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61. 发明申请

US20080027313A1 SYSTEM AND METHOD FOR RADAR-ASSISTED CATHETER GUIDANCE AND CONTROL 失效
标题翻译：雷达辅助导管指导与控制系统与方法
公开(公告)号：US20080027313A1
公开(公告)日：2008-01-31
申请号：US11869668
申请日：2007-10-09
申请人： Yehoshua Shachar
发明人： Yehoshua Shachar
IPC分类号： A61B5/05
CPC分类号： A61B5/06 , A61B1/00158 , A61B5/064 , A61B5/7455 , A61B2034/732
摘要： A Catheter Guidance Control and Imaging (CGCI) system whereby a magnetic tip attached to a surgical tool is detected, displayed and influenced positionally so as to allow diagnostic and therapeutic procedures to be performed is described. The tools that can be so equipped include catheters, guidewires, and secondary tools such as lasers and balloons. The magnetic tip performs two functions. First, it allows the position and orientation of the tip to be determined by using a radar system such as, for example, a radar range finder or radar imaging system. Incorporating the radar system allows the CGCI apparatus to detect accurately the position, orientation and rotation of the surgical tool embedded in a patient during surgery. In one embodiment, the image generated by the radar is displayed with the operating room imagery equipment such as, for example, X-ray, Fluoroscopy, Ultrasound, MRI, CAT-Scan, PET-Scan, etc. In one embodiment, the image is synchronized with the aid of fiduciary markers located by a 6-Degrees of Freedom (6-DOF) sensor. The CGCI apparatus combined with the radar and the 6-DOF sensor allows the tool tip to be pulled, pushed, turned, and forcefully held in the desired position by applying an appropriate magnetic field external to the patient's body. A virtual representation of the magnetic tip serves as an operator control. This control possesses a one-to-one positional relationship with the magnetic tip inside the patient's body. Additionally, this control provides tactile feedback to the operator's hands in the appropriate axis or axes if the magnetic tip encounters an obstacle. The output of this control combined with the magnetic tip position and orientation feedback allows a servo system to control the external magnetic field.
摘要翻译：导管引导控制和成像（CGCI）系统，其中检测，显示和影响位置的附着于外科手术工具的磁尖以便允许执行诊断和治疗程序。可以配备的工具包括导管，导线和辅助工具，如激光和气球。磁头提供两个功能。首先，它允许通过使用诸如雷达测距仪或雷达成像系统的雷达系统确定尖端的位置和取向。结合雷达系统允许CGCI装置精确地检测手术中嵌入患者的手术工具的位置，方向和旋转。在一个实施例中，由诸如例如X射线，荧光透视，超声，MRI，CAT扫描，PET扫描等的手术室图像设备显示由雷达产生的图像。在一个实施例中，图像与通过6自由度（6自由度）传感器定位的受信标记的帮助同步。与雷达和6自由度传感器相结合的CGCI设备允许通过在患者身体外部施加适当的磁场来将工具尖端拉动，推动，转动并强制地保持在所需位置。磁尖端的虚拟表示作为操作者控制。该控制与患者体内的磁尖具有一对一的位置关系。此外，如果磁头遇到障碍物，该控制可以在适当的轴或轴上向驾驶员的手提供触觉反馈。该控制的输出结合磁头位置和方向反馈允许伺服系统控制外部磁场。

