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公开(公告)号：US08052636B2
公开(公告)日：2011-11-08
申请号：US11481433
申请日：2006-07-03
申请人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David Lundmark
发明人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David Lundmark
IPC分类号： A61M31/00
CPC分类号： A61B17/062 , A61B17/0469 , A61B17/1114 , A61B17/42 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/77 , A61B46/10 , A61B50/13 , A61B50/15 , A61B2017/00238 , A61B2017/00243 , A61B2017/003 , A61B2017/00336 , A61B2017/00477 , A61B2017/00743 , A61B2017/00805 , A61B2017/00827 , A61B2034/301 , A61B2034/715 , B33Y80/00
摘要： The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.
摘要翻译： 本发明的一个实施例的装置包括柔性护套仪器，柔性引导器械和工具。 柔性护套仪器包括可移除地耦合到仪器驱动器并且限定护套仪器工作腔的第一仪器基座。 柔性引导仪器包括可移除地联接到仪器驱动器并且穿过护套仪器工作腔的第二仪器基座。 引导仪器还定义了工具内腔的导向仪器。 该工具穿过导向仪工作腔。 对于该装置的该实施例，护套仪器和引导器具可以彼此独立地控制。
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公开(公告)号：US20110238083A1
公开(公告)日：2011-09-29
申请号：US13154351
申请日：2011-06-06
申请人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David Lundmark
发明人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David Lundmark
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B1/018 , A61B1/2676 , A61B1/273 , A61B5/0006 , A61B5/053 , A61B5/7285 , A61B6/541 , A61B8/0808 , A61B8/12 , A61B17/0482 , A61B17/062 , A61B18/08 , A61B34/20 , A61B34/25 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/39 , A61B90/50 , A61B2017/00238 , A61B2017/00243 , A61B2017/00296 , A61B2017/003 , A61B2017/00336 , A61B2017/00743 , A61B2017/00805 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2063 , A61B2034/256 , A61B2034/301 , A61B2034/303 , A61B2034/715 , A61B2090/035 , A61B2090/062 , A61B2090/065 , A61B2090/364 , A61B2090/376 , A61B2090/378 , A61B2090/3784 , A61M25/0105 , A61M25/0113 , A61M25/0147 , A61M2025/0004 , B33Y70/00 , B33Y80/00
摘要： The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.
摘要翻译： 本发明的一个实施例的装置包括柔性护套仪器，柔性引导器械和工具。 柔性护套仪器包括可移除地耦合到仪器驱动器并且限定护套仪器工作腔的第一仪器基座。 柔性引导仪器包括可移除地联接到仪器驱动器并且穿过护套仪器工作腔的第二仪器基座。 引导仪器还定义了工具内腔的导向仪器。 该工具穿过导向仪工作腔。 对于该装置的该实施例，护套仪器和引导器具可以彼此独立地控制。
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公开(公告)号：US20120209174A1
公开(公告)日：2012-08-16
申请号：US13358468
申请日：2012-01-25
申请人： Frederic H. MOLL , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David Lundmark
发明人： Frederic H. MOLL , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David Lundmark
IPC分类号： A61M25/092
CPC分类号： A61B34/30 , A61B1/018 , A61B1/2676 , A61B1/273 , A61B5/0006 , A61B5/053 , A61B5/7285 , A61B6/541 , A61B8/0808 , A61B8/12 , A61B17/0482 , A61B17/062 , A61B18/08 , A61B34/20 , A61B34/25 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/39 , A61B90/50 , A61B2017/00238 , A61B2017/00243 , A61B2017/00296 , A61B2017/003 , A61B2017/00336 , A61B2017/00743 , A61B2017/00805 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2063 , A61B2034/256 , A61B2034/301 , A61B2034/303 , A61B2034/715 , A61B2090/035 , A61B2090/062 , A61B2090/065 , A61B2090/364 , A61B2090/376 , A61B2090/378 , A61B2090/3784 , A61M25/0105 , A61M25/0113 , A61M25/0147 , A61M2025/0004 , B33Y70/00 , B33Y80/00
摘要： The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.
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公开(公告)号：US20120065467A1
公开(公告)日：2012-03-15
申请号：US13225324
申请日：2011-09-02
申请人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David Lundmark
发明人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David Lundmark
CPC分类号： A61B34/30 , A61B1/018 , A61B1/2676 , A61B1/273 , A61B5/0006 , A61B5/053 , A61B5/7285 , A61B6/541 , A61B8/0808 , A61B8/12 , A61B17/0482 , A61B17/062 , A61B18/08 , A61B34/20 , A61B34/25 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/39 , A61B90/50 , A61B2017/00238 , A61B2017/00243 , A61B2017/00296 , A61B2017/003 , A61B2017/00336 , A61B2017/00743 , A61B2017/00805 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2063 , A61B2034/256 , A61B2034/301 , A61B2034/303 , A61B2034/715 , A61B2090/035 , A61B2090/062 , A61B2090/065 , A61B2090/364 , A61B2090/376 , A61B2090/378 , A61B2090/3784 , A61M25/0105 , A61M25/0113 , A61M25/0147 , A61M2025/0004 , B33Y70/00 , B33Y80/00
摘要： The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.
