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1.发明申请公开(公告)号：US20080027464A1
公开(公告)日：2008-01-31
申请号：US11829076
申请日：2007-07-26
IPC分类号： A61B19/00
CPC分类号： A61B1/307 , A61B8/12 , A61B17/0218 , A61B17/22004 , A61B17/22031 , A61B17/221 , A61B17/29 , A61B18/1445 , A61B18/26 , A61B34/30 , A61B34/35 , A61B34/37 , A61B2017/00557 , A61B2017/22051 , A61B2017/22069 , A61B2018/00577 , A61B2034/301 , A61B2090/306 , A61B2090/373 , A61M25/0105 , A61M25/10 , A61M2025/1081
摘要： A robotic surgical system (100) includes an instrument driver (106) that is mounted on an operation table (104), and an instrument assembly (108) is operatively coupled to the instrument driver (106), wherein the instrument assembly (108) includes a flexible guide instrument and a component instrument carried in a lumen of the guide instrument, the component instrument including a light source, camera and laser energy fiber.
摘要翻译： 机器人手术系统（100）包括安装在操作台（104）上的仪器驱动器（106），并且仪器组件（108）可操作地联接到仪器驱动器（106），其中仪器组件（108） 包括灵活的引导仪器和携带在引导仪器的内腔中的组件仪器，该组件仪器包括光源，照相机和激光能量纤维。
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公开(公告)号：US20070197896A1
公开(公告)日：2007-08-23
申请号：US11637951
申请日：2006-12-11
IPC分类号： A61B5/05
CPC分类号： A61B1/00039 , A61B6/503 , A61B8/0808 , A61B8/0883 , A61B17/11 , A61B17/1114 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B50/10 , A61B50/13 , A61B90/361 , A61B2017/003 , A61B2017/00477 , A61B2017/00703 , A61B2017/1135 , A61B2017/4216 , A61B2017/4233 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2034/301 , A61B2034/715 , A61B2090/364 , A61B2090/376 , A61B2090/378 , B33Y80/00
摘要： A method for performing an interventional procedure using a robotically controlled guide instrument coupled to an instrument drive assembly, includes manipulating a user interface of a master controller to actuate the drive assembly and thereby position a distal portion of the guide instrument at an interventional procedure site in a patient's body; and providing on a first display a graphically rendered image of the distal portion of the guide instrument overlaying an image of the interventional procedure site, wherein manipulation of the user interface causes a corresponding movement of the instrument model relative to the image in the first display.
摘要翻译： 一种用于使用耦合到仪器驱动组件的机器人控制的引导器进行介入过程的方法，包括操纵主控制器的用户界面以致动驱动组件，从而将引导器的远端部分定位在介入过程现场 病人的身体 并且在第一显示器上提供重叠所述介入程序位置的图像的所述导向仪器的远端部分的图形渲染图像，其中所述用户界面的操纵导致所述乐器模型相对于所述第一显示器中的图像的相应移动。
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公开(公告)号：US20070156123A1
公开(公告)日：2007-07-05
申请号：US11640099
申请日：2006-12-14
IPC分类号： A61B17/00
CPC分类号： A61B17/0057 , A61B17/0643 , A61B17/0644 , A61B17/068 , A61B17/12022 , A61B17/12122 , A61B17/12172 , A61B34/30 , A61B34/37 , A61B34/70 , A61B50/10 , A61B50/13 , A61B50/15 , A61B2017/00575 , A61B2017/00632 , A61B2017/00867 , A61B2017/0649 , A61B2017/1205 , A61B2034/301
摘要： A robotically controlled guide instrument system, comprising an elongate flexible guide instrument; a drive assembly coupled to a proximal portion of the guide instrument and configured to maneuver a distal portion of the guide instrument; a master controller including a user interface that may be manipulated to actuate the drive assembly and thereby maneuver the distal portion the guide instrument; and a closure device detachably coupled to a delivery member carried by the guide instrument, the guide instrument maneuverable to position the closure device proximate an opening of a left atrial appendage of a person's heart such that the prosthesis may be detached from the delivery member and implanted to substantially close off the left atrial appendage.
