公开(公告)号：US08388538B2

公开(公告)日：2013-03-05

申请号：US13073527

申请日：2011-03-28

申请人： Robert G. Younge ,  Daniel T. Wallace

发明人： Robert G. Younge ,  Daniel T. Wallace

IPC分类号： A61B8/00

CPC分类号： A61B8/12 ,  A61B8/4245 ,  A61B8/4461 ,  A61B8/461 ,  A61B8/466 ,  A61B8/467 ,  A61B8/483 ,  G01S7/52065 ,  G01S7/52084 ,  G01S7/52087 ,  G01S15/8934 ,  G01S15/894 ,  G01S15/8993

摘要： A system and method for recording and depicting ultrasound images of a moving object are disclosed. In a preferred embodiment, ultrasound images are acquired as the field of view of an ultrasound probe is advanced across the tissues of interest during a resting period between periods of relatively large-scale heart cycle motion. A series of images acquired during a particular resting period may be represented as a three-dimensional volume image, and the comparison of volume images from adjacent cardiac resting periods enables three-dimensional volume image modulation analysis which may be presented for a user as a moving volume image of the objects of interest within the field of view.

公开(公告)号：US20120022405A1

公开(公告)日：2012-01-26

申请号：US13251370

申请日：2011-10-03

申请人： Daniel T. Wallace ,  Gregory Stahler ,  Alex Goldenberg ,  Gene Reis ,  Robert G. Younge ,  Mathew Clopp ,  David Camarillo ,  Toby St. John King

发明人： Daniel T. Wallace ,  Gregory Stahler ,  Alex Goldenberg ,  Gene Reis ,  Robert G. Younge ,  Mathew Clopp ,  David Camarillo ,  Toby St. John King

IPC分类号： A61B5/00 ,  A61M25/092

CPC分类号： A61M25/01 ,  A61B5/6885 ,  A61B17/3403 ,  A61B17/3476 ,  A61B2017/00243 ,  A61B2017/003 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/065

摘要： A method for estimating the force on a distal end of a working catheter includes positioning a portion of a robotically controlled guide catheter and working catheter into a body lumen wherein a distal end of the working catheter projects distally from a distal end of the guide catheter. The working catheter and guide catheter are dithered with respect to one another using a dithering device operatively connected to a proximal portion of the working catheter. The coupling may occur directly to the working catheter or via a seal such as a Touhy seal. The force experienced by the working catheter at a proximal region is measured through at least one dithering cycle. The force at the distal end of the working catheter is then estimated based on the measured force at the proximal region. The estimated force may be displayed to a physician on, for example, a monitor.

摘要翻译： 用于估计工作导管的远端上的力的方法包括将机器人控制的引导导管和工作导管的一部分定位到体腔中，其中工作导管的远端从导向导管的远端远端突出。 工作导管和引导导管相对于彼此使用可操作地连接到工作导管的近端部分的抖动装置进行抖动。 联轴器可以直接发生在工作导管上，或通过诸如Touhy密封件的密封件。 通过至少一个抖动周期测量由近端区域上的工作导管所经受的力。 然后基于在近端区域处测量的力来估计工作导管远端处的力。 估计的力可以在例如监视器上向医生显示。

公开(公告)号：US20110295247A1

公开(公告)日：2011-12-01

申请号：US12833929

申请日：2010-07-09

申请人： Randall L. Schlesinger ,  Christopher R. Carlson ,  Federico Barbagli ,  Bhaskar S. Ramamurthy ,  Matthew J. Roelle ,  Christopher M. Sewell ,  Daniel T. Wallace ,  Robert G. Younge

发明人： Randall L. Schlesinger ,  Christopher R. Carlson ,  Federico Barbagli ,  Bhaskar S. Ramamurthy ,  Matthew J. Roelle ,  Christopher M. Sewell ,  Daniel T. Wallace ,  Robert G. Younge

IPC分类号： A61B18/18 ,  A61B18/14

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. In one embodiment a robotic catheter system may comprise a controller including a master input device; and an electromechanically steerable 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 being configured to be interactively navigated adjacent internal tissue structures of a patient's body in response to signals from the controller; wherein the distal portion of the elongate instrument comprises an antenna operatively coupled to the controller, and wherein the controller is configured to determine the temperature of structures adjacent to the distal portion of the elongate instrument utilizing radiometry analysis.

