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公开(公告)号：US07214230B2
公开(公告)日：2007-05-08
申请号：US10010150
申请日：2001-11-16
IPC分类号： A61B17/10
CPC分类号： A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/0487 , A61B17/0644 , A61B17/0682 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/00088 , A61B2017/00243 , A61B2017/003 , A61B2017/00331 , A61B2017/00477 , A61B2017/00876 , A61B2017/00986 , A61B2017/0409 , A61B2017/0414 , A61B2017/0437 , A61B2017/0464 , A61B2017/0645 , A61B2017/0648 , A61B2017/22069 , A61B2017/2927 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61F2/2445 , A61F2/2466 , B25J3/04 , B25J9/104
摘要： A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.
摘要翻译： 描述了一种使用支撑工具的轴的远程控制柔性仪器系统，其中近端和远端具有其至少一部分延伸穿过人体的内腔，以将轴定位在内部目标位置 。 包括输入装置的主站提供对位于从站的仪器的控制。 主站可以控制柔性仪器的至少一个自由度。 控制器将主站和从站相互联接，并且根据接收来自输入设备的命令的计算机算法进行操作，以控制导管的至少一个自由度，以便根据输入设备的动作进行响应 。 柔性仪器还包括沿着轴的受控柔性段，用于在柔性段处的受控弯曲以引导轴并将工具布置在操作部位。
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公开(公告)号：US07918861B2
公开(公告)日：2011-04-05
申请号：US11762768
申请日：2007-06-13
申请人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
发明人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
CPC分类号： A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/0487 , A61B17/0644 , A61B17/0682 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/00088 , A61B2017/00243 , A61B2017/003 , A61B2017/00331 , A61B2017/00477 , A61B2017/00876 , A61B2017/00986 , A61B2017/0409 , A61B2017/0414 , A61B2017/0437 , A61B2017/0464 , A61B2017/0645 , A61B2017/0648 , A61B2017/22069 , A61B2017/2927 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61F2/2445 , A61F2/2466 , B25J3/04 , B25J9/104
摘要： A medical instrument assembly and robotic medical system are provided. The medical instrument assembly comprises an outer probe having an elongated shaft, an inner probe having an elongated shaft, coaxially disposed within the outer probe shaft, and a driver interface module having a plurality of actuating elements configured to be driven by a drive unit to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom. The robotic medical system may comprise the driver interface module, a user interface configured for generating at least one command, a drive unit coupled to the actuating elements, and an electric controller configured, in response to the command(s), for directing the drive unit to drive the actuating elements to independently effect movement of each of the outer and inner probes to the degree(s)-of-freedom.
摘要翻译： 提供医疗器械组件和机器人医疗系统。 医疗器械组件包括具有细长轴的外探针，具有同轴设置在外探针轴内的细长轴的内探针和具有多个致动元件的驱动器接口模块，驱动器接口模块被配置为由驱动单元驱动以独立地 外探头和内探头中的每一个在至少一个自由度内的效应运动。 机器人医疗系统可以包括驱动器接口模块，被配置为生成至少一个命令的用户界面，耦合到致动元件的驱动单元，以及响应于该命令而被配置用于引导驱动器 单元以驱动致动元件以独立地使每个外探头和内探头的运动达到自由度。
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公开(公告)号：US07905828B2
公开(公告)日：2011-03-15
申请号：US11762773
申请日：2007-06-14
申请人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
发明人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
IPC分类号： A61B1/00
CPC分类号： A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/0487 , A61B17/0644 , A61B17/0682 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/00088 , A61B2017/00243 , A61B2017/003 , A61B2017/00331 , A61B2017/00477 , A61B2017/00876 , A61B2017/00986 , A61B2017/0409 , A61B2017/0414 , A61B2017/0437 , A61B2017/0464 , A61B2017/0645 , A61B2017/0648 , A61B2017/22069 , A61B2017/2927 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61F2/2445 , A61F2/2466 , B25J3/04 , B25J9/104
摘要： A medical instrument assembly and robotic medical system are provided. The medical instrument assembly comprises an intravascular catheter having an elongated flexible shaft, and a drivable mechanism to which the flexible catheter shaft is mounted. The drivable mechanism has an actuating element configured for effecting movement of the catheter within at least one degree-of-freedom. The medical instrument assembly further comprises a receiver to which the drivable mechanism is configured for being removably mated. The receiver is configured for operably coupling a drive unit to the actuating element. The robotic medical system comprises the medical instrument assembly, a user interface configured for generating at least one command, a drive unit coupled to the receiver, and an electric controller configured, in response to the command(s), for directing the drive unit to drive the actuating element via the receiver to effect movement of catheter to the degree(s)-of-freedom.
