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公开(公告)号：US20230372036A1
公开(公告)日：2023-11-23
申请号：US18352938
申请日：2023-07-14
发明人： Matthew D. Rohr Daniel , David W. Bailey , Stephen J. Blumenkranz , Christopher R. Carlson , Matthew D. Inouye
CPC分类号： A61B34/30 , B25J9/10 , A61B34/37 , A61B2034/2061 , A61B2034/2051 , A61B2017/00477
摘要： An apparatus for movably coupling a robotic medical instrument system to an anatomic orifice device comprises a hollow medial portion including a first end, a second end, and a passageway therebetween. The apparatus further comprises a coupling member coupled to the medial portion along a longitudinal axis of the medial portion. The passageway extends through the coupling member, and the coupling member comprises a curved surface configured to rotatably connect the anatomic orifice device to the robotic medical instrument system.
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公开(公告)号：US11612384B2
公开(公告)日：2023-03-28
申请号：US16307995
申请日：2017-06-29
发明人： Vincent Duindam , Federico Barbagli , Cristian Bianchi , Christopher R. Carlson , Timothy D. Soper
IPC分类号： A61B10/04 , A61B34/00 , A61B90/00 , A61B1/00 , A61B34/35 , A61B34/20 , A61B34/30 , A61B1/267 , A61B5/06 , A61M25/01
摘要： A method for displaying guidance information using a graphical user interface during an medical procedure comprises displaying, in a first mode of the graphical user interface, first image data from a perspective corresponding to a distal end of an elongate device. The first image data includes a virtual roadmap. The method also comprises transitioning from the first mode of the graphical user interface to a second mode of the graphical user interface. The transition is based on an occurrence of a triggering condition. The method also comprises displaying, in the second mode of the graphical user interface, second image data from a perspective corresponding to the distal end of the elongate device. The second image data includes a target indicator corresponding to a target location and an alignment indicator corresponding to an expected location of the medical procedure at the target location.
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公开(公告)号：USD957413S1
公开(公告)日：2022-07-12
申请号：US29743824
申请日：2020-07-24
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公开(公告)号：US11116586B2
公开(公告)日：2021-09-14
申请号：US16314317
申请日：2017-06-28
发明人： David W. Bailey , Federico Barbagli , Reuben D. Brewer , Christopher R. Carlson , Vincent Duindam , Tania K. Morimoto , Michael D. Paris , Oliver J. Wagner
IPC分类号： A61B34/00 , A61B34/35 , A61B46/10 , A61B34/20 , A61B34/30 , A61B90/00 , A61B1/00 , A61M25/01
摘要： Systems and methods for controlling an elongate device include an input control console. The console includes a first input control having an infinite length of travel in a first direction, a second input control having an infinite length of travel in more than one direction, one or more transceivers for coupling the console to a control unit for the elongate device, and interface circuits for coupling the first input control and the second input control to the one or more transceivers. The first input control provides a first command suitable for controlling an insertion depth of the elongate device. The second input control provides second commands suitable for controlling steering of a distal end of the elongate device. In some embodiments, the console includes raised rings or bezels within which the input controls are mounted. In some embodiments, pockets of a drape are anchored to the raised rings or bezels.
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公开(公告)号：US20210100627A1
公开(公告)日：2021-04-08
申请号：US17044354
申请日：2019-04-23
发明人： Timothy D. Soper , Troy K. Adebar , Christopher R. Carlson , Vincent Duindam , Teresa G. Gadda , Oliver J. Wagner , Benjamin G. Cohn
IPC分类号： A61B34/20 , A61B10/02 , A61B18/14 , A61B18/02 , A61M5/32 , A61B1/00 , A61B8/12 , A61B8/00 , A61M25/00 , A61B17/34 , G06T7/00 , G06T7/73
摘要： A medical system includes a catheter and a processor. The catheter includes a first channel and a distal end portion associated with a catheter frame of reference. The processor is configured to receive a first image captured by a first imaging device provided by the catheter within a patient anatomy, and receive a second image of the patient anatomy captured by a second imaging device from outside the patient anatomy. The second image includes the catheter and the first imaging device. The processor is further configured to determine a relative pose between the first imaging device and the distal end of the catheter based on the second image, determine a target location associated with a target structure in the first image, and transform the target location in an image frame of reference associated with the first image to the catheter frame of reference based on the relative pose.
