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11. 发明授权

US08409136B2 Robotic catheter system 有权
公开(公告)号：US08409136B2
公开(公告)日：2013-04-02
申请号：US13118293
申请日：2011-05-27
申请人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Frederic H. Moll , 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： A61B34/37 , A61B5/042 , A61B5/066 , A61B5/6852 , A61B5/6885 , A61B5/7285 , A61B5/746 , A61B6/4423 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , 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 , A61M25/0113 , A61M25/09041
摘要： A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

12. 发明授权

US07972298B2 Robotic catheter system 有权
公开(公告)号：US07972298B2
公开(公告)日：2011-07-05
申请号：US11073363
申请日：2005-03-04
申请人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Frederic H. Moll , 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： A61B34/37 , A61B5/042 , A61B5/066 , A61B5/6852 , A61B5/6885 , A61B5/7285 , A61B5/746 , A61B6/4423 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , 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 , A61M25/0113 , A61M25/09041
摘要： A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

13. 发明授权

US07850642B2 Methods using a robotic catheter system 有权
标题翻译：使用机器人导管系统的方法
公开(公告)号：US07850642B2
公开(公告)日：2010-12-14
申请号：US11179007
申请日：2005-07-06
申请人： Frederic H. Moll , Daniel T. Wallace , Robert G. Younge , David F. Moore , Michael R. Zinn , Kenneth M. Martin , Gunter D. Niemeyer
发明人： Frederic H. Moll , Daniel T. Wallace , Robert G. Younge , David F. Moore , Michael R. Zinn , Kenneth M. Martin , Gunter D. Niemeyer
IPC分类号： A61M31/00
CPC分类号： A61B34/30 , A61B5/7285 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B17/00234 , A61B18/00 , A61B34/20 , A61B34/25 , A61B34/37 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00199 , A61B2017/00247 , A61B2017/003 , A61B2017/00477 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2034/742 , A61B2090/035 , A61B2090/065 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , B33Y80/00
摘要： A methods using a robotic catheter system to perform a procedure on a patient includes generating a control signal corresponding to movement of a master input device, and moving a plurality of drive elements of an instrument driver in response to the control signal, the drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument distal end.
摘要翻译：使用机器人导管系统对患者执行程序的方法包括产生对应于主输入装置的运动的控制信号，以及响应于控制信号移动仪器驱动器的多个驱动元件，操作地驱动驱动元件耦合到细长引导器具的对应的多个控制元件，所述控制元件固定到所述引导器械的远端并且相对于所述引导器具可轴向移动，使得所述驱动元件的运动导致所述引导器械远端的相应运动结束。

14. 发明授权

US06639581B1 Flexure mechanism for interface device 有权
标题翻译：接口设备的弯曲机构
公开(公告)号：US06639581B1
公开(公告)日：2003-10-28
申请号：US09376649
申请日：1999-08-18
申请人： David F. Moore , Kenneth M. Martin , Steve P. Vassallo , Louis B. Rosenberg
发明人： David F. Moore , Kenneth M. Martin , Steve P. Vassallo , Louis B. Rosenberg
IPC分类号： G09G500
CPC分类号： G06F3/016 , G05G9/047 , G06F2203/015 , G09B23/285
摘要： A flexure mechanism for an interface device that interfaces a user with a computer system. An interface device includes a manipulandum physically contacted by the user. A five-bar closed-loop mechanism is coupled to the manipulandum to provide two rotary degrees of freedom to the manipulandum. The mechanism includes members coupled to each other by flexible couplings allowing rotation of the members. In preferred embodiments, four or five of the members are coupled together by flexible couplings that allow bending, thereby forming a unitary piece, where the couplings are oriented along axes of rotation of the mechanism. A sensor senses a position of the manipulandum outputs a sensor signal, and in some embodiments actuators are coupled to the mechanism to output a force to the manipulandum in particular degrees of freedom. The manipulandum can be a joystick handle or portion of a sphere, where the device in one embodiment can be a handheld gamepad or similar controller.
摘要翻译：用于将用户与计算机系统接口的接口设备的弯曲机构。接口设备包括用户实际接触的操作。五杆闭环机构与操作联系在一起，为操纵提供两个旋转自由度。该机构包括通过允许构件旋转的柔性联接器彼此联接的构件。在优选实施例中，四个或五个构件通过允许弯曲的柔性联接器联接在一起，从而形成整体构件，其中联接件沿着机构的旋转轴线定向。传感器感测操纵的位置输出传感器信号，并且在一些实施例中，致动器联接到机构以在特定的自由度上向操纵力输出力。操纵杆可以是操纵杆手柄或球体的一部分，其中一个实施例中的装置可以是手持式操纵手柄或类似的控制器。

