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1.发明申请CORRECTION OF SHIFT AND DRIFT IN IMPEDANCE-BASED MEDICAL DEVICE NAVIGATION USING MEASURED IMPEDANCES AT EXTERNAL PATCH ELECTRODES 有权使用外部贴片电极测量的阻抗进行基于阻抗的医疗设备导航中的移位和移位校正公开(公告)号：US20140155721A1
公开(公告)日：2014-06-05
申请号：US13690737
申请日：2012-11-30
IPC分类号： A61B5/06
CPC分类号： A61B5/063 , A61B5/053 , A61B5/6801 , A61B5/742
摘要： A system and method are provided for determining characteristics of a device electrode disposed on a medical device within a body. A plurality of measurement electrodes are coupled to an external surface of the body and establish transmission paths for current through the body. An electronic control unit (ECU) is configured to cause transmission of current between a pair of active electrodes selected from the measurement electrodes and thereby generate a voltage on the device electrode. The ECU receives impedance signals from a plurality of passive electrodes among the measurement electrodes other than the active electrodes. The ECU establishes a virtual reference electrode at a reference position within the body responsive to the impedance signals and computes a position of the device responsive to the voltage on the device electrode and the reference position of the reference electrode. The ECU may also compute impedances at the device and measurement electrodes.
摘要翻译： 提供了一种用于确定设置在身体内的医疗装置上的装置电极的特性的系统和方法。 多个测量电极耦合到身体的外表面并建立用于通过身体的电流的传输路径。 电子控制单元（ECU）被配置为在从测量电极中选择的一对有源电极之间引起电流的传输，从而在器件电极上产生电压。 ECU从除了有源电极之外的测量电极中的多个无源电极接收阻抗信号。 ECU根据阻抗信号在主体内的参考位置建立虚拟参考电极，并根据器件电极上的电压和参考电极的参考位置计算器件的位置。 ECU还可以计算设备和测量电极处的阻抗。
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2.发明授权Correction of shift and drift in impedance-based medical device navigation using measured impedances at external patch electrodes 有权使用测量的外部贴片电极的阻抗校正基于阻抗的医疗设备导航中的位移和漂移公开(公告)号：US08849393B2
公开(公告)日：2014-09-30
申请号：US13690737
申请日：2012-11-30
IPC分类号： A61B5/00
CPC分类号： A61B5/063 , A61B5/053 , A61B5/6801 , A61B5/742
摘要： A system and method are provided for determining characteristics of a device electrode disposed on a medical device within a body. A plurality of measurement electrodes are coupled to an external surface of the body and establish transmission paths for current through the body. An electronic control unit (ECU) is configured to cause transmission of current between a pair of active electrodes selected from the measurement electrodes and thereby generate a voltage on the device electrode. The ECU receives impedance signals from a plurality of passive electrodes among the measurement electrodes other than the active electrodes. The ECU establishes a virtual reference electrode at a reference position within the body responsive to the impedance signals and computes a position of the device responsive to the voltage on the device electrode and the reference position of the reference electrode. The ECU may also compute impedances at the device and measurement electrodes.
摘要翻译： 提供了一种用于确定设置在身体内的医疗装置上的装置电极的特性的系统和方法。 多个测量电极耦合到身体的外表面并建立用于通过身体的电流的传输路径。 电子控制单元（ECU）被配置为在从测量电极中选择的一对有源电极之间引起电流的传输，从而在器件电极上产生电压。 ECU从除了有源电极之外的测量电极中的多个无源电极接收阻抗信号。 ECU根据阻抗信号在主体内的参考位置建立虚拟参考电极，并根据器件电极上的电压和参考电极的参考位置计算器件的位置。 ECU还可以计算设备和测量电极处的阻抗。
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公开(公告)号：US09113807B2
公开(公告)日：2015-08-25
申请号：US12980515
申请日：2010-12-29
CPC分类号： A61B5/7207 , A61B5/0044 , A61B5/053 , A61B5/0536 , A61B5/0538 , A61B5/06 , A61B5/061 , A61B5/063 , A61B5/6801 , A61B5/7203 , A61B5/721 , A61B5/7267 , A61B5/742 , H04L25/0278 , H04L25/03019
摘要： A system for determining a location of an electrode of a medical device (e.g., a catheter) in a body of a patient includes a localization block for producing an uncompensated electrode location, a motion compensation block for producing a compensation signal (i.e., for respiration, cardiac, etc.), and a mechanism for subtracting the compensation signal from the uncompensated electrode location. The result is a corrected electrode location substantially free of respiration and cardiac artifacts. The motion compensation block includes a dynamic adaptation feature which accounts for changes in a patient's respiration patterns as well as intentional movements of the medical device to different locations within the patient's body. The system further includes an automatic compensation gain control which suppresses compensation when certain conditions, such as noise or sudden patch impedance changes, are detected.