摘要翻译： 本发明的一个实施例的装置包括柔性护套仪器，柔性引导器械和工具。 柔性护套仪器包括可移除地耦合到仪器驱动器并且限定护套仪器工作腔的第一仪器基座。 柔性引导仪器包括可移除地联接到仪器驱动器并且穿过护套仪器工作腔的第二仪器基座。 引导仪器还定义了工具内腔的导向仪器。 该工具穿过导向仪工作腔。 对于该装置的该实施例，护套仪器和引导器具可以彼此独立地控制。
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公开(公告)号：US20120004668A1
公开(公告)日：2012-01-05
申请号：US13118293
申请日：2011-05-27
申请人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
IPC分类号： A61B19/00
CPC分类号： A61B34/37 , A61B5/042 , A61B5/066 , A61B5/6852 , A61B5/6885 , A61B5/7285 , A61B5/746 , A61B6/4423 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/035 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , A61M25/0113 , A61M25/09041
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 guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide 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，并且具有引导仪器接口，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引导仪器驱动元件。 细长的引导器具具有底座，远端和工作腔，其中导向仪器底座可操作地连接到导向仪器接口。 导向仪器包括多个导向仪器控制元件，其可操作地联接到相应的引导驱动元件并固定到引导器械的远端。 引导仪器控制元件相对于引导仪器可轴向移动，使得引导器械远端的移动可由主输入装置控制。
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公开(公告)号：US08409136B2
公开(公告)日：2013-04-02
申请号：US13118293
申请日：2011-05-27
申请人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
IPC分类号： A61M31/00
CPC分类号： A61B34/37 , A61B5/042 , A61B5/066 , A61B5/6852 , A61B5/6885 , A61B5/7285 , A61B5/746 , A61B6/4423 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/035 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , A61M25/0113 , A61M25/09041
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 guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide 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.
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公开(公告)号：US07972298B2
公开(公告)日：2011-07-05
申请号：US11073363
申请日：2005-03-04
申请人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
IPC分类号： A61M31/00
CPC分类号： A61B34/37 , A61B5/042 , A61B5/066 , A61B5/6852 , A61B5/6885 , A61B5/7285 , A61B5/746 , A61B6/4423 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/035 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , A61M25/0113 , A61M25/09041
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 guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide 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.
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公开(公告)号：US08394054B2
公开(公告)日：2013-03-12
申请号：US13118309
申请日：2011-05-27
申请人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
IPC分类号： A61M31/00
CPC分类号： A61B34/37 , A61B5/042 , A61B5/066 , A61B5/6852 , A61B5/6885 , A61B5/7285 , A61B5/746 , A61B6/4423 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/035 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , A61M25/0113 , A61M25/09041
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 guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide 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.
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公开(公告)号：US20110230896A1
公开(公告)日：2011-09-22
申请号：US13118309
申请日：2011-05-27
申请人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
IPC分类号： A61B19/00
CPC分类号： A61B34/37 , A61B5/042 , A61B5/066 , A61B5/6852 , A61B5/6885 , A61B5/7285 , A61B5/746 , A61B6/4423 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/035 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , A61M25/0113 , A61M25/09041
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 guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide 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，并且具有引导仪器接口，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引导仪器驱动元件。 细长的引导器具具有底座，远端和工作腔，其中导向仪器底座可操作地连接到导向仪器接口。 导向仪器包括多个导向仪器控制元件，其可操作地联接到相应的引导驱动元件并固定到引导器械的远端。 引导仪器控制元件相对于引导仪器可轴向移动，使得引导器械远端的移动可由主输入装置控制。
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公开(公告)号：US07974681B2
公开(公告)日：2011-07-05
申请号：US11176957
申请日：2005-07-06
申请人： Daniel T. Wallace , Robert G. Younge , Michael R. Zinn , Federico Barbagli , David F. Moore , Gregory J. Stahler , Daniel T. Adams , Frederic H. Moll , Kenneth M. Martin , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Robert G. Younge , Michael R. Zinn , Federico Barbagli , David F. Moore , Gregory J. Stahler , Daniel T. Adams , Frederic H. Moll , Kenneth M. Martin , Gunter D. Niemeyer
IPC分类号： A61B5/05
CPC分类号： A61B34/30 , A61B5/7285 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B17/00234 , A61B18/00 , A61B34/20 , A61B34/25 , A61B34/37 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00199 , A61B2017/00247 , A61B2017/003 , A61B2017/00477 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2034/742 , A61B2090/035 , A61B2090/065 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , B33Y80/00
摘要： A robotic catheter system includes a controller with a master input device, and an instrument driver in communication with the controller, the instrument driver configured for independently controlling each of number of desired motions of a flexible, elongate guide instrument in a body of a patient in response to control signals generated by the controller, the desired motions selected from the group comprising axial advancement, axial retraction, axial rotation, and radial bending. Integrated haptics capability may be provided, in which one or more motors provide tactile feedback to an operator through 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和与控制器通信的仪器驱动器，该仪器驱动器被配置为独立地控制患者身体中的柔性细长引导器械的期望运动的数量 对由控制器产生的控制信号的响应，从包括轴向前进，轴向收缩，轴向旋转和径向弯曲的组中选择的期望运动。 可以提供集成的触觉能力，其中一个或多个电动机通过主输入装置向操作者提供触觉反馈。
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