放置特征,以及产生所述放置的未成形几何表示。
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公开(公告)号:US20070229455A1
公开(公告)日:2007-10-04
申请号:US11693117
申请日:2007-03-29
IPC分类号: G09G5/00
CPC分类号: G06F3/016 , G06F1/1662 , G06F1/169 , G06F3/0202 , G06F3/0233 , G06F3/0338 , G06F3/041 , G06F3/0488 , G06F2203/014 , G09B21/001 , G09B21/003 , H01H13/85 , H01H2215/004 , H01H2215/05 , H01H2215/052 , H04M1/23
摘要: Products and processes for providing tactile sensations to input devices or electronic devices are provided. Input devices include mechanical input devices (such as, for example, mechanical switches) and non-mechanical input devices (such as, for example, touchpads). Tactile feedback is provided by using an actuator or other means in communication with the input device or electronic device. A controller may be employed to receive signals from the input devices and control the actuator. Tactile feedback to an input device or electronic device may be provided in response to one or more events or situations. Such an event or situation may be any one designated. Examples of such events and situations include the level of pressure placed on an input device; the availability or lack of availability of a function associated with an input device; and the function, menu, or mode of operation associated with an input device's activation. A variety of feedback types and combinations may be selected.
摘要翻译: 提供了为输入设备或电子设备提供触觉的产品和过程。 输入设备包括机械输入设备(例如机械开关)和非机械输入设备(例如触摸板)。 通过使用与输入装置或电子设备通信的致动器或其他装置来提供触觉反馈。 可以使用控制器来从输入设备接收信号并控制致动器。 响应于一个或多个事件或情况,可以提供对输入设备或电子设备的触觉反馈。 这种事件或情况可以是指定的任何一个。 这种事件和情况的示例包括放置在输入设备上的压力水平; 与输入设备相关联的功能的可用性的可用性; 以及与输入设备的激活相关联的功能,菜单或操作模式。 可以选择各种反馈类型和组合。
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公开(公告)号:US20110295268A1
公开(公告)日:2011-12-01
申请号:US12833935
申请日:2010-07-09
申请人: Matthew J. Roelle , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Neal A. Tanner , Daniel T. Wallace
发明人: Matthew J. Roelle , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Neal A. Tanner , Daniel T. Wallace
IPC分类号: A61B19/00
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: Embodiments are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic medical instrument system, comprising an elongate instrument having proximal and distal ends; a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move the instrument; a master input device in communication with the controller and configured to generate input commands in response to a directional movement of the master input device; and a load sensor operatively coupled to the elongate instrument and configured to sense magnitude and direction of loads applied to the distal end of the elongate instrument; wherein the controller is configured to compute an instrument movement command to selectively move the instrument based upon the input commands and an input command scaling factor applied to the input commands, the input command scaling factor being variable with the magnitude of sensed loads.
摘要翻译: 描述了用于自动化患者的微创治疗治疗方面的实施例。 一种机器人医疗器械系统,包括具有近端和远端的细长器械; 控制器,被配置为选择性地致动一个或多个可操作地耦合到所述仪器的电机,从而选择性地移动所述仪器; 与所述控制器通信并被配置为响应于主输入设备的定向移动而产生输入命令的主输入设备; 以及负载传感器,其操作地耦合到所述细长仪器并且被配置为感测施加到所述细长仪器的远端的负载的大小和方向; 其中所述控制器被配置为基于所述输入命令和施加到所述输入命令的输入命令缩放因子来计算仪器移动命令以选择性地移动所述仪器,所述输入命令缩放因子随所感测负载的大小而变化。
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