62. 发明授权

US07280863B2 System and method for radar-assisted catheter guidance and control 失效
标题翻译：雷达辅助导管引导和控制系统和方法
公开(公告)号：US07280863B2
公开(公告)日：2007-10-09
申请号：US10690472
申请日：2003-10-20
申请人： Yehoshua Shachar
发明人： Yehoshua Shachar
IPC分类号： A61B5/05
CPC分类号： A61B5/06 , A61B1/00158 , A61B5/064 , A61B5/7455 , A61B2034/732
摘要： A Catheter Guidance Control and Imaging (CGCI) system whereby a magnetic tip attached to a surgical tool is detected, displayed and influenced positionally so as to allow diagnostic and therapeutic procedures to be performed is described. The tools that can be so equipped include catheters, guidewires, and secondary tools such as lasers and balloons. The magnetic tip performs two functions. First, it allows the position and orientation of the tip to be determined by using a radar system such as, for example, a radar range finder or radar imaging system. Incorporating the radar system allows the CGCI apparatus to detect accurately the position, orientation and rotation of the surgical tool embedded in a patient during surgery. In one embodiment, the image generated by the radar is displayed with the operating room imagery equipment such as, for example, X-ray, Fluoroscopy, Ultrasound, MRI, CAT-Scan, PET-Scan, etc. In one embodiment, the image is synchronized with the aid of fiduciary markers located by a 6-Degrees of Freedom (6-DOF) sensor. The CGCI apparatus combined with the radar and the 6-DOF sensor allows the tool tip to be pulled, pushed, turned, and forcefully held in the desired position by applying an appropriate magnetic field external to the patient's body. A virtual representation of the magnetic tip serves as an operator control. This control possesses a one-to-one positional relationship with the magnetic tip inside the patient's body. Additionally, this control provides tactile feedback to the operator's hands in the appropriate axis or axes if the magnetic tip encounters an obstacle. The output of this control combined with the magnetic tip position and orientation feedback allows a servo system to control the external magnetic field.
摘要翻译：导管引导控制和成像（CGCI）系统，其中检测，显示和影响位置的附着于外科手术工具的磁尖以便允许执行诊断和治疗程序。可以配备的工具包括导管，导线和辅助工具，如激光和气球。磁头提供两个功能。首先，它允许通过使用诸如雷达测距仪或雷达成像系统的雷达系统确定尖端的位置和取向。结合雷达系统允许CGCI装置精确地检测手术中嵌入患者的手术工具的位置，方向和旋转。在一个实施例中，由诸如例如X射线，荧光透视，超声，MRI，CAT扫描，PET扫描等的手术室图像设备显示由雷达产生的图像。在一个实施例中，图像与通过6自由度（6自由度）传感器定位的受信标记的帮助同步。与雷达和6自由度传感器相结合的CGCI设备允许通过在患者身体外部施加适当的磁场来将工具尖端拉动，推动，转动并强制地保持在所需位置。磁尖端的虚拟表示作为操作者控制。该控制与患者体内的磁尖具有一对一的位置关系。此外，如果磁头遇到障碍物，该控制可以在适当的轴或轴上向驾驶员的手提供触觉反馈。该控制的输出结合磁头位置和方向反馈允许伺服系统控制外部磁场。

