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公开(公告)号：US20180280100A1
公开(公告)日：2018-10-04
申请号：US15764079
申请日：2016-09-29
IPC分类号： A61B34/00 , A61B1/313 , A61B34/32 , G06F3/0354
摘要： A robot control system includes a controller device (120) mountable on a medical instrument and including a housing with a trackpad configured to interact with a printed circuit board therein to create electronic signals corresponding with movement of the trackpad. The electronic signals include a point signal and a click signal. An adapter is formed on the housing and is configured to detachably connect the controller device to the medical instrument. A display (118) is responsive to the point signal of the controller device to permit a cursor to be moved on the display to indicate a position to be imaged or moved to. A robot system (144) is configured to respond to the click signal to move one of a robot directly or an instrument held by the robot in accordance with the position to be imaged or moved to.
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2.发明申请SYSTEM FOR PERFORMING EXTRALUMINAL CORONARY BYPASS AND METHOD OF OPERATION THEREOF 审中-公开用于执行外部冠状旁路旁路的系统及其操作方法公开(公告)号：US20160354087A1
公开(公告)日：2016-12-08
申请号：US15118931
申请日：2015-02-13
发明人： David Paul NOONAN , Aleksandra POPOVIC , Ralf SEIP
CPC分类号： A61B17/11 , A61B17/122 , A61B17/1285 , A61B17/22012 , A61B17/34 , A61B2017/00252 , A61B2017/003 , A61B2017/00398 , A61B2017/1107 , A61B2017/1135 , A61B2017/12004 , A61B2018/00595 , A61B2018/205547 , A61B2034/2051 , A61F2/07 , A61N7/02 , A61N7/022 , A61N2007/0043 , A61N2007/0073 , A61N2007/0078
摘要： A system to perform a bypass procedure performed by an apparatus (100, 400, 600) comprising a steerable body portion (102, 450, 452) and at least one transducer (114, 414) controlled by at least one controller (610). The system may include one or more acts of transluminally detaching at least a portion of a first artery from connective tissue (423) of a chest wall (425) that is attached to the first artery by applying ultrasound signals of a first type emitted by the at least one transducer (114, 414) situated within in the first artery; steering the detached portion of the first artery from a current location to a bypass location by applying a force from the steerable body portion, which is located outside of the first artery, to at least a portion of the detached portion of the first artery; and coupling the first artery to a target artery at the bypass location to establish flow communication between the first artery and the target artery.
摘要翻译： 一种执行由包括可操纵主体部分（102,450,452）和由至少一个控制器（610）控制的至少一个换能器（114,414））的装置（100,400,600）执行的旁路过程的系统。 该系统可以包括通过施加由第一动脉发射的第一类型的超声波信号而将附接到第一动脉的胸壁（425）的结缔组织（423）的第一动脉的至少一部分进行平均分离的一个或多个作用 位于第一动脉内的至少一个换能器（114,414）; 通过施加来自位于第一动脉外侧的可转向主体部分的力将第一动脉的分离部分从当前位置转移到旁路位置到第一动脉的分离部分的至少一部分; 并将第一动脉连接到旁路位置处的目标动脉以建立第一动脉和目标动脉之间的流动连通。
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公开(公告)号：US20200268462A1
公开(公告)日：2020-08-27
申请号：US16871645
申请日：2020-05-11
摘要： A control unit is provided for a surgical robot system, including a robot configured to operate an end-effector in a surgical site of a patient. The control unit includes a processor configured to transmit acquired live images of a patient, received from an image acquisition device, to a virtual reality (VR) device for display; to receive input data from the VR device, including tracking data from a VR tracking system of the VR device based on a user's response to the live images displayed on a viewer of the display unit of the VR device; to process the input data received from the VR device to determine a target in the patient; to determine a path for the end-effector to reach the target based upon the live images and the processed input data; and to transmit control signals to cause the robot to guide the end-effector to the target via the determined path.
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公开(公告)号：US20190328474A1
公开(公告)日：2019-10-31
申请号：US16309135
申请日：2017-06-20
摘要： A system employing an articulated steerable introducer (40), an imaging controller (22) and a steerable introducer controller (41). The articulated steerable introducer (40) includes a plurality of linkages and one or more joints interconnecting the linkages. The imaging controller (22) controls a planning of a distal steering motion of the articulated steerable introducer (40) to a target position within an anatomical region. The steerable introducer controller (41) controls an actuation of the joint(s) to distally steer the articulated steerable introducer (40) to the target position within the anatomical region as planned by the imaging controller (22).