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。 在一个实施例中，机器人导管系统可包括包括主输入装置的控制器; 以及具有近端接口部分和远端部分的机电可操纵的细长器械，所述近端接口部分被配置为可操作地耦合到与所述控制器连通的机电仪器驱动器，所述远端部分被配置为相互接近地导航邻近的内部组织结构 响应于来自控制器的信号的患者身体; 其中所述细长器械的远端部分包括可操作地耦合到所述控制器的天线，并且其中所述控制器被配置成利用辐射测量分析来确定与所述细长仪器的远端部分相邻的结构的温度。

公开(公告)号：US08041413B2

公开(公告)日：2011-10-18

申请号：US11906746

申请日：2007-10-02

申请人： Frederico Barbagli ,  Aditya Koolwal ,  Christopher R. Carlson ,  Daniel T. Wallace ,  Robert G. Younge

发明人： Frederico Barbagli ,  Aditya Koolwal ,  Christopher R. Carlson ,  Daniel T. Wallace ,  Robert G. Younge

IPC分类号： A61B8/12

CPC分类号： A61B5/06 ,  A61B5/065 ,  A61B8/0833 ,  A61B8/12 ,  A61B8/4254 ,  A61B8/445 ,  A61B8/4477 ,  A61B8/4483 ,  A61B8/483 ,  A61B8/543 ,  A61B18/1492 ,  A61B90/36 ,  A61B2017/00252 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/256 ,  A61B2090/0811 ,  A61B2090/367 ,  A61B2090/378 ,  A61B2090/3784 ,  A61B2090/3929

摘要： An automated medical system comprises a first instrument assembly including a first ultrasound transducer having a first transducer field of view that transmits and receives ultrasound signals in imaging planes disposed circumferentially about a guide instrument, and a second instrument assembly including a second ultrasound transducer having a second transducer field of view coupled to one of a second flexible guide instrument and a working instrument. A computing system is operatively coupled to the respective first and second transducers and configured to determine a relative spatial orientation of the respective first and second transducers based at least in part on detecting a signal transmitted by one of the first and second transducers and received by the other of the first and second transducers, the received signal having an amplitude indicating the receiving one of the transducers is in the field of view of the transmitting one of the transducers.

摘要翻译： 一种自动医疗系统包括第一仪器组件，该第一仪器组件包括第一超声换能器，该第一超声波换能器具有第一换能器视场，该第一超声波换能器在围绕导向器周围设置的成像平面中发射和接收超声信号;以及第二仪器组件， 传感器视场耦合到第二柔性引导仪器和工作仪器之一。 计算系统可操作地耦合到相应的第一和第二换能器并且被配置为至少部分地基于检测由第一和第二换能器中的一个发射的信号并由第一和第二换能器接收的信号来确定相应的第一和第二换能器的相对空间取向 第一和第二换能器中的另一个，具有指示换能器中的接收换能器之一的振幅的接收信号处于发射换能器之一的视野中。

公开(公告)号：US08021326B2

公开(公告)日：2011-09-20

申请号：US11176954

申请日：2005-07-06

申请人： Frederic H. Moll ,  Daniel T. Wallace ,  Robert G. Younge ,  Kenneth M. Martin ,  Gregory J. Stahler ,  David F. Moore ,  Daniel T. Adams ,  Michael R. Zinn ,  Gunter D. Niemeyer

发明人： Frederic H. Moll ,  Daniel T. Wallace ,  Robert G. Younge ,  Kenneth M. Martin ,  Gregory J. Stahler ,  David F. Moore ,  Daniel T. Adams ,  Michael R. Zinn ,  Gunter D. Niemeyer

IPC分类号： A61M31/00

CPC分类号： A61B8/12 ,  A61B5/7285 ,  A61B6/503 ,  A61B6/504 ,  A61B6/541 ,  A61B8/4254 ,  A61B8/4461 ,  A61B8/4466 ,  A61B8/543 ,  A61B10/06 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/76 ,  A61B34/77 ,  A61B90/50 ,  A61B2017/00247 ,  A61B2017/003 ,  A61B2018/00392 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/301 ,  A61B2034/715 ,  A61B2090/035 ,  A61B2090/367 ,  A61B2090/374 ,  A61B2090/378 ,  A61B2090/3925 ,  A61B2090/397

摘要： A robotic medical system comprises an operator control station having a master input device, a catheter instrument, and an instrument driver in communication with the operator control station. The catheter instrument includes an elongate flexible catheter member, a flexible control element extending within the catheter member, and a proximal drivable assembly configured to axially move the control element relative to the catheter member to perform a kinematic function at a distal end of the catheter member. The instrument driver is configured to operate the drivable assembly to axially move the control element in response to control signals generated, at least in part, by the master input device. The drivable assembly is mounted to the instrument driver, thereby providing mechanically close relationship between the drivable assembly and the instrument driver.

