中科微点-全球专利检索

  1. Login
  2. Sign Up

Search Results

7 records (took 0.014 seconds)

    TORQUE-BASED CATHETER ARTICULATION
    1.
    发明申请
    TORQUE-BASED CATHETER ARTICULATION 有权
    基于扭矩的导管结构

    公开(公告)号：US20140276933A1

    公开(公告)日：2014-09-18

    申请号：US13828342

    申请日：2013-03-14

    Applicant: Hansen Medical, Inc.

    Inventor： J. Scot Hart ,  Francis Macnamara ,  Neal Tanner ,  Teresa Miller ,  Kamini Balaji ,  Greg Stahler ,  Chris Carlson ,  Dave Camarillo ,  Jeff Alvarez

    IPC: A61B19/00

    CPC classification number: A61M25/0147 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/03 ,  A61B2034/301 ,  A61B2090/031 ,  A61B2090/066 ,  A61M2205/332 ,  A61M2205/52

    Abstract: A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter. The present embodiment further contemplates a robotic surgical method for the articulation of a steerable catheter wherein an input device is manipulated to communicate a desired catheter position to a control computer and motor torque commands are outputted to an instrument driver. The robotic system may further comprise a torque sensor. The robotic system may also incorporate closed loop feedback in which data from the torque measuring device is used to ensure that the torque in the motor or tension in the pull-wire closely matches the motor torque command from the control computer.

    Abstract translation: 构造成用于关节导管的机器人手术系统包括输入装置，控制计算机和仪器驱动器，其具有用于移动可转向导管的拉线的至少一个马达，其中控制计算机被配置为确定所需的马达 基于用户操纵输入装置的导管的拉线的扭矩或张力。 控制计算机被配置为将拉线的期望的电动机扭矩或张力输出到仪器驱动器，由此仪器驱动器的至少一个电动机实现期望的电动机转矩，以使期望的拉线张力将远端尖端 的导管。 本实施例进一步设想用于可转向导管的关节运动的机器人手术方法，其中操作输入装置以将期望的导管位置传送到控制计算机，并且将马达转矩指令输出到仪器驱动器。 机器人系统还可以包括转矩传感器。 机器人系统还可以包括闭环反馈，其中来自扭矩测量装置的数据用于确保马达中的扭矩或拉线中的张力与来自控制计算机的马达转矩指令紧密匹配。

    Torque-based catheter articulation
    6.
    发明授权
    Torque-based catheter articulation 有权
    基于扭矩的导管关节

    公开(公告)号：US09173713B2

    公开(公告)日：2015-11-03

    申请号：US13828342

    申请日：2013-03-14

    Applicant: Hansen Medical, Inc.

    Inventor： J. Scot Hart ,  Francis Macnamara ,  Neal Tanner ,  Teresa Miller ,  Kamini Balaji ,  Greg Stahler ,  Chris Carlson ,  Dave Camarillo ,  Jeff Alvarez

    IPC: A61B19/00

    CPC classification number: A61M25/0147 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/03 ,  A61B2034/301 ,  A61B2090/031 ,  A61B2090/066 ,  A61M2205/332 ,  A61M2205/52

    Abstract: A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter. The present embodiment further contemplates a robotic surgical method for the articulation of a steerable catheter wherein an input device is manipulated to communicate a desired catheter position to a control computer and motor torque commands are outputted to an instrument driver. The robotic system may further comprise a torque sensor. The robotic system may also incorporate closed loop feedback in which data from the torque measuring device is used to ensure that the torque in the motor or tension in the pull-wire closely matches the motor torque command from the control computer.

    Abstract translation: 构造成用于关节导管的机器人手术系统包括输入装置，控制计算机和仪器驱动器，其具有用于移动可转向导管的拉线的至少一个马达，其中控制计算机被配置为确定所需的马达 基于用户对输入设备的操纵，导管的拉线的扭矩或张力。 控制计算机被配置为将拉线的期望的电动机扭矩或张力输出到仪器驱动器，由此仪器驱动器的至少一个电动机实现期望的电动机转矩，以使期望的拉线张力将远端尖端 的导管。 本实施例进一步设想用于可转向导管的关节运动的机器人手术方法，其中操作输入装置以将期望的导管位置传送到控制计算机，并且将马达转矩指令输出到仪器驱动器。 机器人系统还可以包括扭矩传感器。 机器人系统还可以包括闭环反馈，其中来自扭矩测量装置的数据用于确保马达中的扭矩或拉线中的张力与来自控制计算机的马达转矩指令紧密匹配。

Patent Agency Ranking