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公开(公告)号：US20190175293A1
公开(公告)日：2019-06-13
申请号：US16309840
申请日：2017-06-22
摘要： A robotic system employing a robotic apparatus and a robot controller (20) for executing an interventional procedure. The robotic apparatus includes a robot manipulator (30) and an intervention robot (40) mounted to the robot manipulator (30) with a structural configuration of the intervention robot (40) defining a remote-center-of-motion. The robot controller (20) controls a manual actuation of a translational motion and/or a rotational motion of the robot manipulator (30) directed to a spatial positioning of the intervention robot (40) within a kinematic space of the robot manipulator (30) derived from a delineation of spatial positioning of the remote-center-of-motion within an image space. The robot controller (20) further controls a signal actuation of a pitch motion and/or a yaw motion of the intervention robot (40) directed to a spatial orienting of the end-effector within a kinematic space of the intervention robot (40) derived from a delineation of a spatial orienting of the remote-center-of-motion within the image space.
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公开(公告)号：US20180235717A1
公开(公告)日：2018-08-23
申请号：US15961923
申请日：2018-04-25
IPC分类号： A61B34/20 , A61B5/00 , G02B23/24 , A61B34/00 , A61B5/107 , A61M25/01 , A61M25/09 , A61B17/00 , A61M25/00
CPC分类号： A61B34/20 , A61B5/1076 , A61B5/6852 , A61B34/71 , A61B2017/00199 , A61B2017/00323 , A61B2017/00845 , A61B2034/2061 , A61B2562/0266 , A61M25/0026 , A61M25/0102 , A61M2025/091 , A61M2025/0915 , G02B23/2469 , G02B23/2476
摘要： A shape sensing enabled instrument includes a flexible guide wire or support rod including an outer surface which encapsulates interior features. The interior features include an optical fiber lumen (105) configured to receive one or more optical fibers for optical shape sensing, and a guide wire support rod or the support rod forming a hollow extending longitudinally along the instrument. The guide wire support rod or the support rod is configured to receive the optical fiber lumen therein to permit rotation and translation of an optical fiber and to protect the optical fiber.
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公开(公告)号：US20200246085A1
公开(公告)日：2020-08-06
申请号：US15762757
申请日：2016-09-26
摘要： A robotic surgical system for a minimally invasive procedure involving a planned tool trajectory through a planned incision point into a patient. The robotic surgical system employs an optical end-effector (50) (e.g., a laser point or an endoscope), a RCM robot (40) (e.g., a concentric arc robot), and a robot controller (60). In operation, the robot controller (60) controls an optical pointing by the RCM robot (40) of the optical end-effector (50) to one or more markers attached to the patient, and further controls an axial alignment by the RCM robot (40) of the optical end-effector (50) to the planned tool trajectory as illustrated within a volume image of the patient based on a registration of the remote center-of-motion to the planned incision point as illustrated within the volume image of the patient derived from the optical pointing.
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公开(公告)号：US20190209254A1
公开(公告)日：2019-07-11
申请号：US16357792
申请日：2019-03-19
CPC分类号： A61B34/37 , A61B1/00006 , A61B1/00039 , A61B1/00057 , A61B1/0016 , A61B1/0051 , A61B1/31 , A61B8/0883 , A61B8/12 , A61B34/30 , A61B2017/00725 , A61B2034/301 , A61B2090/065 , A61M25/0116 , A61M25/09041
摘要： A robotic actuation system for sensorless force control of an interventional tool (14) having cable driven distal end (e.g., a probe, a steerable catheter, a guidewire and a colonoscope). The system employs a robotic actuator (30) having one or more motorized gears operate the cable drive of the interventional tool (14). The system further employs a robotic workstation (20) to generate motor commands for simultaneous actuation position and contact force control of the interventional tool (14). The motor commands are a function of an actuation position measurement and a motor current measurement of the at least one motorized gear for a desired actuation position of the interventional tool (14).
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公开(公告)号：US20190105113A1
公开(公告)日：2019-04-11
申请号：US16086907
申请日：2017-03-31
摘要： A robot controller (515) includes a first input (502) configured to receive images (524) from an imaging device for a region of interest. A target identification device (516) is configured to identify a target region in the images. A control system (517) is coupled to a robotically controlled treatment device to generate control signals to control the treatment device to treat the target region when the treatment device is positioned corresponding to the target region. A treatment system comprising an aspiration device, a robot system and a control system, as well as a method for treatment of tissue are also disclosed.
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公开(公告)号：US20190105112A1
公开(公告)日：2019-04-11
申请号：US16086805
申请日：2017-03-28
IPC分类号： A61B34/30
摘要： A robot includes a steerable device (402) having one or more robotically controlled joints configured to steer the steerable device. A device control system (430) is configured to adjust positioning of the steerable device in accordance with one of image feedback from an image control system (406) or a plan in a volume such that control commands are issued to the one or more robotically controlled joints to steer the steerable device in a direction consistent with navigation of the steerable device toward a target.
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