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101. 发明申请

US20080188871A1 DIRECT DRIVE METHODS 有权
标题翻译：直接驱动方式
公开(公告)号：US20080188871A1
公开(公告)日：2008-08-07
申请号：US11946807
申请日：2007-11-28
申请人： Paul J. Smith , Barry Weitzner
发明人： Paul J. Smith , Barry Weitzner
IPC分类号： A61B17/04
CPC分类号： A61B34/74 , A61B1/00039 , A61B1/00087 , A61B1/0014 , A61B1/00147 , A61B1/00154 , A61B1/00165 , A61B1/00183 , A61B1/0052 , A61B1/0057 , A61B1/018 , A61B1/04 , A61B1/12 , A61B1/3132 , A61B10/06 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/29 , A61B17/320016 , A61B34/10 , A61B34/70 , A61B34/71 , A61B90/11 , A61B2017/00212 , A61B2017/00287 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/0034 , A61B2017/00353 , A61B2017/00362 , A61B2017/00398 , A61B2017/00469 , A61B2017/00973 , A61B2017/0225 , A61B2017/2905 , A61B2017/2906 , A61B2017/3445 , A61B2017/3447 , A61B2090/0811 , A61B2090/374
摘要： Described herein are various method of using a direct drive system to perform procedures at a distance. One exemplary method include tying a knot or suturing at a distance with a first and second end effector. The direct drive system can enable sufficient end effector dexterity, including the ability to control various degrees of freedom of end effector movement, and allow a user to perform complicated task at a distance. In one aspect the direct drive system includes flexible tools that permit access to surgical site via a natural orifice.
摘要翻译：这里描述了使用直接驱动系统在一定距离执行过程的各种方法。一种示例性方法包括将结或与第一和第二末端执行器一定距离缝合。直接驱动系统可以实现足够的末端执行器灵活性，包括控制末端执行器运动的各种自由度的能力，并允许用户在远处执行复杂的任务。在一个方面，直接驱动系统包括允许通过自然孔口进入手术部位的柔性工具。

102. 发明申请

US20080188868A1 DIRECT DRIVE ENDOSCOPY SYSTEMS AND METHODS 有权
标题翻译：直接驱动内窥镜系统和方法
公开(公告)号：US20080188868A1
公开(公告)日：2008-08-07
申请号：US11946779
申请日：2007-11-28
申请人： Barry Weitzner , Paul J. Smith , John B. Golden , Brian J. Intoccia , Naroun Suon , William J. Shaw
发明人： Barry Weitzner , Paul J. Smith , John B. Golden , Brian J. Intoccia , Naroun Suon , William J. Shaw
IPC分类号： A61B19/00
CPC分类号： A61B34/74 , A61B1/00039 , A61B1/00087 , A61B1/0014 , A61B1/00147 , A61B1/00154 , A61B1/00165 , A61B1/00183 , A61B1/0052 , A61B1/0057 , A61B1/018 , A61B1/04 , A61B1/12 , A61B1/3132 , A61B10/06 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/29 , A61B17/320016 , A61B34/10 , A61B34/70 , A61B34/71 , A61B90/11 , A61B2017/00212 , A61B2017/00287 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/0034 , A61B2017/00353 , A61B2017/00362 , A61B2017/00398 , A61B2017/00469 , A61B2017/00973 , A61B2017/0225 , A61B2017/2905 , A61B2017/2906 , A61B2017/3445 , A61B2017/3447 , A61B2090/0811 , A61B2090/374
摘要： Disclosed herein are various systems and methods for facilitating control of a tool or tools. The systems can allow a user to control multiple degrees of freedom. One such system allows a user to control multiple degrees of freedom of two tools simultaneously. Another such system allows a user to control multiple degrees of freedom with a single hand. Frames and rails for supporting and/or constraining movement of a tool or tools are also described herein.
摘要翻译：本文公开了用于促进对工具或工具的控制的各种系统和方法。这些系统可以允许用户控制多个自由度。一个这样的系统允许用户同时控制两个工具的多个自由度。另一个这样的系统允许用户用单手控制多个自由度。这里还描述了用于支撑和/或约束工具或工具的运动的框架和轨道。

