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40 条记录 (耗时 0.03 秒)

    Robotic catheter systems and methods
    6.
    发明申请
    Robotic catheter systems and methods 有权
    机器人导管系统和方法

    公开(公告)号：US20080255505A1

    公开(公告)日：2008-10-16

    申请号：US12079500

    申请日：2008-03-26

    申请人： Christopher R. Carlson ,  Frederico Barbagli

    发明人： Christopher R. Carlson ,  Frederico Barbagli

    IPC分类号： A61M25/01 ,  A61B19/00

    CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B2017/003 ,  A61B2017/00477 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/741 ,  A61M25/0113 ,  A61M25/0147 ,  A61M25/0662 ,  A61M2025/0161

    摘要： A robotic instrument system having an elongate sheath instrument and an elongate catheter instrument positioned within a working lumen of the sheath instrument is controlled by selectively operating an instrument driver coupled to the catheter instrument to place a control element extending through the catheter instrument in tension, and thereby articulate at least a distal end portion the catheter instrument, while automatically compensating for a torsional force exerted on the sheath instrument in a first direction due to articulation of the distal end portion of the catheter, by urging the sheath instrument to twist in a second direction opposite of the first direction.

    摘要翻译： 通过选择性地操作耦合到导管器械的仪器驱动器来控制定位在护套器械的工作腔内的细长护理仪器和细长导管器械的机器人仪器系统，以将通过导管仪器延伸的控制元件放置在张力下，以及 从而至少将导管器械的远端部分连接起来，同时通过促使护套器械在第二方向上扭转，自动补偿由于导管的远端部分的关节而在第一方向施加在护套器械上的扭转力 方向与第一方向相反。

    Systems, methods and devices for correlating reference locations using image data
    7.
    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。

    Systems and methods for mapping intra-body tissue compliance
    8.
    发明申请
    Systems and methods for mapping intra-body tissue compliance 审中-公开
    用于映射体内组织依从性的系统和方法

    公开(公告)号：US20080275367A1

    公开(公告)日：2008-11-06

    申请号：US12150109

    申请日：2008-04-23

    申请人： Frederico Barbagli ,  Christopher R. Carlson

    发明人： Frederico Barbagli ,  Christopher R. Carlson

    IPC分类号： A61B5/00 ,  A61B17/00

    CPC分类号： G06F19/3481 ,  A61B5/6852 ,  A61B5/6885 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2034/301 ,  A61B2034/715 ,  A61B2034/741 ,  A61B2090/065 ,  A61B2562/0247 ,  G16H40/63

    摘要： Robotic instrument systems and methods for generating a geometric map of an area of body tissue which is correlated with a tissue characteristic such as tissue compliance or related property. The system comprises a robotically controlled catheter which is controlled by a robotic instrument driver. A force sensor system is provided generates force signals responsive to a force applied to the distal end of the catheter. A position determination system is also provided which generates position signals responsive to the location of the distal end of the catheter. A computer is configured to receive and process the force signals and position signals to generate a geometric map of an area of body tissue correlated to the tissue compliance of different regions of the body tissue or a tissue characteristic determinable from the tissue compliance.

    摘要翻译： 用于产生身体组织区域的几何图的机器人仪器系统和方法，其与诸如组织依从性或相关属性的组织特征相关联。 该系统包括由机器人仪器驱动器控制的机器人控制的导管。 提供力传感器系统产生响应于施加到导管的远端的力的力信号。 还提供了一种位置确定系统，其产生响应于导管的远端位置的位置信号。 计算机被配置为接收和处理力信号和位置信号以生成与身体组织的不同区域的组织依从性相关的身体组织的区域的几何图形或者可从组织依从性确定的组织特征。

    Systems, Methods and Devices for Correlating Reference Locations Using Image Data
    9.
    发明申请
    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，方法和设备

    公开(公告)号：US20090268955A1

    公开(公告)日：2009-10-29

    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： G06K9/00 ,  G06N5/04 ,  A61B8/00 ,  A61B5/05

    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。