63. 发明申请

US20070016006A1 Apparatus and method for shaped magnetic field control for catheter, guidance, control, and imaging 失效
标题翻译：用于导管，引导，控制和成像的成形磁场控制的装置和方法
公开(公告)号：US20070016006A1
公开(公告)日：2007-01-18
申请号：US11140475
申请日：2005-05-27
申请人： Yehoshua Shachar
发明人： Yehoshua Shachar
IPC分类号： A61B5/05
CPC分类号： A61B5/06 , A61B1/00158 , A61B5/0507 , A61B5/062 , A61B34/25 , A61B34/70 , A61B34/73 , A61B34/77 , A61B2017/00703 , A61B2034/2051 , A61B2034/2063 , A61B2034/732 , A61B2090/376 , A61M25/0127 , A61M2025/0166
摘要： A variable magnet system for manipulating a magnetic catheter is described. In one embodiment, a cluster of electromagnets is configured to generate a desired magnetic field. In one embodiment, one or more poles of the cluster are moveable with respect to other poles in the cluster to allow shaping of the magnetic field. In one embodiment, one or more magnetic poles can be extended or retracted to shape the magnetic field. In one embodiment, the electromagnets can be positioned to generate magnetic fields that exert a desired torque and/or movement force on the catheter. In one embodiment, the catheter guidance system includes a closed-loop servo feedback system. In one embodiment, a radar system is used to determine the location of the distal end of the catheter inside the body, thus, minimizing or eliminating the use of ionizing radiation such as X-rays. The catheter guidance system can also be used in combination with an X-ray system (or other imaging systems) to provide additional imagery to the operator. The magnetic system used in the magnetic catheter guidance system can also be used to locate the catheter tip to provide location feedback to the operator and the control system. In one embodiment, a magnetic field source is used to create a magnetic field of sufficient strength and orientation to move a magnetically-responsive catheter tip in a desired direction by a desired amount.
摘要翻译：描述了用于操纵磁导管的可变磁体系统。在一个实施例中，一组电磁体被配置为产生期望的磁场。在一个实施例中，簇的一个或多个极可相对于簇中的其它极点移动，以允许磁场成形。在一个实施例中，可以延伸或缩回一个或多个磁极以使磁场成形。在一个实施例中，电磁体可以被定位成产生在导管上施加期望的扭矩和/或移动力的磁场。在一个实施例中，导管引导系统包括闭环伺服反馈系统。在一个实施例中，使用雷达系统来确定导管在体内的远端的位置，从而最小化或消除诸如X射线的电离辐射的使用。导管引导系统还可以与X射线系统（或其他成像系统）组合使用，以向操作者提供额外的图像。用于磁导管引导系统的磁系统也可用于定位导管尖端以向操作者和控制系统提供位置反馈。在一个实施例中，使用磁场源来产生具有足够强度和取向的磁场，以将磁响应导管尖端沿所需方向移动所需量。

64. 发明申请

US20060116634A1 System and method for controlling movement of a surgical tool 审中-公开
标题翻译：用于控制外科手术工具的运动的系统和方法
公开(公告)号：US20060116634A1
公开(公告)日：2006-06-01
申请号：US11331781
申请日：2006-01-13
申请人： Yehoshua Shachar
发明人： Yehoshua Shachar
IPC分类号： A61M31/00 , A61B5/05
CPC分类号： A61B5/06 , A61B5/062 , A61B5/7455 , A61B17/22 , A61B34/20 , A61B34/70 , A61B34/73 , A61B34/76 , A61B2017/00084 , A61B2017/003 , A61B2017/00703 , A61B2034/102 , A61B2034/2051 , A61B2034/301 , A61B2034/732 , A61B2034/742 , A61B2090/365 , A61B2090/376 , A61B2090/3954 , A61M25/0158
摘要： A system whereby a magnetic tip attached to a surgical tool is detected, displayed and influenced positionally so as to allow diagnostic and therapeutic procedures to be performed rapidly, accurately, simply, and intuitively is described. The tools that can be so equipped include catheters, guidewires, and secondary tools such as lasers and balloons, in addition biopsy needles, endoscopy probes, and similar devices. The magnetic tip allows the position and orientation of the tip to be determined without the use of x-rays by analyzing a magnetic field. The magnetic tip further allows the tool tip to be pulled, pushed, turned, and forcefully held in the desired position by applying an appropriate magnetic field external to the patient's body. A Virtual Tip serves as an operator control. Movement of the operator control produces corresponding movement of the magnetic tip inside the patient's body. Additionally, the control provides tactile feedback to the operator's hand in the appropriate axis or axes if the magnetic tip encounters an obstacle. The output of the control combined with the magnetic tip position and orientation feedback allows a servo system to control the external magnetic field by pulse width modulating the positioning electromagnet. Data concerning the dynamic position of a moving body part such as a beating heart offsets the servo systems response in such a way that the magnetic tip, and hence the secondary tool is caused to move in unison with the moving body part. The tip position and orientation information and the dynamic body part position information are also utilized to provide a display that allows three dimensional viewing of the magnetic tip position and orientation relative to the body part.
摘要翻译：一种系统，其中检测，显示和影响外科手术工具的磁性尖端，以便能够快速，准确，简单，直观地执行诊断和治疗过程。可以配备的工具包括导管，导线和辅助工具，例如激光和气球，还有活检针，内窥镜探针和类似装置。磁头允许通过分析磁场而不使用x射线来确定尖端的位置和取向。磁头还允许通过在患者身体外部施加适当的磁场来将工具尖端拉动，推动，转动并强制地保持在所需位置。虚拟提示用作操作员控件。操作员控制的运动产生磁头在病人体内的相应运动。此外，如果磁头遇到障碍物，则该控制器以合适的轴或轴为操作者的手提供触觉反馈。控制输出与磁头位置和方向反馈相结合，可以使伺服系统通过对定位电磁铁进行脉宽调制来控制外部磁场。关于诸如跳动心脏的移动体部分的动态位置的数据以伺服系统响应的方式抵消，使得磁头和因此辅助工具与移动体部分一致地移动。尖端位置和姿势信息以及动态身体部位位置信息也用于提供允许相对于身体部分三维观察磁头位置和取向的显示器。

