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1.发明申请公开(公告)号：US20120191107A1
公开(公告)日：2012-07-26
申请号：US13174536
申请日：2011-06-30
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B6/12 , A61B6/4423 , A61B6/487 , A61B8/0841 , A61B8/12 , A61B8/4218 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B46/10 , A61B90/361 , A61B2017/00991 , A61B2034/102 , A61B2034/301 , A61B2034/303 , A61B2034/715 , A61B2034/742 , G06T19/00 , G06T2210/41
摘要： Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.
摘要翻译： 本文描述了用于在患者体内引入和驱动柔性构件的系统和方法。 在一个实施例中，机器人方法包括定位具有预成形构型的柔性细长构件，其中柔性细长构件的至少一部分具有围绕其设置的第一构件，并且其中第一构件包括用于弯曲第一 构件或用于将第一构件保持在弯曲构型中，释放第一线中的至少一些张力以松弛第一构件，并且在第一构件处于松弛构型的同时使第一构件相对于柔性细长构件向远侧前进。
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公开(公告)号：US20120071752A1
公开(公告)日：2012-03-22
申请号：US13174638
申请日：2011-06-30
IPC分类号： A61B6/00 , G06T3/60 , A61M25/092
CPC分类号： A61B34/20 , A61B6/12 , A61B6/4423 , A61B6/487 , A61B8/0841 , A61B8/12 , A61B8/4218 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B46/10 , A61B90/361 , A61B2017/00991 , A61B2034/102 , A61B2034/301 , A61B2034/303 , A61B2034/715 , A61B2034/742 , G06T19/00 , G06T2210/41
摘要： System and methods for interfacing user in the control of elongated flexible members for use inside a patient's body is described herein. In one embodiment, a system includes a processor configured for generating a virtual representation of a catheter on a viewing screen, a first control for allowing a user to rotate the virtual representation of the catheter about a first axis, until a heading direction of the virtual representation of the catheter aligns with a heading direction of the catheter as it appears in a first fluoroscopic image, and a second control for allowing the user to rotate the virtual representation of the catheter about a second axis, until a tilt angle of the virtual representation of the catheter aligns with a tilt angle of the catheter as it appears in the first fluoroscopic image or in a second fluoroscopic image.
摘要翻译： 这里描述了用于在用于控制在患者体内使用的细长柔性构件的用户中的接口的系统和方法。 在一个实施例中，系统包括被配置为在观察屏幕上生成导管的虚拟表示的处理器，第一控制器，用于允许用户围绕第一轴线旋转导管的虚拟表示，直到虚拟的方向 导管的表示与导管的朝向方向对齐，因为其出现在第一透视图像中，并且第二控制用于允许使用者围绕第二轴旋转导管的虚拟表示，直到虚拟表示的倾斜角 的导管与第一透视图像中或第二透视图像中出现的导管的倾斜角对齐。
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公开(公告)号：US20120071894A1
公开(公告)日：2012-03-22
申请号：US13174455
申请日：2011-06-30
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B6/12 , A61B6/4423 , A61B6/487 , A61B8/0841 , A61B8/12 , A61B8/4218 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B46/10 , A61B90/361 , A61B2017/00991 , A61B2034/102 , A61B2034/301 , A61B2034/303 , A61B2034/715 , A61B2034/742 , G06T19/00 , G06T2210/41
摘要： Systems and methods for robotically controlling flexible medical apparatus are described herein. In one embodiment, a robotic surgical system includes a flexible elongated member, a first member movably disposed around at least a portion of the flexible elongated member, a second member movably disposed around at least a portion of the first member, a drive assembly coupled to each of the flexible elongated member, the first member, and the second member, and a control interface for receiving an input command from a user, wherein the drive assembly is configured to automatically move one or both of the first member and the second member while maintaining the flexible elongated member at a fixed axial position in response to the received input command.
摘要翻译： 本文描述了用于机器人控制柔性医疗装置的系统和方法。 在一个实施例中，机器人手术系统包括柔性细长构件，可移动地设置在柔性细长构件的至少一部分周围的第一构件，可移动地设置在第一构件的至少一部分周围的第二构件， 柔性细长构件，第一构件和第二构件中的每一个以及用于从用户接收输入命令的控制界面，其中，驱动组件被配置为自动地移动第一构件和第二构件中的一个或两个，同时 响应于所接收的输入命令，将柔性细长构件保持在固定的轴向位置。
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公开(公告)号：US08317746B2
公开(公告)日：2012-11-27
申请号：US12507777
申请日：2009-07-22
IPC分类号： A61M31/00
CPC分类号： A61B19/201 , A61B18/24 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/11 , A61B2017/003 , A61B2034/102 , A61B2034/2051 , A61B2034/301 , A61B2090/0818 , A61B2090/306 , A61B2090/3614
摘要： Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed.