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公开(公告)号：US10772485B2
公开(公告)日：2020-09-15
申请号：US16509177
申请日：2019-07-11
发明人： Randall L. Schlesinger , Stephen J. Blumenkranz , Christopher R. Carlson , Vincent Duindam , Anoop B. Kowshik , Timothy D. Soper
摘要： An apparatus may include an instrument including an elongated shaft and a shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis. The apparatus may also comprise a reference sensor disposed within the elongated shaft. The shape sensor may be fixed in a known first position relative to the reference sensor. The apparatus may also comprise a twist resistant feature disposed within the elongated shaft. The twist resistant feature may be coupled to the shape sensor to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft. The shape sensor may be coupled to the twist resistant feature at a known second position relative to the reference sensor.
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公开(公告)号：US20200078104A1
公开(公告)日：2020-03-12
申请号：US16314317
申请日：2017-06-28
发明人： David W. Bailey , Federico Barbagli , Reuben D. Brewer , Christopher R. Carlson , Vincent Duindam , Tania K. Morimoto , Michael D. Paris , Oliver J. Wagner
摘要： Systems and methods for controlling an elongate device include an input control console. The console includes a first input control having an infinite length of travel in a first direction, a second input control having an infinite length of travel in more than one direction, one or more transceivers for coupling the console to a control unit for the elongate device, and interface circuits for coupling the first input control and the second input control to the one or more transceivers. The first input control provides a first command suitable for controlling an insertion depth of the elongate device. The second input control provides second commands suitable for controlling steering of a distal end of the elongate device. In some embodiments, the console includes raised rings or bezels within which the input controls are mounted. In some embodiments, pockets of a drape are anchored to the raised rings or bezels.
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公开(公告)号：US10478162B2
公开(公告)日：2019-11-19
申请号：US15505865
申请日：2015-08-20
IPC分类号： A61B10/04 , A61B10/02 , A61B10/06 , A61B34/20 , A61B34/35 , A61B34/37 , A61B34/00 , A61B90/00 , A61B1/01 , A61B17/00 , A61B34/30
摘要： A method comprising: displaying, in a first region of a display screen, an image of a patient anatomy for guiding a medical instrument to a deployment location during a medical procedure; and recording a plurality of sample identifiers. Each sample identifier is associated with a corresponding tissue sample of a plurality of tissue samples. The method further includes recording a plurality of location stamps. Each location stamp indicates a location in the patient anatomy of a corresponding tissue sample of the plurality of tissue samples. The method further includes: receiving tissue sample pathology information for each tissue sample in the plurality of tissue samples; and displaying, in a table in a second region of the display screen, the plurality of sample identifiers, the plurality of location stamps, and the tissue sample pathology information for each tissue sample during the medical procedure.
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公开(公告)号：USD822685S1
公开(公告)日：2018-07-10
申请号：US29600991
申请日：2017-04-18
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公开(公告)号：US12076103B2
公开(公告)日：2024-09-03
申请号：US16705552
申请日：2019-12-06
IPC分类号： A61B34/00 , A61B5/107 , A61B17/00 , A61B34/35 , A61B34/10 , A61B34/20 , A61B34/30 , A61B90/00
CPC分类号： A61B34/77 , A61B17/00234 , A61B34/35 , A61B34/70 , A61B5/1076 , A61B2017/00017 , A61B2017/003 , A61B2034/105 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2090/3614 , A61B2090/371 , A61B2090/3735 , A61B2090/3782
摘要： A medical instrument system includes a control system and an operator input device coupled to an instrument including a sensor. The control system includes a processor and memory comprising instructions that cause the control system to: determine a distance between a distal tip of the instrument and an anatomical area based on sensor data; determine a motion scaling parameter based on the distance; receive an input instruction from the operator input device; map the input instruction to an output instruction including applying the motion scaling parameter to the input instruction to create the output instruction; instruct an actuator to move the instrument based on the output instruction; determine a second distance between the distal tip and the anatomical area based on the sensor data; determine a second motion scaling parameter based on the second distance; and stop movement of the instrument based on the second motion scaling parameter.
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