103. 发明申请

US20080177283A1 ROBOTICALLY CONTROLLED MEDICAL INSTRUMENT 有权
标题翻译：机器人控制医疗器械
公开(公告)号：US20080177283A1
公开(公告)日：2008-07-24
申请号：US12024013
申请日：2008-01-31
申请人： Woojin Lee , Andres Chamorro , Barry Weitzner
发明人： Woojin Lee , Andres Chamorro , Barry Weitzner
IPC分类号： A61B19/00
CPC分类号： A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/062 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/00371 , A61B2017/00477 , A61B2017/2902 , A61B2017/2927 , A61B2017/2936 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61B2090/571 , B25J3/04 , B25J9/104
摘要： A medical instrument assembly comprises a shaft, a tool carried by the distal end of the shaft for performing a medical procedure on a patient, an end effector, a threaded housing in which the threaded distal shaft end is configured for being screwed, and a first threaded piece disposed in the threaded housing and configured for being moved to actuate the end effector. The assembly further comprises an actuation element extending within the shaft. The actuation element includes a second threaded piece that distally extends from the threaded distal shaft end. The second threaded piece is configured for being screwed to the first threaded piece. A robotic system comprises the assembly, a user interface configured for generating command(s), a drive unit coupled to the actuating element, and an electric controller configured, in response to the command(s), for directing the drive unit to move the actuating element to actuate the tool.
摘要翻译：医疗器械组件包括轴，由轴的远端承载的工具，用于在患者身上执行医疗程序，末端执行器，螺纹壳体，螺纹远端轴端构造成螺纹连接，第一螺纹件设置在螺纹壳体中并且构造成被移动以致动端部执行器。组件还包括在轴内延伸的致动元件。致动元件包括从螺纹远端轴端向远端延伸的第二螺纹件。第二螺纹件构造成用于螺纹连接到第一螺纹件。机器人系统包括组件，被配置为用于生成命令的用户界面，耦合到致动元件的驱动单元和响应于该命令配置的电控制器，用于引导驱动单元移动致动元件以致动该工具。

104. 发明申请

US20080119871A1 FLEXIBLE INSTRUMENT 有权
标题翻译：柔性仪器
公开(公告)号：US20080119871A1
公开(公告)日：2008-05-22
申请号：US12023865
申请日：2008-01-31
申请人： David Brock , Woojin Lee , Gary Rogers , Barry Weitzner
发明人： David Brock , Woojin Lee , Gary Rogers , Barry Weitzner
IPC分类号： A61B19/00 , A61B1/00 , A61B1/005
CPC分类号： A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/0487 , A61B17/0644 , A61B17/0682 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/00088 , A61B2017/00243 , A61B2017/003 , A61B2017/00331 , A61B2017/00477 , A61B2017/00876 , A61B2017/00986 , A61B2017/0409 , A61B2017/0414 , A61B2017/0437 , A61B2017/0464 , A61B2017/0645 , A61B2017/0648 , A61B2017/22069 , A61B2017/2927 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61F2/2445 , A61F2/2466 , B25J3/04 , B25J9/104
摘要： A medical instrument assembly and robotic medical system are provided. The instrument assembly comprises coaxially disposed shafts, and a mechanically drivable interface to which the proximal ends of the shafts are mounted. The drivable interface has first and second actuating elements configured for independently axially rotating the shafts relative to each other, and a third actuating element configured for deflecting the distal end of one of the shafts. The robotic medical system comprises the instrument assembly, a user interface configured for generating at least one command, and a drive unit coupled to the drivable interface. The robotic medical system further comprises an electrical controller configured, in response to the at least one command, for directing the drive unit to drive the first and second actuating elements to independently axially rotate the shafts relative to each other, and to drive the third actuating element to deflect one of the shafts.
摘要翻译：提供医疗器械组件和机器人医疗系统。仪器组件包括同轴设置的轴，以及机械可驱动的界面，轴的近端安装在该界面上。可驱动界面具有构造成用于相对于彼此独立地轴向地旋转轴的第一和第二致动元件，以及构造成偏转所述轴中的一个的远端的第三致动元件。机器人医疗系统包括仪器组件，被配置为产生至少一个命令的用户界面以及耦合到可驱动界面的驱动单元。所述机器人医疗系统还包括电控制器，其被配置为响应于所述至少一个命令，用于引导所述驱动单元驱动所述第一和第二致动元件以独立地相对于彼此轴向地旋转所述轴，并且驱动所述第三致动器元件以偏转一个轴。

