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    ENDOSCOPIC ROBOTIC CATHETER SYSTEM
    1.
    发明申请
    ENDOSCOPIC ROBOTIC CATHETER SYSTEM 审中-公开
    内窥镜机械导管系统

    公开(公告)号：US20110015483A1

    公开(公告)日：2011-01-20

    申请号：US12504564

    申请日：2009-07-16

    申请人： Federico Barbagli ,  Gregory J. Stahler ,  Christopher M. Sewell ,  Christopher R. Carlson

    发明人： Federico Barbagli ,  Gregory J. Stahler ,  Christopher M. Sewell ,  Christopher R. Carlson

    IPC分类号： A61B1/00

    CPC分类号： A61B1/307 ,  A61B18/24 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2017/2212 ,  A61B2034/105 ,  A61B2034/301 ,  A61B2090/306 ,  A61B2090/3614 ,  A61B2090/374 ,  A61B2090/376 ,  A61B2090/378

    摘要： A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

    摘要翻译： 机器人导管系统包括具有主输入装置的控制器。 仪器驱动器与控制器通信，并且具有细长的仪器接口，其包括响应于至少部分由主输入设备产生的控制信号的多个仪器驱动元件。 细长仪器具有基部，远端和工作腔，其中导向仪器基座可操作地联接到导向仪器接口。 细长器械优选地包括和/或限定其他腔体，以适应诸如光学束，光束，激光光纤和冲洗冲洗的仪器。 工作管腔优选地构造成容纳用于诸如肾结石干预的过程中的抓握或捕获工具，例如可折叠篮或抓紧器。 细长仪器包括多个仪器控制元件，其操作上联接到相应的驱动元件并固定到仪器的远端。 仪器控制元件相对于引导仪器可轴向移动，使得导向仪器远端的运动可以由主输入装置控制。

    SYSTEMS AND METHODS EMPLOYING FORCE SENSING FOR MAPPING INTRA-BODY TISSUE
    9.
    发明申请
    SYSTEMS AND METHODS EMPLOYING FORCE SENSING FOR MAPPING INTRA-BODY TISSUE 审中-公开
    使用力感测系统和方法进行体内组织

    公开(公告)号：US20090076476A1

    公开(公告)日：2009-03-19

    申请号：US12192974

    申请日：2008-08-15

    申请人： Federico Barbagli ,  Christopher R. Carlson ,  Neal A. Tanner ,  Christopher M. Sewell

    发明人： Federico Barbagli ,  Christopher R. Carlson ,  Neal A. Tanner ,  Christopher M. Sewell

    IPC分类号： A61B5/103 ,  A61N1/00 ,  A61M31/00

    CPC分类号： A61B5/1076 ,  A61B5/0215 ,  A61B5/042 ,  A61B5/6885 ,  A61B90/06 ,  A61B2090/064

    摘要： A medical instrument system includes a controller and a guide instrument coupled to an instrument driver, the instrument driver configured to manipulate a distal end portion of the guide instrument in response to control signals generated by the controller. A force sensor is associated with the guide instrument or with a working instrument carried by the guide instrument, and generates force signals responsive to a force applied to a respective distal end portion of the guide instrument or working instrument. A position determining system generates position data indicative of a position of the respective guide or working instrument distal end portion associated with the force sensor, and a processor operatively coupled to the force sensor and position determining system processes respective force signals and position data to generate and display a geometric rendering of an internal body tissue surface based on sensed forces applied to the respective instrument distal end portion as the guide instrument is maneuvered within an interior region of a body containing the body surface.

    摘要翻译： 医疗仪器系统包括控制器和耦合到仪器驱动器的引导器，所述仪器驱动器被配置为响应于由所述控制器产生的控制信号来操纵所述引导器械的远端部分。 力传感器与导向仪器或由导向仪器承载的工作仪器相关联，并且响应于施加到引导仪器或工作仪器的相应远端部分的力而产生力信号。 位置确定系统产生指示与力传感器相关联的相应导向或工作仪器远端部分的位置的位置数据，以及可操作地耦合到力传感器和位置确定系统的处理器处理相应的力信号和位置数据以产生和 当在包含身体表面的身体的内部区域内操纵导向仪器时，基于施加到相应器械远端部分的感测力，显示内部身体组织表面的几何渲染。

    Systems, methods and devices for correlating reference locations using image data
    10.
    发明授权
    Systems, methods and devices for correlating reference locations using image data 失效
    使用图像数据关联参考位置的系统，方法和装置

    公开(公告)号：US08270694B2

    公开(公告)日：2012-09-18

    申请号：US12428997

    申请日：2009-04-23

    申请人： Aditya Koolwal ,  Christopher R. Carlson ,  Federico Barbagli

    发明人： Aditya Koolwal ,  Christopher R. Carlson ,  Federico Barbagli

    IPC分类号： G06K9/60

    CPC分类号： G06N7/005 ,  A61B8/12 ,  A61B8/4245 ,  A61B8/483 ,  A61B90/36 ,  A61B2034/2051 ,  A61B2090/364 ,  G06F19/00

    摘要： A variety of embodiments relate to systems, methods, circuits and devices are implemented to perform location-based correlations. One such embodiment relates to a circuit-implemented method for use with an actual probe within an anatomical structure. For a virtual probe at a virtual location within a model of the anatomical structure, virtual image data captured by the virtual probe is generated. The virtual image data is assessed through a probabilistic comparison of the virtual image data to actual image data captured by the actual probe at an actual location. Based upon the assessment, a correlation is updated between the actual location of the actual probe and a sensed location of the actual probe to provide synchronicity between the sensed location and actual location. For maintaining the synchronicity between a subsequently sensed location and subsequent actual location, the assessment is used to select a new virtual location for the virtual probe.

    摘要翻译： 各种实施例涉及实现基于位置的相关性的系统，方法，电路和设备。 一个这样的实施例涉及一种与解剖结构内的实际探针一起使用的电路实现的方法。 对于在解剖结构的模型内的虚拟位置处的虚拟探针，生成由虚拟探针捕获的虚拟图像数据。 通过将虚拟图像数据与由实际探针在实际位置拍摄的实际图像数据进行概率比较来评估虚拟图像数据。 基于评估，在实际探针的实际位置和实际探测器的感测位置之间更新相关性，以提供感测位置与实际位置之间的同步性。 为了保持随后感测到的位置与随后的实际位置之间的同步性，该评估用于为虚拟探针选择新的虚拟位置。