15. 发明授权

US09134795B2 Directional tactile feedback for haptic feedback interface devices 有权
公开(公告)号：US09134795B2
公开(公告)日：2015-09-15
申请号：US10944628
申请日：2004-09-17
申请人： Adam C. Braun , Louis B. Rosenberg , David F. Moore , Kenneth M. Martin , Alex S. Goldenberg
发明人： Adam C. Braun , Louis B. Rosenberg , David F. Moore , Kenneth M. Martin , Alex S. Goldenberg
IPC分类号： G09G5/00 , G06F3/01
CPC分类号： G06F3/016 , G06F2203/013
摘要： Directional haptic feedback provided in a haptic feedback interface device. An interface device includes at least two actuator assemblies, which each include a moving inertial mass. A single control signal provided to the actuator assemblies at different magnitudes provides directional inertial sensations felt by the user. A greater magnitude waveform can be applied to one actuator to provide a sensation having a direction approximately corresponding to a position of that actuator in the housing. In another embodiment, the actuator assemblies each include a rotary inertial mass and the control signals have different duty cycles to provide directional sensations. For power-consumption efficiency, the control signals can be interlaced or pulsed at a different frequency and duty cycle to reduce average power requirements.

16. 发明授权

US08617102B2 Robotic catheter system and methods 有权
标题翻译：机器人导管系统及方法
公开(公告)号：US08617102B2
公开(公告)日：2013-12-31
申请号：US13358468
申请日：2012-01-25
申请人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David C. Lundmark
发明人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David C. Lundmark
IPC分类号： A61M31/00
CPC分类号： A61B34/30 , A61B1/018 , A61B1/2676 , A61B1/273 , A61B5/0006 , A61B5/053 , A61B5/7285 , A61B6/541 , A61B8/0808 , A61B8/12 , A61B17/0482 , A61B17/062 , A61B18/08 , A61B34/20 , A61B34/25 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/39 , A61B90/50 , A61B2017/00238 , A61B2017/00243 , A61B2017/00296 , A61B2017/003 , A61B2017/00336 , A61B2017/00743 , A61B2017/00805 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2063 , A61B2034/256 , A61B2034/301 , A61B2034/303 , A61B2034/715 , A61B2090/035 , A61B2090/062 , A61B2090/065 , A61B2090/364 , A61B2090/376 , A61B2090/378 , A61B2090/3784 , A61M25/0105 , A61M25/0113 , A61M25/0147 , A61M2025/0004 , B33Y70/00 , B33Y80/00
摘要： The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.
摘要翻译：本发明的一个实施例的装置包括柔性护套仪器，柔性引导器械和工具。柔性护套仪器包括可移除地耦合到仪器驱动器并且限定护套仪器工作腔的第一仪器基座。柔性引导仪器包括可移除地联接到仪器驱动器并且穿过护套仪器工作腔的第二仪器基座。引导仪器还定义了工具内腔的导向仪器。该工具穿过导向仪工作腔。对于该装置的该实施例，护套仪器和引导器具可以彼此独立地控制。

17. 发明授权

US08257303B2 Robotic catheter system and methods 有权
标题翻译：机器人导管系统及方法
公开(公告)号：US08257303B2
公开(公告)日：2012-09-04
申请号：US13225324
申请日：2011-09-02
申请人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David C. Lundmark
发明人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David C. Lundmark
IPC分类号： A61M31/00
CPC分类号： A61B34/30 , A61B1/018 , A61B1/2676 , A61B1/273 , A61B5/0006 , A61B5/053 , A61B5/7285 , A61B6/541 , A61B8/0808 , A61B8/12 , A61B17/0482 , A61B17/062 , A61B18/08 , A61B34/20 , A61B34/25 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/39 , A61B90/50 , A61B2017/00238 , A61B2017/00243 , A61B2017/00296 , A61B2017/003 , A61B2017/00336 , A61B2017/00743 , A61B2017/00805 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2063 , A61B2034/256 , A61B2034/301 , A61B2034/303 , A61B2034/715 , A61B2090/035 , A61B2090/062 , A61B2090/065 , A61B2090/364 , A61B2090/376 , A61B2090/378 , A61B2090/3784 , A61M25/0105 , A61M25/0113 , A61M25/0147 , A61M2025/0004 , B33Y70/00 , B33Y80/00
摘要： The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.
摘要翻译：本发明的一个实施例的装置包括柔性护套仪器，柔性引导器械和工具。柔性护套仪器包括可移除地耦合到仪器驱动器并且限定护套仪器工作腔的第一仪器基座。柔性引导仪器包括可移除地联接到仪器驱动器并且穿过护套仪器工作腔的第二仪器基座。引导仪器还定义了工具内腔的导向仪器。该工具穿过导向仪工作腔。对于该装置的该实施例，护套仪器和引导器具可以彼此独立地控制。