105. 发明申请

US20070282418A1 Anti-obesity flow controller 审中-公开
标题翻译：抗肥胖流量控制器
公开(公告)号：US20070282418A1
公开(公告)日：2007-12-06
申请号：US11443544
申请日：2006-05-30
申请人： Barry Weitzner
发明人： Barry Weitzner
IPC分类号： A61F2/06
CPC分类号： A61F2/04 , A61F5/0076 , A61F2002/044
摘要： The anti-obesity flow controller includes a tubular structure which is sized to fit within a duodenum in substantially coaxial relation therewith. The anti-obesity flow controller includes a transport structure which is connected to the tubular structure. The tubular structure is secured within the duodenum such that the transport structure provides a conduit for the digestive fluid to flow from the papilla of Vater to the distal end of the tubular structure. The tubular structure is further secured within the duodenum such that the proximal end of the tubular structure communicates with the pylorus to provide for the chyme therefrom to flow into the lumen of the tubular structure. A controller structure is connected to the inner surface of the tubular structure to change the velocity of the chyme which flows within the lumen from the proximal to distal ends.
摘要翻译：抗肥胖流量控制器包括管状结构，其尺寸适于与十二指肠基本上同轴的关系。抗肥胖流量控制器包括连接到管状结构的输送结构。管状结构被固定在十二指肠内，使得运输结构提供用于消化液从Vater的乳头流到管状结构的远端的导管。管状结构进一步固定在十二指肠内，使得管状结构的近端与幽门连通以提供其中的食糜流入管状结构的内腔。控制器结构连接到管状结构的内表面，以改变在内腔内从近端到远端流动的食糜的速度。

106. 发明申请

US20070239178A1 ROBOTIC MEDICAL INSTRUMENT SYSTEM 审中-公开
标题翻译：机器人医疗器械系统
公开(公告)号：US20070239178A1
公开(公告)日：2007-10-11
申请号：US11762734
申请日：2007-06-13
申请人： Barry Weitzner , Gary Rogers , Albert Solbjor , Dwight Meglan , Robert Ailinger , David Brock , Woojin Lee , David Driscoll
发明人： Barry Weitzner , Gary Rogers , Albert Solbjor , Dwight Meglan , Robert Ailinger , David Brock , Woojin Lee , David Driscoll
IPC分类号： A61B17/03
CPC分类号： A61B17/1114 , A61B17/0469 , A61B17/0491 , A61B17/068 , A61B34/30 , A61B34/32 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00309 , A61B2017/00477 , A61B2017/1135 , A61B2017/22054 , A61B2017/22069 , A61B2017/2905 , A61B2017/2927 , A61B2034/301 , A61B2034/305
摘要： A medical system and method of performing a medical procedure on a patient are provided. An electrical controller directs an electromechanical driver to bend an elongated member back upon itself to place a active work element in a working relationship with an intermediate work element, and to respectively control the active work element and intermediate work element, in unison, to perform a medical procedure. The electrical controller may be remote from the electromechanical driver, and may be coupled to the electromechanical driver via external cabling. The electrical controller may have a user interface for receiving commands from a user. In this case, the movements made at the user interface correspond to movements of the medical instrument.
摘要翻译：提供了一种对患者执行医疗程序的医疗系统和方法。电气控制器引导机电驱动器将细长构件弯曲回自身以使活动工作元件与中间工作元件处于工作关系中，并且一致地分别控制活动工作元件和中间工件以执行医疗程序。电气控制器可以远离机电驱动器，并且可以经由外部电缆耦合到机电驱动器。电气控制器可以具有用于从用户接收命令的用户界面。在这种情况下，在用户界面处的移动对应于医疗器具的移动。

