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    System and method for detection and avoidance of collision of robotically-controlled medical devices
    1.
    发明授权
    System and method for detection and avoidance of collision of robotically-controlled medical devices 有权

    公开(公告)号：US10111723B2

    公开(公告)日：2018-10-30

    申请号：US15148078

    申请日：2016-05-06

    Applicant: St. Jude Medical, Atrial Fibrillation Division, Inc.

    Inventor： Eric S. Olson

    IPC: A61B34/00 ,  A61B34/37 ,  A61B34/30 ,  A61B34/32 ,  A61B34/20 ,  G06F19/00 ,  A61B34/10 ,  A61M25/01

    Abstract: A robotic catheter control system includes a collision detection logic configured to determine a collision metric indicative of a collision between a medical device that is manipulated by the robotic control system and an object. The object may be an anatomical feature or can be another medical device, including another device being manipulated by the robotic control system. The collision detection logic produces virtual representations of the medical device and the object and uses these representation to determine collision. Geometrical solids, such as spheres, are used to represent the outer surfaces of the devices and the logic determines whether the respective surfaces intersect, thereby indicating collision. Collision avoidance involves estimating future device poses and then computing an alternate path computation so as avoid predicted collision(s).

    MEDICAL DEVICE POSITIONER FOR REMOTE CATHETER GUIDANCE SYSTEMS
    5.
    发明申请
    MEDICAL DEVICE POSITIONER FOR REMOTE CATHETER GUIDANCE SYSTEMS 有权
    用于远程导管指导系统的医疗设备定位器

    公开(公告)号：US20140257327A1

    公开(公告)日：2014-09-11

    申请号：US13790622

    申请日：2013-03-08

    Applicant: St. Jude Medical, Atrial Fibrillation Division Inc.

    Inventor： Eric S. Olson ,  Mark B. Kirschenman

    IPC: A61B19/00

    CPC classification number: A61B34/30 ,  A61B2017/00477 ,  A61B2034/301 ,  A61M25/0043 ,  A61M39/10 ,  A61M2025/0175

    Abstract: A medical device positioner for use with a remote catheter guidance system (RCGS) is provided, which can address angular, lateral and/or translational misalignment of an elongate medical device between the RCGS and an access point on a patient's body. Such a medical device positioner can comprise a base configured to attach to a remote catheter guidance system and a first support member extending from the base and having a receiving portion for receiving at least a portion of the elongate medical device. The medical device positioner can further include a second support member movably coupled to the first support member and including a second receiving area sized and configured to receive at least a portion of the elongate medical device. The medical device positioner can also include first and second tube sections with at least a portion of the first tube section being adapted to be inserted into a vascular system of a patient at an access point. A joint septum can be included for connecting the first and second tube sections.

    Abstract translation: 提供了一种用于远程导管引导系统（RCGS）的医疗装置定位器，其可以解决细长医疗装置在RCGS与患者身体上的接入点之间的角度，横向和/或平移不对准。 这样的医疗装置定位器可以包括构造成附接到远程导管引导系统的基座和从基部延伸并具有用于容纳细长医疗装置的至少一部分的接收部分的第一支撑构件。 医疗装置定位器还可以包括可移动地联接到第一支撑构件并且包括尺寸和构造成容纳细长医疗装置的至少一部分的第二容纳区域的第二支撑构件。 医疗装置定位器还可以包括第一和第二管部分，其中第一管部分的至少一部分适于插入到接入点处的患者的血管系统中。 可以包括用于连接第一和第二管段的接头隔膜。

    CATHETER FOR MANUAL AND REMOTE MANIPULATION
    6.
    发明申请
    CATHETER FOR MANUAL AND REMOTE MANIPULATION 有权
    手动和远程操纵导管

    公开(公告)号：US20130172814A1

    公开(公告)日：2013-07-04

    申请号：US13729981

    申请日：2012-12-28

    Applicant: St. Jude Medical, Atrial Fibrillation Division, Inc.

    Inventor： Eric S. Olson ,  Mark B. Kirschenman

    IPC: A61M25/01

    CPC classification number: A61M25/0147 ,  A61M25/0113 ,  A61M25/0136 ,  A61M25/0155

    Abstract: An elongate medical device may overcome be configured both for manual manipulation by a physician and for automatic manipulation by a remote catheter guidance system. Such an elongate medical device comprises a shaft having a proximal portion and a distal portion, a pull wire disposed in the shaft and affixed to the distal portion of the shaft, and a handle coupled with the proximal portion of the catheter shaft. The handle comprises a first mechanism configured for manual actuation of the pull wire so as to deflect the distal portion of the shaft, a second mechanism configured for remote actuation of the pull wire so as to deflect the distal portion of the shaft, and a mechanical interface configured to provide a remote catheter guidance system with a functional connection to the second mechanism.

    Abstract translation: 细长的医疗装置可以克服被配置为由医师进行手动操作并且由远程导管引导系统进行自动操作。 这种细长的医疗装置包括具有近端部分和远端部分的轴，设置在轴中并固定到轴的远侧部分的拉线以及与导管轴的近端部分联接的手柄。 手柄包括第一机构，其构造成用于手动致动拉线，以便偏转轴的远端部分;第二机构，其构造成用于远程致动拉线，以便偏转轴的远端部分;以及机械 接口，被配置为提供具有到第二机构的功能连接的远程导管引导系统。

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