摘要翻译： 提供医疗器械组件和机器人医疗系统。 医疗器械组件包括具有细长柔性轴的血管内导管和安装柔性导管轴的可驱动机构。 可驱动机构具有构造成在至少一个自由度内实现导管的移动的致动元件。 医疗器械组件还包括接收器，可驱动机构构造成用于可拆卸地配合。 接收器被配置为将驱动单元可操作地联接到致动元件。 机器人医疗系统包括医疗器械组件，被配置为产生至少一个命令的用户界面，耦合到接收器的驱动单元和响应于该命令而被配置为用于将驱动单元引导到 通过接收器驱动致动元件以使导管的运动达到自由度。
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公开(公告)号：US07867241B2
公开(公告)日：2011-01-11
申请号：US11762770
申请日：2007-06-13
申请人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
发明人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
CPC分类号： A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/0487 , A61B17/0644 , A61B17/0682 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/00088 , A61B2017/00243 , A61B2017/003 , A61B2017/00331 , A61B2017/00477 , A61B2017/00876 , A61B2017/00986 , A61B2017/0409 , A61B2017/0414 , A61B2017/0437 , A61B2017/0464 , A61B2017/0645 , A61B2017/0648 , A61B2017/22069 , A61B2017/2927 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61F2/2445 , A61F2/2466 , B25J3/04 , B25J9/104
摘要： A medical instrument assembly and robotic medical system are provided. The medical instrument comprises an outer probe having an elongated shaft, an inner probe having an elongated shaft coaxially disposed within the outer probe shaft, and actuating elements. The robotic medical system comprises the medical instrument assembly, a support on which the medical instrument assembly is slidably disposed, a user interface configured for generating at least one command, a drive unit coupled to the actuating elements, and an electric controller configured, in response to the command(s), for directing the drive unit to drive the actuating elements to independently effect movement of the outer and inner probes within at least one degree-of-freedom, and to linearly translate the medical instrument assembly along the support.
摘要翻译： 提供医疗器械组件和机器人医疗系统。 医疗器械包括具有细长轴的外探针，具有同轴地设置在外探针轴内的细长轴的内探针和致动元件。 机器人医疗系统包括医疗器械组件，医疗器械组件可滑动地布置在其上的支撑件，被配置用于产生至少一个命令的用户接口，耦合到致动元件的驱动单元，以及响应地配置的电控制器 用于引导驱动单元驱动致动元件以独立地在至少一个自由度内实现外探头和内探头的移动，并且沿着支撑件线性地平移医疗器械组件。
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公开(公告)号：US07775972B2
公开(公告)日：2010-08-17
申请号：US11762777
申请日：2007-06-14
申请人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
发明人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
IPC分类号： A61B1/00
CPC分类号： A61B17/0469 , A61B1/0051 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B5/6852 , A61B17/00234 , A61B17/0483 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/00088 , A61B2017/003 , A61B2017/00318 , A61B2017/00331 , A61B2017/00477 , A61B2017/2927 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , B25J3/04 , B25J9/104
摘要： A medical probe and medical system are provided. The medical probe comprises an elongated shaft, a plurality of electromagnetic elements spaced along the elongated shaft, and a plurality of wires extending through the elongated shaft and configured for energizing the electromagnetic elements that actuate a controlled bending of the elongated shaft. The medical system may comprise the medical probe and a controller configured for energizing the electromagnetic elements via the wires to actuate the controlled bending of the elongated shaft. The medical system may optionally comprise a user interface configured for conveying commands to the controller, in which case, the controller will be configured for energizing the electromagnetic elements via the wires to actuate a controlled bending of the elongated shaft in response to the commands.