107. 发明申请

US20070239105A1 COAXIAL CATHETER SYSTEM 有权
标题翻译：同轴导管系统
公开(公告)号：US20070239105A1
公开(公告)日：2007-10-11
申请号：US11762748
申请日：2007-06-13
申请人： Barry Weitzner , Gary Rogers , Albert Solbjor
发明人： Barry Weitzner , Gary Rogers , Albert Solbjor
IPC分类号： A61M31/00
CPC分类号： A61M25/1002 , A61B17/12045 , A61B17/12136 , A61B34/70 , A61B2017/12127 , A61B2017/22075 , A61B2017/3409 , A61B2034/301 , A61B2090/0811 , A61M25/0113 , A61M25/1011 , A61M25/10184 , A61M2025/0004 , A61M2025/0008 , A61M2025/0175 , A61M2025/1015 , A61M2025/1052 , A61M2025/1059 , A61M2025/1072
摘要： A robotic medical system comprises a user interface configured for receiving at least one command, a first drive mechanism configured for receiving the outer medical implement, a second drive mechanism configured for receiving the inner medical implement, a linear drive arrangement (e.g., one of a drive screw drive arrangement, a rack and pinion drive arrangement, and a belt/pulley drive arrangement) mechanically coupled to the first and second drive mechanisms, and a motor array. The robotic medical system further comprises an electric controller configured for directing the motor array to cause the first drive mechanism to axially rotate the outer medical implement, to cause the second drive mechanism to axially rotate the inner medical implement, and to cause the linear drive mechanism to linearly translate the first and second drive mechanisms relative to each other in response to the at least one command.
摘要翻译：机器人医疗系统包括被配置为接收至少一个命令的用户界面，被配置为接收外部医疗器具的第一驱动机构，被配置为用于接收内部医疗器具的第二驱动机构，线性驱动装置（例如，机械耦合到第一和第二驱动机构的驱动螺杆驱动装置，齿条和小齿轮驱动装置以及皮带/皮带轮驱动装置，以及马达阵列。所述机器人医疗系统还包括电控制器，所述电控制器被配置为引导所述电机阵列以使所述第一驱动机构轴向地旋转所述外部医疗器具，以使所述第二驱动机构使所述内部医疗器具轴向旋转，并且使所述线性驱动机构以响应于至少一个命令相对于彼此线性地平移第一和第二驱动机构。

108. 发明申请

US20070225554A1 Endoscope working channel with multiple functionality 有权
标题翻译：具有多功能的内窥镜工作通道
公开(公告)号：US20070225554A1
公开(公告)日：2007-09-27
申请号：US11386861
申请日：2006-03-22
申请人： Luis Maseda , Barry Weitzner , Roy Sullivan , William Churchill
发明人： Luis Maseda , Barry Weitzner , Roy Sullivan , William Churchill
IPC分类号： A61B1/00
CPC分类号： A61B1/018 , A61B1/00108 , A61B2017/2901 , A61B2017/293
摘要： Endoscopic instrument assemblies and methods for making and using the same. An example endoscopic instrument assembly includes an endoscope having a working channel and an endoscopic instrument slidably disposed in the working channel. The inside surface of the working channel and the outside surface of the endoscopic instrument each have a non-circular cross-sectional shape along at least a portion of their respective lengths.
摘要翻译：内窥镜仪器组件及其制造和使用方法。示例性内窥镜器械组件包括具有工作通道的内窥镜和可滑动地设置在工作通道中的内窥镜器械。工作通道的内表面和内窥镜器具的外表面沿其各自长度的至少一部分具有非圆形横截面形状。

