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公开(公告)号：US20110015484A1
公开(公告)日：2011-01-20
申请号：US12504569
申请日：2009-07-16
申请人： Jeffrey B. Alvarez , Federico Barbagli , Christopher R. Carlson , Gregory J. Stahler , Neal A. Tanner
发明人： Jeffrey B. Alvarez , Federico Barbagli , Christopher R. Carlson , Gregory J. Stahler , Neal A. Tanner
CPC分类号： A61B1/307 , A61B18/24 , A61B34/30 , A61B2017/00477 , A61B2034/301 , A61B2090/306 , A61B2090/3614 , A61M25/0105
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 elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The 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.
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2.发明申请MULTIPLE FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS FOR MINIMALLY INVASIVE OPERATIONS 审中-公开多个灵活和可操纵的ELENATE仪器用于最小的入侵操作公开(公告)号：US20100331856A1
公开(公告)日：2010-12-30
申请号：US12637622
申请日：2009-12-14
申请人： Christopher R. Carlson , Neal A. Tanner , Gregory J. Stahler , Gene Reis , Enrique Romo , Federico Barbagli
发明人： Christopher R. Carlson , Neal A. Tanner , Gregory J. Stahler , Gene Reis , Enrique Romo , Federico Barbagli
IPC分类号： A61B19/00
CPC分类号： A61B1/00147 , A61B1/0051 , A61B1/01 , A61B1/018 , A61B1/313 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/361 , A61B2017/00314 , A61B2017/00327 , A61B2017/00464 , A61B2017/00477 , A61B2017/2906 , A61B2017/2927 , A61B2034/102 , A61B2034/2059 , A61B2034/301 , A61B2034/306 , A61B2034/742 , A61B2090/306 , A61B2090/3614
摘要： Configurations are described for conducting minimally invasive medical interventions utilizing elongate robotically controlled instruments and assemblies thereof. In one embodiment, a junction sheath may be utilized to facilitate surgical triangulation of two interventional instrument assemblies, while also directing them to the surgical theater through a minimal single wound or surgical port. One or more instrument drivers, and one or more master input devices comprising an operator workstation, may be utilized to independently and simultaneously control multiple degrees of freedom pertinent to each instrument comprising one or more instrument assembly.
摘要翻译： 描述了使用细长的机器人控制的仪器及其组件进行微创医疗干预的配置。 在一个实施例中，可以使用连接护套来促进两个介入器械组件的手术三角测量，同时还通过最小的单个伤口或手术端口将它们引导到外科手术室。 可以使用一个或多个仪器驱动器和包括操作员工作站的一个或多个主输入装置来独立地并且同时地控制与包括一个或多个仪器组件的每个仪器相关的多个自由度。
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公开(公告)号：US08409172B2
公开(公告)日：2013-04-02
申请号：US11833969
申请日：2007-08-03
申请人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , Christopher R. Carlson , Federico Barbagli
发明人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , Christopher R. Carlson , Federico Barbagli
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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4.发明申请公开(公告)号：US20110270273A1
公开(公告)日：2011-11-03
申请号：US13179052
申请日：2011-07-08
申请人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , Christopher R. Carlson , Federico Barbagli
发明人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , Christopher R. Carlson , Federico Barbagli
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：US20110015483A1
公开(公告)日：2011-01-20
申请号：US12504564
申请日：2009-07-16
IPC分类号： A61B1/00
CPC分类号： A61B1/307 , A61B18/24 , A61B34/30 , A61B2017/00477 , A61B2017/2212 , A61B2034/105 , A61B2034/301 , A61B2090/306 , A61B2090/3614 , A61B2090/374 , A61B2090/376 , A61B2090/378
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 elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The 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，并且具有细长的仪器接口，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仪器驱动元件。 细长仪器具有基部，远端和工作腔，其中导向仪器基座可操作地联接到导向仪器接口。 细长器械优选地包括和/或限定其他腔体，以适应诸如光学束，光束，激光光纤和冲洗冲洗的仪器。 工作管腔优选地构造成容纳用于诸如肾结石干预的过程中的抓握或捕获工具，例如可折叠篮或抓紧器。 细长仪器包括多个仪器控制元件，其操作上联接到相应的驱动元件并固定到仪器的远端。 仪器控制元件相对于引导仪器可轴向移动，使得导向仪器远端的运动可以由主输入装置控制。
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公开(公告)号：US20110015648A1
公开(公告)日：2011-01-20
申请号：US12504559
申请日：2009-07-16
IPC分类号： A61B19/00
CPC分类号： A61B17/221 , A61B17/22031 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/361 , A61B2017/00477 , A61B2017/22035 , A61B2017/2212 , A61B2034/105 , A61B2034/301 , A61B2090/306 , A61B2090/3614 , A61B2090/376
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 elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The 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.