摘要翻译： 提供医疗探针和医疗系统。 医疗探针包括细长轴，沿着细长轴间隔开的多个电磁元件，以及延伸穿过细长轴并被配置为激励致动细长轴的受控弯曲的电磁元件的多根电线。 医疗系统可以包括医疗探针和控制器，该控制器被配置用于通过电线对电磁元件进行激励，以激励细长轴的受控弯曲。 医疗系统可以可选地包括被配置为将命令传送到控制器的用户界面，在这种情况下，控制器将被配置为经由线来激励电磁元件，以响应于该命令致动细长轴的受控弯曲。
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公开(公告)号：US07090683B2
公开(公告)日：2006-08-15
申请号：US10011371
申请日：2001-11-16
申请人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner , Robert E. Ailinger
发明人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner , Robert E. Ailinger
IPC分类号： A61B19/00
CPC分类号： A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/00088 , A61B2017/00247 , A61B2017/003 , A61B2017/00331 , A61B2017/00477 , A61B2017/00876 , A61B2017/2927 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , B25J3/04 , B25J9/104
摘要： A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.
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公开(公告)号：US07931586B2
公开(公告)日：2011-04-26
申请号：US12023865
申请日：2008-01-31
申请人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
发明人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
CPC分类号： A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/0487 , A61B17/0644 , A61B17/0682 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/00088 , A61B2017/00243 , A61B2017/003 , A61B2017/00331 , A61B2017/00477 , A61B2017/00876 , A61B2017/00986 , A61B2017/0409 , A61B2017/0414 , A61B2017/0437 , A61B2017/0464 , A61B2017/0645 , A61B2017/0648 , A61B2017/22069 , A61B2017/2927 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61F2/2445 , A61F2/2466 , B25J3/04 , B25J9/104
摘要： A medical instrument assembly and robotic medical system are provided. The instrument assembly comprises coaxially disposed shafts, and a mechanically drivable interface to which the proximal ends of the shafts are mounted. The drivable interface has first and second actuating elements configured for independently axially rotating the shafts relative to each other, and a third actuating element configured for deflecting the distal end of one of the shafts. The robotic medical system comprises the instrument assembly, a user interface configured for generating at least one command, and a drive unit coupled to the drivable interface. The robotic medical system further comprises an electrical controller configured, in response to the at least one command, for directing the drive unit to drive the first and second actuating elements to independently axially rotate the shafts relative to each other, and to drive the third actuating element to deflect one of the shafts.
摘要翻译： 提供医疗器械组件和机器人医疗系统。 仪器组件包括同轴设置的轴，以及机械可驱动的界面，轴的近端安装在该界面上。 可驱动界面具有构造成用于相对于彼此独立地轴向地旋转轴的第一和第二致动元件，以及构造成偏转所述轴中的一个的远端的第三致动元件。 机器人医疗系统包括仪器组件，被配置为产生至少一个命令的用户界面以及耦合到可驱动界面的驱动单元。 所述机器人医疗系统还包括电控制器，其被配置为响应于所述至少一个命令，用于引导所述驱动单元驱动所述第一和第二致动元件以独立地相对于彼此轴向地旋转所述轴，并且驱动所述第三致动 元件以偏转一个轴。
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公开(公告)号：US07371210B2
公开(公告)日：2008-05-13
申请号：US10012586
申请日：2001-11-16
申请人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
发明人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
CPC分类号： A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/0487 , A61B17/0644 , A61B17/0682 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/00088 , A61B2017/00243 , A61B2017/003 , A61B2017/00331 , A61B2017/00477 , A61B2017/00876 , A61B2017/00986 , A61B2017/0409 , A61B2017/0414 , A61B2017/0437 , A61B2017/0464 , A61B2017/0645 , A61B2017/0648 , A61B2017/22069 , A61B2017/2927 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61F2/2445 , A61F2/2466 , B25J3/04 , B25J9/104
摘要： A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.