18. 发明申请

US20120209174A1 Robotic catheter system and methods 有权
公开(公告)号：US20120209174A1
公开(公告)日：2012-08-16
申请号：US13358468
申请日：2012-01-25
申请人： Frederic H. MOLL , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David Lundmark
发明人： Frederic H. MOLL , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David Lundmark
IPC分类号： A61M25/092
CPC分类号： A61B34/30 , A61B1/018 , A61B1/2676 , A61B1/273 , A61B5/0006 , A61B5/053 , A61B5/7285 , A61B6/541 , A61B8/0808 , A61B8/12 , A61B17/0482 , A61B17/062 , A61B18/08 , A61B34/20 , A61B34/25 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/39 , A61B90/50 , A61B2017/00238 , A61B2017/00243 , A61B2017/00296 , A61B2017/003 , A61B2017/00336 , A61B2017/00743 , A61B2017/00805 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2063 , A61B2034/256 , A61B2034/301 , A61B2034/303 , A61B2034/715 , A61B2090/035 , A61B2090/062 , A61B2090/065 , A61B2090/364 , A61B2090/376 , A61B2090/378 , A61B2090/3784 , A61M25/0105 , A61M25/0113 , A61M25/0147 , A61M2025/0004 , B33Y70/00 , B33Y80/00
摘要： The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

19. 发明申请

US20120065467A1 ROBOTIC CATHETER SYSTEM AND METHODS 有权
标题翻译：机器人导管系统及方法
公开(公告)号：US20120065467A1
公开(公告)日：2012-03-15
申请号：US13225324
申请日：2011-09-02
申请人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David Lundmark
发明人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Kenneth M. Martin , Robert G. Younge , Michael R. Zinn , Gunter D. Niemeyer , David Lundmark
IPC分类号： A61B1/018 , A61B1/04 , A61B1/00
CPC分类号： A61B34/30 , A61B1/018 , A61B1/2676 , A61B1/273 , A61B5/0006 , A61B5/053 , A61B5/7285 , A61B6/541 , A61B8/0808 , A61B8/12 , A61B17/0482 , A61B17/062 , A61B18/08 , A61B34/20 , A61B34/25 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B46/10 , A61B90/361 , A61B90/39 , A61B90/50 , A61B2017/00238 , A61B2017/00243 , A61B2017/00296 , A61B2017/003 , A61B2017/00336 , A61B2017/00743 , A61B2017/00805 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2063 , A61B2034/256 , A61B2034/301 , A61B2034/303 , A61B2034/715 , A61B2090/035 , A61B2090/062 , A61B2090/065 , A61B2090/364 , A61B2090/376 , A61B2090/378 , A61B2090/3784 , A61M25/0105 , A61M25/0113 , A61M25/0147 , A61M2025/0004 , B33Y70/00 , B33Y80/00
摘要： The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.
摘要翻译：本发明的一个实施例的装置包括柔性护套仪器，柔性引导器械和工具。柔性护套仪器包括可移除地耦合到仪器驱动器并且限定护套仪器工作腔的第一仪器基座。柔性引导仪器包括可移除地联接到仪器驱动器并且穿过护套仪器工作腔的第二仪器基座。引导仪器还定义了工具内腔的导向仪器。该工具穿过导向仪工作腔。对于该装置的该实施例，护套仪器和引导器具可以彼此独立地控制。

20. 发明授权

US07965276B1 Force output adjustment in force feedback devices based on user contact 有权
标题翻译：基于用户接触力强制反馈装置的强制输出调整
公开(公告)号：US07965276B1
公开(公告)日：2011-06-21
申请号：US09798872
申请日：2001-03-01
申请人： Kenneth M. Martin , Adam C. Braun , David F. Moore
发明人： Kenneth M. Martin , Adam C. Braun , David F. Moore
IPC分类号： G09G5/08 , G09G5/00
CPC分类号： G06F3/016 , G06F2203/013 , G06F2203/015
摘要： A method and apparatus for adjusting force output from force feedback devices based on user contact with the device. A degree of user contact with a manipulandum of the device is determined by examining the motion of the manipulandum in at least one degree of freedom. A force is output in the degree of freedom of the manipulandum by an actuator of the force feedback device, where a magnitude of the force is adjusted in accordance with the degree of user contact. The force output can be stopped if the user is not contacting the manipulandum, or the forces can be reduced in magnitude if the user has a light contact or reduced grip on the manipulandum. The device can also continue to monitor manipulandum motion to determine when the user is again interacting with the manipulandum and to reapply or increase the magnitude of the forces.
摘要翻译：一种用于根据用户与设备接触来调节力反馈装置的力输出的方法和装置。通过以至少一个自由度检查操纵的动作来确定用户与装置的操纵的接触程度。通过力反馈装置的致动器在力操作的自由度中输出力，其中根据用户接触程度来调节力的大小。如果用户没有接触到操纵力，则可以停止力输出，或者如果用户在操作上具有轻微的接触或减少的抓地力，则可以大幅度减小力。该装置还可以继续监视操纵运动以确定用户何时再次与操纵进行交互并且重新应用或增加力的大小。

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