65. 发明申请

US20060116633A1 System and method for a magnetic catheter tip 失效
标题翻译：磁导管尖端的系统和方法
公开(公告)号：US20060116633A1
公开(公告)日：2006-06-01
申请号：US11331485
申请日：2006-01-13
申请人： Yehoshua Shachar
发明人： Yehoshua Shachar
IPC分类号： A61M31/00
CPC分类号： A61B5/06 , A61B5/062 , A61B5/7455 , A61B17/22 , A61B34/20 , A61B34/70 , A61B34/73 , A61B34/76 , A61B2017/00084 , A61B2017/003 , A61B2017/00703 , A61B2034/102 , A61B2034/2051 , A61B2034/301 , A61B2034/732 , A61B2034/742 , A61B2090/365 , A61B2090/376 , A61B2090/3954 , A61M25/0158
摘要： A system whereby a magnetic tip attached to a surgical tool is detected, displayed and influenced positionally so as to allow diagnostic and therapeutic procedures to be performed rapidly, accurately, simply, and intuitively is described. The tools that can be so equipped include catheters, guidewires, and secondary tools such as lasers and balloons, in addition biopsy needles, endoscopy probes, and similar devices. The magnetic tip allows the position and orientation of the tip to be determined without the use of x-rays by analyzing a magnetic field. The magnetic tip further allows the tool tip to be pulled, pushed, turned, and forcefully held in the desired position by applying an appropriate magnetic field external to the patient's body. A Virtual Tip serves as an operator control. Movement of the operator control produces corresponding movement of the magnetic tip inside the patient's body. Additionally, the control provides tactile feedback to the operator's hand in the appropriate axis or axes if the magnetic tip encounters an obstacle. The output of the control combined with the magnetic tip position and orientation feedback allows a servo system to control the external magnetic field by pulse width modulating the positioning electromagnet. Data concerning the dynamic position of a moving body part such as a beating heart offsets the servo systems response in such a way that the magnetic tip, and hence the secondary tool is caused to move in unison with the moving body part. The tip position and orientation information and the dynamic body part position information are also utilized to provide a display that allows three dimensional viewing of the magnetic tip position and orientation relative to the body part.
摘要翻译：一种系统，其中检测，显示和影响外科手术工具的磁性尖端，以便能够快速，准确，简单，直观地执行诊断和治疗过程。可以配备的工具包括导管，导线和辅助工具，例如激光和气球，还有活检针，内窥镜探针和类似装置。磁头允许通过分析磁场而不使用x射线来确定尖端的位置和取向。磁头还允许通过在患者身体外部施加适当的磁场来将工具尖端拉动，推动，转动并强制地保持在所需位置。虚拟提示用作操作员控件。操作员控制的运动产生磁头在病人体内的相应运动。此外，如果磁头遇到障碍物，则该控制器以合适的轴或轴为操作者的手提供触觉反馈。控制输出与磁头位置和方向反馈相结合，可以使伺服系统通过对定位电磁铁进行脉宽调制来控制外部磁场。关于诸如跳动心脏的移动体部分的动态位置的数据以伺服系统响应的方式抵消，使得磁头和因此辅助工具与移动体部分一致地移动。尖端位置和姿势信息以及动态身体部位位置信息也用于提供允许相对于身体部分三维观察磁头位置和取向的显示器。