109. 发明授权

US07214230B2 Flexible instrument 有权
标题翻译：柔性仪器
公开(公告)号：US07214230B2
公开(公告)日：2007-05-08
申请号：US10010150
申请日：2001-11-16
申请人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner , Robert W. Cunningham
发明人： David L. Brock , Woojin Lee , Gary Rogers , Barry Weitzner , Robert W. Cunningham
IPC分类号： A61B17/10
CPC分类号： A61B17/0469 , A61B5/0084 , A61B5/015 , A61B5/4893 , A61B17/00234 , A61B17/0483 , A61B17/0487 , A61B17/0644 , A61B17/0682 , A61B17/29 , A61B17/3421 , A61B17/3462 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/77 , A61B90/36 , A61B90/361 , A61B2017/00026 , A61B2017/00088 , A61B2017/00243 , A61B2017/003 , A61B2017/00331 , A61B2017/00477 , A61B2017/00876 , A61B2017/00986 , A61B2017/0409 , A61B2017/0414 , A61B2017/0437 , A61B2017/0464 , A61B2017/0645 , A61B2017/0648 , A61B2017/22069 , A61B2017/2927 , A61B2017/2939 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/305 , A61B2034/715 , A61B2034/742 , A61B2034/744 , A61B2090/365 , A61B2090/378 , A61B2090/506 , A61F2/2445 , A61F2/2466 , B25J3/04 , B25J9/104
摘要： A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.
摘要翻译：描述了一种使用支撑工具的轴的远程控制柔性仪器系统，其中近端和远端具有其至少一部分延伸穿过人体的内腔，以将轴定位在内部目标位置。包括输入装置的主站提供对位于从站的仪器的控制。主站可以控制柔性仪器的至少一个自由度。控制器将主站和从站相互联接，并且根据接收来自输入设备的命令的计算机算法进行操作，以控制导管的至少一个自由度，以便根据输入设备的动作进行响应。柔性仪器还包括沿着轴的受控柔性段，用于在柔性段处的受控弯曲以引导轴并将工具布置在操作部位。

110. 发明申请

US20070060879A1 COAXIAL CATHETER SYSTEM 有权
标题翻译：同轴导管系统
公开(公告)号：US20070060879A1
公开(公告)日：2007-03-15
申请号：US11467886
申请日：2006-08-28
申请人： Barry Weitzner , Gary Rogers , Albert Solbjor
发明人： Barry Weitzner , Gary Rogers , Albert Solbjor
IPC分类号： A61M31/00
CPC分类号： A61M25/1002 , A61B17/12045 , A61B17/12136 , A61B34/70 , A61B2017/12127 , A61B2017/22075 , A61B2017/3409 , A61B2034/301 , A61B2090/0811 , A61M25/0113 , A61M25/1011 , A61M25/10184 , A61M2025/0004 , A61M2025/0008 , A61M2025/0175 , A61M2025/1015 , A61M2025/1052 , A61M2025/1059 , A61M2025/1072
摘要： A system drives a catheter and an implement positioned within and axially moveable relative to the catheter through an anatomical body. The system may include an implement driver which receives and couples to the implement, and a catheter driver which receives and couples to the catheter. A controller coupled to the catheter and implement drivers directs the operation of the drivers to move the implement and catheter relative to each other.
摘要翻译：系统驱动导管和工具，其定位在相对于导管通过解剖体的内部并且可轴向移动。系统可以包括接收并耦合到器具的器具驱动器，以及接收并耦合到导管的导管驱动器。耦合到导管和器具驱动器的控制器引导驱动器的操作以相对于彼此移动器具和导管。

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