摘要翻译： 一种机器人控制的导向仪器系统，包括细长的柔性引导器械; 驱动组件，其联接到所述引导仪器的近端部分并且构造成操纵所述引导器械的远端部分; 主控制器，其包括用户界面，其可以被操纵以致动所述驱动组件，从而操纵所述远端部分所述引导仪器; 以及可拆卸地联接到由引导器械承载的输送构件的闭合装置，所述引导器械可操作地将所述闭合装置定位在靠近人心脏的左心耳的开口处，使得所述假体可以与所述输送构件分离并植入 大致关闭左心耳。
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公开(公告)号：US20080058836A1
公开(公告)日：2008-03-06
申请号：US11833969
申请日：2007-08-03
IPC分类号： A61B17/00
CPC分类号： A61B19/2203 , A61B1/00082 , A61B1/018 , A61B1/307 , A61B17/0057 , A61B17/12122 , A61B17/12172 , A61B17/221 , A61B17/29 , A61B17/32056 , A61B18/1492 , A61B18/22 , A61B18/26 , A61B34/30 , A61B34/32 , A61B34/37 , A61B2017/00243 , A61B2017/00247 , A61B2017/00274 , A61B2017/003 , A61B2017/00575 , A61B2017/00632 , A61B2017/22034 , A61B2017/22059 , A61B2017/22069 , A61B2017/22072 , A61B2017/2212 , A61B2017/2215 , A61B2018/00392 , A61B2018/00547 , A61B2034/301 , A61B2034/741 , A61B2090/3614 , A61B2090/3782 , A61M25/0127 , A61M25/1002 , A61M2025/1072 , A61M2025/1086
摘要： A robotic surgical system includes an instrument driver and an instrument assembly operatively coupled to the instrument driver such that mechanisms of the instrument driver operate or control movement, operation, or both, of components of the instrument assembly. The instrument assembly components include an elongate flexible guide instrument, an optical light source, a camera and a working tool, wherein the light source, camera, and working tool are carried in one or more lumens of the guide instrument. An operator control station is operatively coupled to the instrument driver via a remote communication link. The instrument assembly further includes an inflatable visualization balloon carried on a distal end portion of the guide instrument, the light source and camera having distal ends located within an interior of the balloon, the balloon comprising a lumen extending from the guide instrument to a distal facing wall of the balloon, such that the working instrument may extend from a respective lumen of the guide instrument through the balloon lumen to contact body tissue when the distal end of the guide instrument is positioned in an interior body region.
摘要翻译： 机器人手术系统包括仪器驱动器和可操作地耦合到仪器驱动器的仪器组件，使得仪器驱动器的机构操作或控制仪器组件的部件的运动，操作或两者。 仪器组件部件包括细长的柔性引导仪器，光学光源，照相机和工作工具，其中光源，照相机和工作工具承载在导向仪器的一个或多个腔中。 操作员控制站经由远程通信链路可操作地耦合到仪器驱动器。 所述仪器组件还包括承载在所述导向仪器的远端部分上的充气可视化气囊，所述光源和所述照相机具有位于所述气囊内部的远端，所述球囊包括从所述引导器延伸到远侧面 使得当导向器械的远端定位在内部身体区域中时，工作器械可以从引导器具的相应内腔延伸穿过气囊内腔而接触身体组织。
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公开(公告)号：US20060293643A1
公开(公告)日：2006-12-28
申请号：US11176957
申请日：2005-07-06
申请人： Daniel Wallace , Robert Younge , Michael Zinn , Federico Barbagli , David Moore , Gregory Stahler , Daniel Adams , Frederic Moll , Kenneth Martin , Gunter Niemeyer
发明人： Daniel Wallace , Robert Younge , Michael Zinn , Federico Barbagli , David Moore , Gregory Stahler , Daniel Adams , Frederic Moll , Kenneth Martin , Gunter Niemeyer
IPC分类号： A61B17/00
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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公开(公告)号：US20060100610A1
公开(公告)日：2006-05-11
申请号：US11176598
申请日：2005-07-06
申请人： Daniel Wallace , Robert Younge , Michael Zinn , Federico Barbagli , David Moore , Gregory Stahler , Daniel Adams , Frederic Moll , Kenneth Martin
发明人： Daniel Wallace , Robert Younge , Michael Zinn , Federico Barbagli , David Moore , Gregory Stahler , Daniel Adams , Frederic Moll , Kenneth Martin
IPC分类号： A61B17/00
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 method using a robotic system to perform a procedure on a patient, includes moving a control interface provided on a master input device, generating control signals corresponding, at least in part, to movement of the interface, moving one or more drive elements of an instrument driver in response to the control signal, the one or more drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument. The method may further comprise providing tactile feedback through the interface.