66. 发明申请

US20060114088A1 Apparatus and method for generating a magnetic field 审中-公开
标题翻译：用于产生磁场的装置和方法
公开(公告)号：US20060114088A1
公开(公告)日：2006-06-01
申请号：US11331944
申请日：2006-01-13
申请人： Yehoshua Shachar
发明人： Yehoshua Shachar
IPC分类号： H01F1/00
CPC分类号： A61B5/06 , A61B5/062 , A61B5/7455 , A61B17/22 , A61B34/20 , A61B34/70 , A61B34/73 , A61B34/76 , A61B2017/00084 , A61B2017/003 , A61B2017/00703 , A61B2034/102 , A61B2034/2051 , A61B2034/301 , A61B2034/732 , A61B2034/742 , A61B2090/365 , A61B2090/376 , A61B2090/3954 , A61M25/0158
摘要： A system whereby a magnetic tip attached to a surgical tool is detected, displayed and influenced positionally so as to allow diagnostic and therapeutic procedures to be performed rapidly, accurately, simply, and intuitively is described. The tools that can be so equipped include catheters, guidewires, and secondary tools such as lasers and balloons, in addition biopsy needles, endoscopy probes, and similar devices. The magnetic tip allows the position and orientation of the tip to be determined without the use of x-rays by analyzing a magnetic field. The magnetic tip further allows the tool tip to be pulled, pushed, turned, and forcefully held in the desired position by applying an appropriate magnetic field external to the patient's body. A Virtual Tip serves as an operator control. Movement of the operator control produces corresponding movement of the magnetic tip inside the patient's body. Additionally, the control provides tactile feedback to the operator's hand in the appropriate axis or axes if the magnetic tip encounters an obstacle. The output of the control combined with the magnetic tip position and orientation feedback allows a servo system to control the external magnetic field by pulse width modulating the positioning electromagnet. Data concerning the dynamic position of a moving body part such as a beating heart offsets the servo systems response in such a way that the magnetic tip, and hence the secondary tool is caused to move in unison with the moving body part. The tip position and orientation information and the dynamic body part position information are also utilized to provide a display that allows three dimensional viewing of the magnetic tip position and orientation relative to the body part.
摘要翻译：一种系统，其中检测，显示和影响外科手术工具的磁性尖端，以便能够快速，准确，简单，直观地执行诊断和治疗过程。可以配备的工具包括导管，导线和辅助工具，例如激光和气球，还有活检针，内窥镜探针和类似装置。磁头允许通过分析磁场而不使用x射线来确定尖端的位置和取向。磁头还允许通过在患者身体外部施加适当的磁场来将工具尖端拉动，推动，转动并强制地保持在所需位置。虚拟提示用作操作员控件。操作员控制的运动产生磁头在病人体内的相应运动。此外，如果磁头遇到障碍物，则该控制器以合适的轴或轴为操作者的手提供触觉反馈。控制输出与磁头位置和方向反馈相结合，可以使伺服系统通过对定位电磁铁进行脉宽调制来控制外部磁场。关于诸如跳动心脏的移动体部分的动态位置的数据以伺服系统响应的方式抵消，使得磁头和因此辅助工具与移动体部分一致地移动。尖端位置和姿势信息以及动态身体部位位置信息也用于提供允许相对于身体部分三维观察磁头位置和取向的显示器。