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公开(公告)号：US07974681B2
公开(公告)日：2011-07-05
申请号：US11176957
申请日：2005-07-06
申请人： Daniel T. Wallace , Robert G. Younge , Michael R. Zinn , Federico Barbagli , David F. Moore , Gregory J. Stahler , Daniel T. Adams , Frederic H. Moll , Kenneth M. Martin , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Robert G. Younge , Michael R. Zinn , Federico Barbagli , David F. Moore , Gregory J. Stahler , Daniel T. Adams , Frederic H. Moll , Kenneth M. Martin , Gunter D. Niemeyer
IPC分类号： A61B5/05
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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8.发明申请APPARATUS SYSTEMS AND METHODS FOR FORMING A WORKING PLATFORM OF A ROBOTIC INSTRUMENT SYSTEM BY MANIPULATION OF COMPONENTS HAVING CONTROLLABLY RIGIDITY 审中-公开通过控制具有控制刚度的组件来形成机器人系统的工作平台的装置系统和方法公开(公告)号：US20090138025A1
公开(公告)日：2009-05-28
申请号：US12114720
申请日：2008-05-02
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B1/0051 , A61B1/008 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00323 , A61B2034/2061 , A61B2034/301 , A61B2034/306 , A61B2034/741
摘要： Robotic instrument systems, apparatus, and methods for controllably manipulating the rigidity of a distal portion of one or more sheath catheters advanced through an elongate sheath to controllably form a temporary, substantially rigid platform from which other robotically controlled instruments may be manipulated. The platform is formed by one or more multi-segment sheath catheters that can be controlled to be flexible during advancement and substantially rigid at the target site, thereby reducing the length of the operational lever arm of the instrument. For this purpose, a sheath catheter includes a plurality segments that interlock and do not rotate when drawn together, and are connected by a control element, the tension of which may be manipulated by a robotic instrument system to transform the sheath catheter between a flexible state during advancement through the elongate sheath and a substantially rigid state when the sheath catheter is to serve as a platform or component thereof.
摘要翻译： 机器人仪器系统，装置和方法，用于可控制地操纵一个或多个护套导管的远端部分的刚性，其通过细长护套前进，以可控制地形成临时的基本上刚性的平台，可以操纵其他机器人控制的器械。 平台由一个或多个多段鞘导管形成，其可以在进给期间被控制为柔性并且在目标位置处基本上刚性，由此减小了仪器的操作杆臂的长度。 为此目的，护套导管包括多个部分，当拉伸在一起时互锁并且不旋转，并且通过控制元件连接，其张力可由机器人仪器系统操纵，以在柔性状态 当鞘导管作为其平台或部件时，通过细长护套进行推进，并且具有基本上刚性的状态。
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公开(公告)号：US08409234B2
公开(公告)日：2013-04-02
申请号：US12126814
申请日：2008-05-23
IPC分类号： A61B17/32
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B90/80 , A61B2017/003 , A61B2017/00323 , A61B2017/00477 , A61B2017/2906 , A61B2017/2927 , A61B2017/2929 , A61B2017/293 , A61B2034/2061 , A61B2034/301 , A61B2034/304 , A61B2034/305 , A61B2034/306 , A61B2034/741
摘要： Robotic instrument systems, apparatus, and methods for controllably rotating a tool or adapter coupled to a distal portion of a medical instrument such as a catheter. An interface, which may be integral with the medical instrument or a component of a separate rotatable apparatus or adapter, is operably coupled, e.g. fixedly coupled, to the distal end of the instrument. A tool, such as a rotatable portion of a collar or tool base, or a working instrument operably coupled thereto, is rotatable relative to the interface. The interface and collar have guide channels. A control element extends through the medical instrument and respective guide channels such that the tool or collar is controllably rotatable about the instrument axis by axial movement of the control element relative to the instrument.
摘要翻译： 用于可控地旋转耦合到诸如导管的医疗器械的远端部分的工具或适配器的机器人仪器系统，装置和方法。 可以与医疗器械或单独的可旋转装置或适配器的部件一体的界面可操作地耦合，例如， 固定地连接到仪器的远端。 工具，例如套环或工具底座的可旋转部分或可操作地联接到其上的工作装置可相对于界面旋转。 界面和衣领有引导通道。 控制元件延伸穿过医疗器械和相应的引导通道，使得通过控制元件相对于器械的轴向移动，工具或环可以围绕仪器轴线可控地旋转。
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公开(公告)号：US20090024141A1
公开(公告)日：2009-01-22
申请号：US12126814
申请日：2008-05-23
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B90/80 , A61B2017/003 , A61B2017/00323 , A61B2017/00477 , A61B2017/2906 , A61B2017/2927 , A61B2017/2929 , A61B2017/293 , A61B2034/2061 , A61B2034/301 , A61B2034/304 , A61B2034/305 , A61B2034/306 , A61B2034/741
摘要： Robotic instrument systems, apparatus, and methods for controllably rotating a tool or adapter coupled to a distal portion of a medical instrument such as a catheter. An interface, which may be integral with the medical instrument or a component of a separate rotatable apparatus or adapter, is operably coupled, e.g. fixedly coupled, to the distal end of the instrument. A tool, such as a rotatable portion of a collar or tool base, or a working instrument operably coupled thereto, is rotatable relative to the interface. The interface and collar have guide channels. A control element extends through the medical instrument and respective guide channels such that the tool or collar is controllably rotatable about the instrument axis by axial movement of the control element relative to the instrument.
摘要翻译： 用于可控地旋转耦合到诸如导管的医疗器械的远端部分的工具或适配器的机器人仪器系统，装置和方法。 可以与医疗器械或单独的可旋转装置或适配器的部件一体的界面可操作地耦合，例如， 固定地连接到仪器的远端。 工具，例如套环或工具底座的可旋转部分或可操作地联接到其上的工作装置可相对于界面旋转。 界面和衣领有引导通道。 控制元件延伸穿过医疗器械和相应的引导通道，使得通过控制元件相对于器械的轴向移动，工具或环可以围绕仪器轴线可控地旋转。
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