摘要翻译： 一种使用机器人系统对患者执行过程的方法包括移动设在主输入设备上的控制界面，产生至少部分地对应于接口移动的控制信号，移动一个或多个驱动元件 响应于控制信号的仪器驱动器，所述一个或多个驱动元件可操作地联接到细长引导器具的对应的多个控制元件，所述控制元件固定到所述引导器械的远端并且相对于所述导向器具可轴向移动 使得驱动元件的移动导致引导器械的相应移动。 该方法还可以包括通过界面提供触觉反馈。
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公开(公告)号：US20070043338A1
公开(公告)日：2007-02-22
申请号：US11481433
申请日：2006-07-03
申请人： Frederic Moll , Daniel Wallace , Gregory Stahler , David Moore , Daniel Adams , Kenneth Martin , Robert Younge , Michael Zinn , Gunter Niemeyer , David Lundmark
发明人： Frederic Moll , Daniel Wallace , Gregory Stahler , David Moore , Daniel Adams , Kenneth Martin , Robert Younge , Michael Zinn , Gunter Niemeyer , David Lundmark
IPC分类号： A61B17/00
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：US20060084945A1
公开(公告)日：2006-04-20
申请号：US11176954
申请日：2005-07-06
申请人： Frederic Moll , Daniel Wallace , Robert Younge , Kenneth Martin , Gregory Stahler , David Moore , Daniel Adams , Michael Zinn , Gunter Niemeyer
发明人： Frederic Moll , Daniel Wallace , Robert Younge , Kenneth Martin , Gregory Stahler , David Moore , Daniel Adams , Michael Zinn , Gunter Niemeyer
IPC分类号： A61B17/00
CPC分类号： A61B8/12 , A61B5/7285 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B34/77 , A61B90/50 , A61B2017/00247 , A61B2017/003 , 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
摘要： A robotic medical system comprises an operator control station having a master input device, a catheter instrument, and an instrument driver in communication with the operator control station. The catheter instrument includes an elongate flexible catheter member, a flexible control element, such as, e.g., a cable, extending within the catheter member, and a proximal drivable assembly configured to axially move the control element relative to the catheter member to perform a kinematic function at a distal end of the catheter member, such as a deflection of the distal end of the catheter member. The instrument driver is configured to operate the drivable assembly to axially move the control element in response to control signals generated, at least in part, by the master input device. The drivable assembly is mounted to the instrument driver, thereby providing mechanically close relationship between the drivable assembly and the instrument driver and minimizing the errors between the actual and predicted kinematic functions otherwise introduced into the system via intervening structure between the drivable assembly and instrument driver.
摘要翻译： 机器人医疗系统包括具有与操作者控制站通信的主输入装置，导管仪器和仪器驱动器的操作员控制站。 导管器械包括细长的柔性导管构件，在导管构件内延伸的柔性控制元件，例如电缆，以及配置成相对于导管构件轴向移动控制元件以执行运动学的近端可驱动组件 在导管构件的远端处起作用，例如导管构件的远端的偏转。 仪器驱动器被配置为操作可驱动组件以响应于至少部分地由主输入设备产生的控制信号来轴向移动控制元件。 可驱动的组件安装到仪器驱动器，从而在可驱动组件和仪器驱动器之间提供机械上的密切关系，并且通过可驱动组件和仪器驱动器之间的中间结构，最小化其它引入系统的实际和预测的运动功能之间的误差。
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公开(公告)号：US20050222554A1
公开(公告)日：2005-10-06
申请号：US11073363
申请日：2005-03-04
申请人： Daniel Wallace , Frederic Moll , Robert Younge , Kenneth Martin , Gregory Stahler , David Moore , Daniel Adams , Michael Zinn , Gunter Niemeyer
发明人： Daniel Wallace , Frederic Moll , Robert Younge , Kenneth Martin , Gregory Stahler , David Moore , Daniel Adams , Michael Zinn , Gunter Niemeyer
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：US20060200026A1
公开(公告)日：2006-09-07
申请号：US11331576
申请日：2006-01-13
IPC分类号： A61B5/05
CPC分类号： A61B8/0833 , A61B6/12 , A61B6/541 , A61B34/25 , A61B34/30 , A61B34/37 , A61B2034/301 , A61B2090/376 , A61B2090/3782
摘要： A method comprises inserting a flexible instrument in a body; maneuvering the instrument using a robotically controlled system; predicting a location of the instrument in the body using kinematic analysis; generating a graphical reconstruction of the catheter at the predicted location; obtaining an image of the catheter in the body; and comparing the image of the catheter with the graphical reconstruction to determine an error in the predicted location.
摘要翻译： 一种方法包括将柔性仪器插入体内; 使用机器人控制系统操纵仪器; 使用运动学分析预测仪器在身体中的位置; 在预测位置产生导管的图形重建; 获取体内导管的图像; 并将导管的图像与图形重建进行比较，以确定预测位置的误差。
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