摘要翻译： 机器人医疗系统包括具有与操作者控制站通信的主输入装置，导管仪器和仪器驱动器的操作员控制站。 导管仪器包括细长的柔性导管构件，在导管构件内延伸的柔性控制元件，以及配置成相对于导管构件轴向移动控制元件以在导管构件的远端处执行运动功能的近端可驱动组件 。 仪器驱动器被配置为操作可驱动组件以响应于至少部分地由主输入设备产生的控制信号来轴向移动控制元件。 可驱动组件安装到仪器驱动器，从而在可驱动组件和仪器驱动器之间提供机械密切的关系。

公开(公告)号：US07976539B2

公开(公告)日：2011-07-12

申请号：US11185432

申请日：2005-07-19

申请人： Edwin J. Hlavka ,  Frederic H. Moll ,  Robert G. Younge ,  Daniel T. Wallace

发明人： Edwin J. Hlavka ,  Frederic H. Moll ,  Robert G. Younge ,  Daniel T. Wallace

IPC分类号： A61B18/04

CPC分类号： A61B18/1492 ,  A61B17/00234 ,  A61B17/3478 ,  A61B18/1477 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/76 ,  A61B2017/00199 ,  A61B2017/00243 ,  A61B2018/1425 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/301 ,  A61B2034/715 ,  A61B2034/742 ,  A61B2090/065 ,  A61B2090/378

摘要： A method for modifying a geometry of a collagenous tissue mass includes heating the collagenous tissue mass to a temperature sufficient to cause denaturation, and introducing a biocompatible fixative, such as genepin, into the collagenous tissue mass.

摘要翻译： 修饰胶原组织块的几何形状的方法包括将胶原组织块加热至足以引起变性的温度，并将生物相容性固定剂（如genepin）导入胶原组织块。

公开(公告)号：US07618371B2

公开(公告)日：2009-11-17

申请号：US10923660

申请日：2004-08-20

申请人： Robert G. Younge ,  Daniel T. Wallace

发明人： Robert G. Younge ,  Daniel T. Wallace

IPC分类号： A61B8/00

CPC分类号： A61B8/12 ,  A61B8/4245 ,  A61B8/4461 ,  A61B8/461 ,  A61B8/466 ,  A61B8/467 ,  A61B8/483 ,  G01S7/52065 ,  G01S7/52084 ,  G01S7/52087 ,  G01S15/8934 ,  G01S15/894 ,  G01S15/8993

摘要： A system and method for recording and depicting ultrasound images of a moving object are disclosed. In a preferred embodiment, ultrasound images are acquired as the field of view of an ultrasound probe is advanced across the tissues of interest during a resting period between periods of relatively large-scale heart cycle motion. A series of images acquired during a particular resting period may be represented as a three-dimensional volume image, and the comparison of volume images from adjacent cardiac resting periods enables three-dimensional volume image modulation analysis which may be presented for a user as a moving volume image of the objects of interest within the field of view.

摘要翻译： 公开了一种用于记录和描绘移动物体的超声图像的系统和方法。 在优选实施例中，当相对较大规模的心脏周期运动的周期之间的静止期间，超声波探头的视场在感兴趣的组织上前进，获得超声图像。 在特定休息期间获取的一系列图像可以被表示为三维体积图像，并且来自相邻心脏静息期的体积图像的比较使得能够呈现给用户的三维体积图像调制分析作为移动 感兴趣对象的体积图像在视野内。

公开(公告)号：US08388556B2

公开(公告)日：2013-03-05

申请号：US13251370

申请日：2011-10-03

申请人： Daniel T. Wallace ,  Gregory J. Stahler ,  Alex Goldenberg ,  Gene Reis ,  Robert G. Younge ,  Mathew Clopp ,  David Camarillo ,  Toby St. John King

发明人： Daniel T. Wallace ,  Gregory J. Stahler ,  Alex Goldenberg ,  Gene Reis ,  Robert G. Younge ,  Mathew Clopp ,  David Camarillo ,  Toby St. John King

IPC分类号： A61B5/103 ,  A61B5/117

CPC分类号： A61M25/01 ,  A61B5/6885 ,  A61B17/3403 ,  A61B17/3476 ,  A61B2017/00243 ,  A61B2017/003 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/065

摘要： A method for estimating the force on a distal end of a working catheter includes positioning a portion of a robotically controlled guide catheter and working catheter into a body lumen wherein a distal end of the working catheter projects distally from a distal end of the guide catheter. The working catheter and guide catheter are dithered with respect to one another using a dithering device operatively connected to a proximal portion of the working catheter. The coupling may occur directly to the working catheter or via a seal such as a Touhy seal. The force experienced by the working catheter at a proximal region is measured through at least one dithering cycle. The force at the distal end of the working catheter is then estimated based on the measured force at the proximal region. The estimated force may be displayed to a physician on, for example, a monitor.