摘要翻译： 描述了一种使用支撑工具的轴的远程控制柔性仪器系统，其中近端和远端具有其至少一部分延伸穿过人体的内腔，以将轴定位在内部目标位置 。 包括输入装置的主站提供对位于从站的仪器的控制。 主站可以控制柔性仪器的至少一个自由度。 控制器将主站和从站相互联接，并且根据接收来自输入设备的命令的计算机算法进行操作，以控制导管的至少一个自由度，以便根据输入设备的动作进行响应 。 柔性仪器还包括沿着轴的受控柔性段，用于在柔性段处的受控弯曲以引导轴并将工具布置在操作部位。
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公开(公告)号：US08414598B2
公开(公告)日：2013-04-09
申请号：US13361371
申请日：2012-01-30
申请人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
发明人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/71 , A61B90/50 , A61B2017/00477 , A61B2034/301
摘要： A robotic medical system comprises a catheter having an elongated shaft with a plurality of flexible segments spaced apart along the catheter, and a drive unit coupled to the catheter. The catheter may have a plurality of cables respectively terminating at the flexible segments, in which case, the drive unit will be coupled to the plurality of cables. The robotic medical system further comprises a user interface remote from the drive unit and configured for generating at least one command, and an electric controller configured, in response to the command(s), for directing the drive unit to independently bend the flexible segments (e.g., three flexible segments).
摘要翻译： 机器人医疗系统包括具有细长轴的导管，所述细长轴具有沿着导管间隔开的多个柔性段，以及联接到导管的驱动单元。 导管可以具有分别在柔性段处终止的多个电缆，在这种情况下，驱动单元将联接到多个电缆。 所述机器人医疗系统还包括远离所述驱动单元并被配置为产生至少一个命令的用户界面，以及响应于所述命令而被配置为用于引导所述驱动单元独立地弯曲所述柔性段（ 例如，三个柔性段）。
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公开(公告)号：US08114097B2
公开(公告)日：2012-02-14
申请号：US11762772
申请日：2007-06-13
申请人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
发明人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner
CPC分类号： A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/0487 , A61B17/0644 , A61B17/0682 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/00088 , A61B2017/00243 , A61B2017/003 , A61B2017/00331 , A61B2017/00477 , A61B2017/00876 , A61B2017/00986 , A61B2017/0409 , A61B2017/0414 , A61B2017/0437 , A61B2017/0464 , A61B2017/0645 , A61B2017/0648 , A61B2017/22069 , A61B2017/2927 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61F2/2445 , A61F2/2466 , B25J3/04 , B25J9/104
摘要： A robotic medical system comprises a catheter having an elongated shaft with a plurality of flexible segments spaced apart along the catheter, and a drive unit coupled to the catheter. The catheter may have a plurality of cables respectively terminating at the flexible segments, in which case, the drive unit will be coupled to the plurality of cables. The robotic medical system further comprises a user interface remote from the drive unit and configured for generating at least one command, and an electric controller configured, in response to the command(s), for directing the drive unit to independently bend the flexible segments (e.g., three flexible segments).
摘要翻译： 机器人医疗系统包括具有细长轴的导管，所述细长轴具有沿着导管间隔开的多个柔性段，以及联接到导管的驱动单元。 导管可以具有分别在柔性段处终止的多个电缆，在这种情况下，驱动单元将联接到多个电缆。 所述机器人医疗系统还包括远离所述驱动单元并被配置为产生至少一个命令的用户界面，以及响应于所述命令而被配置为用于引导所述驱动单元独立地弯曲所述柔性段（ 例如，三个柔性段）。
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