摘要翻译： 公开了系统和方法，其中细长医疗器械可以被注册到相邻的组织结构和其他结构，并且可以以协调的方式导航和操作，以最大化运动范围，易于使用和其他因素。 用于相对于附近结构登记器械的方法可以包括将仪器的一部分在两个原位位置之间移动，在运动期间利用运动学模型和基于定位传感器的配置跟踪运动，确定跟踪部分相对 对于运动学建模中使用的仪器坐标系以及定位坐标参考系，并且使用运动学模型和定位传感器来调整仪器坐标参考系的方位以最小化确定的方向之间的差异。 还公开了用于导航耦合和登记的仪器组的方法和配置。
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公开(公告)号：US20100125285A1
公开(公告)日：2010-05-20
申请号：US12507777
申请日：2009-07-22
IPC分类号： A61B19/00
CPC分类号： A61B19/201 , A61B18/24 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/11 , A61B2017/003 , A61B2034/102 , A61B2034/2051 , A61B2034/301 , A61B2090/0818 , A61B2090/306 , A61B2090/3614
摘要： Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed.
摘要翻译： 公开了系统和方法，其中细长医疗器械可以被注册到相邻的组织结构和其他结构，并且可以以协调的方式导航和操作，以最大化运动范围，易于使用和其他因素。 用于相对于附近结构登记器械的方法可以包括将仪器的一部分在两个原位位置之间移动，在运动期间利用运动学模型和基于定位传感器的配置跟踪运动，确定跟踪部分相对 对于运动学建模中使用的仪器坐标系以及定位坐标参考系，并且使用运动学模型和定位传感器来调整仪器坐标参考系的方位以最小化确定的方向之间的差异。 还公开了用于导航耦合和登记的仪器组的方法和配置。
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6.发明申请公开(公告)号：US20090076476A1
公开(公告)日：2009-03-19
申请号：US12192974
申请日：2008-08-15
CPC分类号： A61B5/1076 , A61B5/0215 , A61B5/042 , A61B5/6885 , A61B90/06 , A61B2090/064
摘要： A medical instrument system includes a controller and a guide instrument coupled to an instrument driver, the instrument driver configured to manipulate a distal end portion of the guide instrument in response to control signals generated by the controller. A force sensor is associated with the guide instrument or with a working instrument carried by the guide instrument, and generates force signals responsive to a force applied to a respective distal end portion of the guide instrument or working instrument. A position determining system generates position data indicative of a position of the respective guide or working instrument distal end portion associated with the force sensor, and a processor operatively coupled to the force sensor and position determining system processes respective force signals and position data to generate and display a geometric rendering of an internal body tissue surface based on sensed forces applied to the respective instrument distal end portion as the guide instrument is maneuvered within an interior region of a body containing the body surface.
摘要翻译： 医疗仪器系统包括控制器和耦合到仪器驱动器的引导器，所述仪器驱动器被配置为响应于由所述控制器产生的控制信号来操纵所述引导器械的远端部分。 力传感器与导向仪器或由导向仪器承载的工作仪器相关联，并且响应于施加到引导仪器或工作仪器的相应远端部分的力而产生力信号。 位置确定系统产生指示与力传感器相关联的相应导向或工作仪器远端部分的位置的位置数据，以及可操作地耦合到力传感器和位置确定系统的处理器处理相应的力信号和位置数据以产生和 当在包含身体表面的身体的内部区域内操纵导向仪器时，基于施加到相应器械远端部分的感测力，显示内部身体组织表面的几何渲染。
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公开(公告)号：US20110295267A1
公开(公告)日：2011-12-01
申请号：US12833927
申请日：2010-07-09
申请人： Neal A. Tanner , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Christopher M. Sewell , Daniel T. Wallace
发明人： Neal A. Tanner , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Christopher M. Sewell , Daniel T. Wallace
IPC分类号： A61B19/00
CPC分类号： B25J9/1689 , A61B18/1492 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/76 , A61B34/77 , A61B2017/00057 , A61B2017/0007 , A61B2017/00084 , A61B2017/00123 , A61B2017/00477 , A61B2018/00678 , A61B2018/00702 , A61B2018/00708 , A61B2018/00779 , A61B2018/00791 , A61B2018/00839 , A61B2034/301 , A61B2090/062 , A61B2090/064 , A61B2090/065
摘要： Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic tissue structure traversal system may comprise a controller including a master input device, an electromechanically controlled elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion comprising a traversing tip and being configured to be interactively navigated about internal structures of a patient's body in response to signals from the controller; and a load sensor operatively coupled between the distal portion of the elongate instrument and the controller; wherein the controller is configured to automatically advance the traversing tip through a thickness of an internal structure by observing loads from the load sensor.