摘要翻译： 用于估计工作导管的远端上的力的方法包括将机器人控制的引导导管和工作导管的一部分定位到体腔中，其中工作导管的远端从导向导管的远端远端突出。 工作导管和引导导管相对于彼此使用可操作地连接到工作导管的近端部分的抖动装置进行抖动。 联轴器可以直接发生在工作导管上，或通过诸如Touhy密封件的密封件。 通过至少一个抖动周期测量由近端区域上的工作导管所经受的力。 然后基于在近端区域处测量的力来估计工作导管远端处的力。 估计的力可以在例如监视器上向医生显示。

公开(公告)号：US20120035481A1

公开(公告)日：2012-02-09

申请号：US13274141

申请日：2011-10-14

申请人： Frederico Barbagli ,  Aditya Koolwal ,  Christopher R. Carlson ,  Daniel T. Wallace ,  Robert G. Younge

发明人： Frederico Barbagli ,  Aditya Koolwal ,  Christopher R. Carlson ,  Daniel T. Wallace ,  Robert G. Younge

IPC分类号： A61B8/14

CPC分类号： A61B5/06 ,  A61B5/065 ,  A61B8/0833 ,  A61B8/12 ,  A61B8/4254 ,  A61B8/445 ,  A61B8/4477 ,  A61B8/4483 ,  A61B8/483 ,  A61B8/543 ,  A61B18/1492 ,  A61B90/36 ,  A61B2017/00252 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/256 ,  A61B2090/0811 ,  A61B2090/367 ,  A61B2090/378 ,  A61B2090/3784 ,  A61B2090/3929

摘要： An automated medical system comprises a first instrument assembly including a first ultrasound transducer having a first transducer field of view that transmits and receives ultrasound signals in imaging planes disposed circumferentially about a guide instrument, and a second instrument assembly including a second ultrasound transducer having a second transducer field of view coupled to one of a second flexible guide instrument and a working instrument. A computing system is operatively coupled to the respective first and second transducers and configured to determine a relative spatial orientation of the respective first and second transducers based at least in part on detecting a signal transmitted by one of the first and second transducers and received by the other of the first and second transducers, the received signal having an amplitude indicating the receiving one of the transducers is in the field of view of the transmitting one of the transducers.

摘要翻译： 一种自动医疗系统包括第一仪器组件，该第一仪器组件包括第一超声换能器，该第一超声波换能器具有第一换能器视场，该第一超声波换能器在围绕导向器周围设置的成像平面中发射和接收超声信号;以及第二仪器组件， 传感器视场耦合到第二柔性引导仪器和工作仪器之一。 计算系统可操作地耦合到相应的第一和第二换能器并且被配置为至少部分地基于检测由第一和第二换能器中的一个发射的信号并由第一和第二换能器接收的信号来确定相应的第一和第二换能器的相对空间取向 第一和第二换能器中的另一个，具有指示换能器中的接收换能器之一的振幅的接收信号处于发射换能器之一的视野中。

公开(公告)号：US08092397B2

公开(公告)日：2012-01-10

申请号：US11678001

申请日：2007-02-22

申请人： Daniel T. Wallace ,  Gregory Stahler ,  Alex Goldenberg ,  Gene Reis ,  Robert G. Younge ,  Mathew Clopp ,  David B. Camarillo ,  Toby St. John King

发明人： Daniel T. Wallace ,  Gregory Stahler ,  Alex Goldenberg ,  Gene Reis ,  Robert G. Younge ,  Mathew Clopp ,  David B. Camarillo ,  Toby St. John King

IPC分类号： A61B5/103 ,  A61B5/117 ,  A61M25/00

CPC分类号： A61M25/01 ,  A61B5/6885 ,  A61B17/3403 ,  A61B17/3476 ,  A61B2017/00243 ,  A61B2017/003 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/065

摘要： A robotic catheter manipulator includes a guide catheter including proximal and distal ends and lumen extending there through. A flexible bellows is secured at one end to the proximal end of the guide catheter and at the other end to a seal configured to receive a working catheter. In a loaded state, the working catheter is fixed relative to the seal. A ditherer is operatively connected to the seal for dithering the working catheter relative to the guide catheter when placed therein. The robotic catheter manipulator includes at least one force sensor for measuring the force applied to the working catheter by the ditherer. Force measurements may be translated into an estimated force that is experienced at the distal end of the working catheter which may then be displayed to the physician via a monitor or display.

摘要翻译： 机器人导管操纵器包括导管，其包括近端和远端以及在其延伸的内腔。 柔性波纹管在一端固定到引导导管的近端，另一端固定在被构造成接收工作导管的密封件上。 在加载状态下，工作导管相对于密封件固定。 一个搅拌器可操作地连接到该密封件上，用于当将工作导管放置在其中时相对于导向导管进行高频抖动。 机器人导管操纵器包括至少一个力传感器，用于测量施加在工作导管上的力。 力测量可以被转换成在工作导管的远端处经历的估计力，然后可以经由监视器或显示器将其显示给医师。