摘要翻译： 用于确定患者体内的医疗装置（例如，导管）的电极的位置的系统包括用于产生未补偿的电极位置的定位块，用于产生补偿信号的运动补偿块（即，用于呼吸 ，心脏等），以及用于从未补偿的电极位置减去补偿信号的机构。 结果是基本上没有呼吸和心脏伪影的校正电极位置。 运动补偿块包括动态适应特征，其考虑了患者呼吸模式的变化以及医疗装置对患者体内不同位置的有意移动。 该系统还包括自动补偿增益控制，当检测到某些条件（例如噪声或突发阻抗变化）时，该自动补偿增益控制抑制补偿。
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公开(公告)号：US20120157825A1
公开(公告)日：2012-06-21
申请号：US12972253
申请日：2010-12-17
IPC分类号： A61B5/05
CPC分类号： A61B5/06 , A61B5/042 , A61B5/05 , A61B5/062 , A61B5/063 , A61B5/7207 , A61B5/7221 , A61B34/20 , A61B2034/2051 , A61B2034/2053 , A61B2034/2072
摘要： A method of detecting dislodgement of a navigational reference for a localization system includes securing a reference catheter, including at least one reference localization element, at an initial reference location within a localization field. The positions of one or more of the reference localization elements are monitored for a perceived displacement that suggests that the reference catheter has become dislodged from the initial reference location (e.g., a displacement above a certain threshold, such as about 4 mm). The direction of this perceived displacement may then be further analyzed (e.g., compared to a predicted or most likely direction of displacement) to determine whether there has been an actual dislodgement of the reference catheter, and, if so, an appropriate signal (e.g., an audible or visual warning) may be generated. Upon dislodgement, guidance may be provided to aid the practitioner in restoring the reference catheter to its initial location.
摘要翻译： 检测用于定位系统的导航参考的移动的方法包括在定位区域内的初始参考位置处固定包括至少一个参考定位元件的参考导管。 监测一个或多个参考定位元件的位置以感知到的位移，其表明参考导管已经从初始参考位置移除（例如，高于某个阈值的位移，例如约4mm）。 然后可以进一步分析这种感知的位移的方向（例如，与预期的或最可能的位移方向相比较），以确定是否已经存在参考导管的实际移动，并且如果是，则适当的信号（例如， 可能会产生声音或视觉警告）。 在移动时，可以提供指导以帮助从业者将参考导管恢复到其初始位置。
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公开(公告)号：US09125573B2
公开(公告)日：2015-09-08
申请号：US13339547
申请日：2011-12-29
申请人： Lev A. Koyrakh , Daniel J. Potter , Jeffrey A. Schweitzer , D. Curtis Deno , Anthony D. Hill , Dale Eric Just
发明人： Lev A. Koyrakh , Daniel J. Potter , Jeffrey A. Schweitzer , D. Curtis Deno , Anthony D. Hill , Dale Eric Just
CPC分类号： A61B5/04 , A61B5/02444 , A61B5/0538 , A61B5/14503 , A61B2560/06 , A61M25/005 , A61M25/0662
摘要： An introducer sheath for a medical device is provided. The sheath includes a deformable, elongate body disposed about a longitudinal axis. The body has proximal and distal ends and defines a lumen extending between the proximal and distal ends and configured to allow passage of the medical device therethrough. The body is configured to allow an electric current to pass radially between a space outside of the body and the lumen such that the position of the medical device within a patient can be monitored and electrogram readings from body tissues can be measured while the device is in the sheath. In some embodiments of the invention, the body may include a one or more apertures extending from the radially outer surface of the body to the lumen or a portion of the body may be made from a conductive and/or fluid permeable material.
