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1.发明申请公开(公告)号：US20220214158A1
公开(公告)日：2022-07-07
申请号：US17700370
申请日：2022-03-21
发明人： Dawn K. Gifford , Federico Barbagli , Samuel Chang , Anoop B. Kowshik , Oliver Wagner , Michael Paris , Mark Froggatt
摘要： An optical force sensor along with an optical processing apparatus and method are disclosed. The optical force sensor includes an optical fiber, a core included in the optical fiber, an instrument including the optical fiber, the instrument having a distal region, and a tubular structure encasing an end of the optical fiber and secured to the first conduit at the distal region of the instrument. When an optical interferometric system is coupled to the optical fiber, it processes reflected light from a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of a force present at the distal region of the instrument.
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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：US10022067B2
公开(公告)日：2018-07-17
申请号：US15627099
申请日：2017-06-19
摘要： A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The first alignment feature is configured to mate with a first sensor component and the second alignment feature configured to mate with a second sensor component. When the system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature, the first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first and second alignment features.
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公开(公告)号：US20160067450A1
公开(公告)日：2016-03-10
申请号：US14844341
申请日：2015-09-03
发明人： Anoop B. Kowshik
CPC分类号： A61M25/0147 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2034/306 , A61B2090/066 , A61B2090/3614 , A61B2090/371 , A61M25/0138
摘要： A medical instrument comprises an elongate flexible body including a proximal section and a steerable distal section. The instrument also comprises a control tendon extending within the elongate flexible body. The instrument also comprises an axially variable stiffening mechanism including a first conduit extending through a second conduit. The axially variable stiffening mechanism is adjustable between a first state in which an actuation of the control tendon produces a first bend radius in the steerable distal section and a second state in which the actuation of the control tendon produces a second bend radius in the steerable distal section. The second bend radius is different than the first bend radius.
摘要翻译： 医疗器械包括细长的柔性体，其包括近端部分和可操纵远端部分。 仪器还包括在细长柔性体内延伸的控制肌腱。 仪器还包括轴向可变的加强机构，其包括延伸穿过第二导管的第一导管。 轴向可变加强机构可在第一状态和第二状态之间调节，在第一状态下，控制腱的致动在可转向远端部分产生第一弯曲半径，在第二状态下，控制腱的致动在可操纵远端产生第二弯曲半径 部分。 第二弯曲半径不同于第一弯曲半径。
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公开(公告)号：US20240299110A1
公开(公告)日：2024-09-12
申请号：US18665049
申请日：2024-05-15
CPC分类号： A61B34/35 , A61B34/30 , A61B34/71 , A61B2017/003 , A61B2017/00309 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61M25/0138 , A61M25/0147 , A61M2025/0166
摘要： A medical instrument comprises an elongate flexible body comprising a proximal portion, a distal portion comprising a steerable tube and a plurality of channels, a transition portion between the proximal portion and the distal portion, and an inner sheath extending at least within the proximal portion. The inner sheath comprises a plurality of conduits extending through a wall of the inner sheath, and a distal end of each conduit terminates at the transition portion. The medical instrument further comprises at least one tendon extending from the proximal portion into the distal portion of the elongate flexible body. In the proximal portion, the tendon extends through at least one conduit of the plurality of conduits. In the distal portion, the tendon extends within at least one channel of the plurality of channels.
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公开(公告)号：US11998176B2
公开(公告)日：2024-06-04
申请号：US17562431
申请日：2021-12-27
CPC分类号： A61B1/126 , A61B1/00006 , A61B1/00009 , A61B1/00091 , A61B1/015 , A61B17/00234 , A61M1/85 , A61M3/0279 , A61M13/003 , A61B1/00154 , A61B34/30 , A61M2202/0225
摘要： An elongate flexible instrument includes an elongate flexible instrument, an image capture instrument, and at least one heat transfer element. The elongate flexible instrument defines an internal channel. The internal channel is configured to receive a fluid from a fluid source. The image capture instrument is disposed within the internal channel in a distal portion of the elongate flexible instrument. The at least one heat transfer element is configured to transfer heat from the image capture instrument to the fluid.
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公开(公告)号：US20210212783A1
公开(公告)日：2021-07-15
申请号：US17218859
申请日：2021-03-31
发明人： Anoop B. Kowshik
摘要： A minimally invasive medical instrument comprises an elongate flexible body including a proximal portion, a distal portion, a transition portion between the proximal portion and the distal portion, an inner sheath, and an outer sheath. The medical instrument further comprises a plurality of conduits positioned within the inner sheath. The plurality of conduits extend through the inner sheath and terminate within the inner sheath. Each conduit includes a conduit lumen and a distal end. The distal end terminates at the transition portion. The medical instrument further comprises at least one tendon extending through the conduit lumen of at least one conduit of the plurality of conduits from the proximal portion into the distal portion of the elongate flexible body. The at least one tendon is actuatable to steer the distal portion.
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公开(公告)号：US10568539B2
公开(公告)日：2020-02-25
申请号：US16028062
申请日：2018-07-05
摘要： A catheter system includes an elongate flexible catheter and a support structure mounted on a proximal portion of the elongate flexible catheter. The support structure includes a first alignment feature configured to mate with a first sensor such that the first sensor is maintained parallel to a longitudinal axis of the support structure, and a second alignment feature configured to mate with a second sensor such that the second sensor is maintained parallel to the longitudinal axis of the support structure and such that the second sensor is fixed relative to the first sensor in at least one degree of freedom.
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公开(公告)号：US20180325417A1
公开(公告)日：2018-11-15
申请号：US16028062
申请日：2018-07-05
CPC分类号： A61B5/06 , A61B5/065 , A61B34/20 , A61B34/30 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2090/3614 , A61M25/0147 , A61M2025/0166
摘要： A catheter system includes an elongate flexible catheter and a support structure mounted on a proximal portion of the elongate flexible catheter. The support structure includes a first alignment feature configured to mate with a first sensor such that the first sensor is maintained parallel to a longitudinal axis of the support structure, and a second alignment feature configured to mate with a second sensor such that the second sensor is maintained parallel to the longitudinal axis of the support structure and such that the second sensor is fixed relative to the first sensor in at least one degree of freedom.
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公开(公告)号：US11471066B2
公开(公告)日：2022-10-18
申请号：US16752064
申请日：2020-01-24
摘要： A robotic system includes a manipulator assembly including at least one actuator, a control system including at least one processor configured to control the manipulator assembly, an elongate flexible catheter configured to be manipulated by the at least one actuator, and a support structure mounted on a proximal portion of the elongate flexible catheter. The support structure includes a first alignment feature and a second alignment feature. The first alignment feature is configured to mate with a first sensor such that the first sensor is maintained parallel to a longitudinal axis of the support structure. The second alignment feature is configured to mate with a second sensor such that the second sensor is maintained parallel to the longitudinal axis of the support structure and such that the second sensor is fixed relative to the first sensor in at least one degree of freedom.
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