摘要翻译： 描述了用于自动化患者的微创治疗治疗方面的系统和方法。 机器人组织结构遍历系统可以包括控制器，该控制器包括主输入设备，具有近端接口部分和远端部分的机电控制的细长仪器，所述近端接口部分被配置为可操作地耦合到机电仪器驱动器， 控制器，所述远端部分包括横向末端并且被配置为响应于来自所述控制器的信号而被围绕所述患者身体的内部结构交互地导航; 以及负载传感器，其可操作地联接在所述细长仪器的远端部分和所述控制器之间; 其中所述控制器被配置为通过观察来自所述负载传感器的负载来自动地使所述横向前端穿过内部结构的厚度。
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公开(公告)号：US20100125284A1
公开(公告)日：2010-05-20
申请号：US12507766
申请日：2009-07-22
IPC分类号： A61B19/00
CPC分类号： A61B34/71 , A61B18/24 , A61B34/30 , A61B34/37 , A61B34/76 , A61B90/11 , A61B2017/003 , A61B2034/102 , A61B2034/2051 , A61B2034/301 , A61B2090/0818 , A61B2090/306 , A61B2090/3614
摘要： Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed.
摘要翻译： 公开了系统和方法，其中细长医疗器械可以被注册到相邻的组织结构和其他结构，并且可以以协调的方式导航和操作，以最大化运动范围，易于使用和其他因素。 用于相对于附近结构登记器械的方法可以包括将仪器的一部分在两个原位位置之间移动，在运动期间利用运动学模型和基于定位传感器的配置跟踪运动，确定跟踪部分相对 对于运动学建模中使用的仪器坐标系以及定位坐标参考系，并且使用运动学模型和定位传感器来调整仪器坐标参考系的方位以最小化确定的方向之间的差异。 还公开了用于导航耦合和登记的仪器组的方法和配置。
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公开(公告)号：US20130090552A1
公开(公告)日：2013-04-11
申请号：US13602893
申请日：2012-09-04
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes a first optical fiber, a second optical fiber and a controller is provided. The first optical fiber is operatively coupled to an elongate body that is adapted to be placed inside a patient. The second optical fiber is operatively coupled to the patient, to an actuating element adapted to actuate the elongate body, or to a portion of an imaging system adapted to identify a location of the portion relative to the elongate body. The controller is operatively coupled to the first optical fiber and the second optical fiber and is adapted to receive a first signal from the strain sensor provided on the first optical fiber, receive a second signal from the strain sensor provided on the second optical fiber; and determine a position or orientation of the elongate body based on the first signal and based on the second signal.
摘要翻译： 提供一种包括第一光纤，第二光纤和控制器的仪器系统。 第一光纤可操作地耦合到适于放置在患者体内的细长主体。 第二光纤可操作地耦合到患者，适用于致动细长主体的致动元件，或适于识别该部分相对于细长主体的位置的成像系统的一部分。 控制器可操作地耦合到第一光纤和第二光纤，并且适于从设置在第一光纤上的应变传感器接收第一信号，从设置在第二光纤上的应变传感器接收第二信号; 并且基于第一信号并且基于第二信号来确定细长体的位置或取向。
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公开(公告)号：US20130085382A1
公开(公告)日：2013-04-04
申请号：US13603068
申请日：2012-09-04
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an elongate body, an optical fiber, a localization sensor and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The localization sensor is operatively coupled to the elongate body. The controller is operatively coupled to the optical fiber and to the localization sensor and is adapted to receive a first signal from the strain sensor, receive a second signal from the localization sensor, and determine a position or orientation of the elongate body based on the first signal and the second signal.
摘要翻译： 提供了一种包括细长体，光纤，定位传感器和控制器的仪器系统。 光纤可操作地耦合到细长主体并且具有设置在光纤上的应变传感器。 定位传感器可操作地连接到细长主体。 控制器可操作地耦合到光纤和定位传感器，并且适于从应变传感器接收第一信号，从定位传感器接收第二信号，并且基于第一信号确定细长体的位置或取向 信号和第二信号。
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