摘要翻译： 提供了一种用于医疗装置的引导器护套。 护套包括围绕纵向轴线设置的可变形的细长体。 主体具有近端和远端并且限定在近端和远端之间延伸的构造成允许医疗装置通过的内腔。 身体构造成允许电流在身体外部的空间和内腔之间径向通过，使得可以监测患者体内的医疗装置的位置，并且可以在装置处于状态时测量来自身体组织的电描记图读数 护套。 在本发明的一些实施例中，主体可以包括从主体的径向外表面延伸到内腔的一个或多个孔，或者主体的一部分可以由导电和/或流体可渗透的材料制成。
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公开(公告)号：US20130172712A1
公开(公告)日：2013-07-04
申请号：US13339547
申请日：2011-12-29
申请人： Lev A. Koyrakh , Daniel J. Potter , Jeffrey A. Schweitzer , D. Curtis Deno , Anthony D. Hill , Dale E. Just
发明人： Lev A. Koyrakh , Daniel J. Potter , Jeffrey A. Schweitzer , D. Curtis Deno , Anthony D. Hill , Dale E. Just
IPC分类号： A61B5/04
CPC分类号： A61B5/04 , A61B5/02444 , A61B5/0538 , A61B5/14503 , A61B2560/06 , A61M25/005 , A61M25/0662
摘要： An introducer sheath for a medical device is provided. The sheath includes a deformable, elongate body disposed about a longitudinal axis. The body has proximal and distal ends and defines a lumen extending between the proximal and distal ends and configured to allow passage of the medical device therethrough. The body is configured to allow an electric current to pass radially between a space outside of the body and the lumen such that the position of the medical device within a patient can be monitored and electrogram readings from body tissues can be measured while the device is in the sheath. In some embodiments of the invention, the body may include a one or more apertures extending from the radially outer surface of the body to the lumen or a portion of the body may be made from a conductive and/or fluid permeable material.
摘要翻译： 提供了一种用于医疗装置的引导器护套。 护套包括围绕纵向轴线设置的可变形的细长体。 主体具有近端和远端并且限定在近端和远端之间延伸的构造成允许医疗装置通过的内腔。 身体构造成允许电流在身体外部的空间和内腔之间径向通过，使得可以监测患者体内的医疗装置的位置，并且可以在装置处于状态时测量来自身体组织的电描记图读数 护套。 在本发明的一些实施例中，主体可以包括从主体的径向外表面延伸到内腔的一个或多个孔，或者主体的一部分可以由导电和/或流体可渗透材料制成。
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公开(公告)号：US09585586B2
公开(公告)日：2017-03-07
申请号：US12972253
申请日：2010-12-17
CPC分类号： A61B5/06 , A61B5/042 , A61B5/05 , A61B5/062 , A61B5/063 , A61B5/7207 , A61B5/7221 , A61B34/20 , A61B2034/2051 , A61B2034/2053 , A61B2034/2072
摘要： A method of detecting dislodgement of a navigational reference for a localization system includes securing a reference catheter, including at least one reference localization element, at an initial reference location within a localization field. The positions of one or more of the reference localization elements are monitored for a perceived displacement that suggests that the reference catheter has become dislodged from the initial reference location (e.g., a displacement above a certain threshold, such as about 4 mm). The direction of this perceived displacement may then be further analyzed (e.g., compared to a predicted or most likely direction of displacement) to determine whether there has been an actual dislodgement of the reference catheter, and, if so, an appropriate signal (e.g., an audible or visual warning) may be generated. Upon dislodgement, guidance may be provided to aid the practitioner in restoring the reference catheter to its initial location.
摘要翻译： 检测用于定位系统的导航参考的移动的方法包括在定位区域内的初始参考位置处固定包括至少一个参考定位元件的参考导管。 监测一个或多个参考定位元件的位置以感知到的位移，其表明参考导管已经从初始参考位置移除（例如，高于某个阈值的位移，例如约4mm）。 然后可以进一步分析这种感知的位移的方向（例如，与预期的或最可能的位移方向相比较），以确定是否已经存在参考导管的实际移动，并且如果是，则适当的信号（例如， 可能会产生声音或视觉警告）。 在移动时，可以提供指导以帮助从业者将参考导管恢复到其初始位置。
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公开(公告)号：US20130006137A1
公开(公告)日：2013-01-03
申请号：US13608553
申请日：2012-09-10
IPC分类号： A61B5/053
CPC分类号： A61B5/063 , A61B5/0538 , A61B5/6852 , A61B5/6885 , A61B5/7228 , A61B18/1492 , A61B34/20 , A61B2018/00755 , A61B2018/00839 , A61B2018/00875 , A61B2018/1467 , A61B2018/1472 , A61B2034/105 , A61B2034/2051 , A61B2090/065 , A61B2560/0475 , A61B2562/0214
摘要： A system and method is provided that allows for determining the local impedance of one or more electrodes of an electrode catheter. Such local impedance may be utilized to identify the relative position of an electrode catheter to a sheath of a guiding introducer. In another arrangement, local impedance of a catheter electrode can be utilized to calibrate a catheter electrode to provide improved contact sensing.
摘要翻译： 提供了允许确定电极导管的一个或多个电极的局部阻抗的系统和方法。 可以利用这种局部阻抗来识别电极导管与导向引导器护套的相对位置。 在另一种布置中，可以使用导管电极的局部阻抗来校准导管电极以提供改进的接触感测。
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公开(公告)号：US09782130B2
公开(公告)日：2017-10-10
申请号：US11647300
申请日：2006-12-29
申请人： John A. Hauck , Jeffrey A. Schweitzer , Troy T. Tegg , James D. Essington , Mark T. Johnson , Kedar Ravindra Belhe
发明人： John A. Hauck , Jeffrey A. Schweitzer , Troy T. Tegg , James D. Essington , Mark T. Johnson , Kedar Ravindra Belhe
IPC分类号： A61B18/18 , A61B5/00 , A61B34/20 , A61B17/00 , A61M25/01 , A61B34/00 , A61B90/00 , A61B34/30
CPC分类号： A61B5/6885 , A61B34/20 , A61B34/30 , A61B34/70 , A61B34/71 , A61B2017/00026 , A61B2034/2051 , A61B2034/301 , A61B2034/742 , A61B2090/064 , A61B2090/3784 , A61M25/0105
摘要： A robotic surgical system includes a track, a catheter holding device including a catheter receiving portion translatably associated with the track, a translation servo mechanism to control translation of the catheter holding device relative to the track, a catheter deflection control mechanism, a deflection servo mechanism to control the catheter deflection control mechanism, and a controller to control at least one of the servo mechanisms. The catheter receiving portion is adapted for quick installation and removal of a catheter. The catheter receiving portion may be rotatable, with a rotation servo mechanism to control the rotatable catheter receiving portion. The controller controls at least one of the deflection and rotation servo mechanisms to maintain a substantially constant catheter deflection as the catheter rotates. An introducer, which may be steerable, and an expandable, collapsible sterile tube may also be provided.
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公开(公告)号：US08755864B2
公开(公告)日：2014-06-17
申请号：US11647298
申请日：2006-12-29
CPC分类号： A61B19/2203 , A61B5/04011 , A61B5/06 , A61B5/6885 , A61B5/7425 , A61B5/7475 , A61B34/20 , A61B34/30 , A61B34/71 , A61B2017/00026 , A61B2034/105 , A61B2034/2051 , A61B2034/2053 , A61B2034/2072 , A61B2034/301 , A61B2034/303 , A61B2034/742 , A61B2090/064 , A61B2090/3784 , A61M25/0105
摘要： A method of generating a diagnosis map of at least a portion of the heart includes inserting an electrode within the portion of a heart, robotically moving the electrode therein, measuring electrophysiology information at a point on the surface of the heart, associating the measured electrophysiology information with position information for the point on the surface of the heart, repeating the measuring and associating steps for a plurality of points on the surface of the heart, thereby generating a plurality of surface diagnostic data points, and generating the diagnosis map therefrom. The electrode may be moved within the heart randomly, pseudo-randomly, or according to one or more predetermined patterns. A three-dimensional model of the portion of the heart may be provided and presented as a graphical representation, either with or without information indicative of the measured electrophysiology information superimposed thereon.
摘要翻译： 产生心脏的至少一部分的诊断图的方法包括：在心脏的部分内插入电极，在其中机械地移动电极，测量心脏表面上的点处的电生理学信息，将测量的电生理学信息 对于心脏表面上的点的位置信息，重复心脏表面上的多个点的测量和关联步骤，由此产生多个表面诊断数据点，并从中生成诊断图。 电极可以随机，伪随机地移动，或根据一个或多个预定模式移动。 可以提供心脏部分的三维模型并将其呈现为图形表示，或者具有或不具有指示叠加在其上的测量的电生理学信息的信息。
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