67. 发明申请

US20050096589A1 System and method for radar-assisted catheter guidance and control 失效
标题翻译：雷达辅助导管引导和控制的系统和方法
公开(公告)号：US20050096589A1
公开(公告)日：2005-05-05
申请号：US10690472
申请日：2003-10-20
申请人： Yehoshua Shachar
发明人： Yehoshua Shachar
IPC分类号： A61B5/06 , A61M20060101 , A61M31/00
CPC分类号： A61B5/06 , A61B1/00158 , A61B5/064 , A61B5/7455 , A61B2034/732
摘要： A Catheter Guidance Control and Imaging (CGCI) system whereby a magnetic tip attached to a surgical tool is detected, displayed and influenced positionally so as to allow diagnostic and therapeutic procedures to be performed is described. The tools that can be so equipped include catheters, guidewires, and secondary tools such as lasers and balloons. The magnetic tip performs two functions. First, it allows the position and orientation of the tip to be determined by using a radar system such as, for example, a radar range finder or radar imaging system. Incorporating the radar system allows the CGCI apparatus to detect accurately the position, orientation and rotation of the surgical tool embedded in a patient during surgery. In one embodiment, the image generated by the radar is displayed with the operating room imagery equipment such as, for example, X-ray, Fluoroscopy, Ultrasound, MRI, CAT-Scan, PET-Scan, etc. In one embodiment, the image is synchronized with the aid of fiduciary markers located by a 6-Degrees of Freedom (6-DOF) sensor. The CGCI apparatus combined with the radar and the 6-DOF sensor allows the tool tip to be pulled, pushed, turned, and forcefully held in the desired position by applying an appropriate magnetic field external to the patient's body. A virtual representation of the magnetic tip serves as an operator control. This control possesses a one-to-one positional relationship with the magnetic tip inside the patient's body. Additionally, this control provides tactile feedback to the operator's hands in the appropriate axis or axes if the magnetic tip encounters an obstacle. The output of this control combined with the magnetic tip position and orientation feedback allows a servo system to control the external magnetic field.
摘要翻译：导管引导控制和成像（CGCI）系统，其中检测，显示和影响位置的附着于外科手术工具的磁尖以便允许执行诊断和治疗程序。可以配备的工具包括导管，导线和辅助工具，如激光和气球。磁头提供两个功能。首先，它允许通过使用诸如雷达测距仪或雷达成像系统的雷达系统确定尖端的位置和取向。结合雷达系统允许CGCI装置精确地检测手术中嵌入患者的手术工具的位置，方向和旋转。在一个实施例中，由诸如例如X射线，荧光透视，超声，MRI，CAT扫描，PET扫描等的手术室图像设备显示由雷达产生的图像。在一个实施例中，图像与通过6自由度（6自由度）传感器定位的受信标记的帮助同步。与雷达和6自由度传感器相结合的CGCI设备允许通过在患者身体外部施加适当的磁场来将工具尖端拉动，推动，转动并强制地保持在所需位置。磁尖端的虚拟表示作为操作者控制。该控制与患者体内的磁尖具有一对一的位置关系。此外，如果磁头遇到障碍物，该控制可以在适当的轴或轴上向驾驶员的手提供触觉反馈。该控制的输出结合磁头位置和方向反馈允许伺服系统控制外部磁场。

68. 发明授权

US06528063B2 Recombinant vaccines against IBDV 失效
标题翻译：针对IBDV的重组疫苗
公开(公告)号：US06528063B2
公开(公告)日：2003-03-04
申请号：US09477574
申请日：2000-01-04
申请人： Yehuda Stram , Arie Rogel , Ilan Sela , Orit Edelbaum , Yehoshua Shachar , Yehuda Zanberg , Tanya Gontmakher , Eli Khayat
发明人： Yehuda Stram , Arie Rogel , Ilan Sela , Orit Edelbaum , Yehoshua Shachar , Yehuda Zanberg , Tanya Gontmakher , Eli Khayat
IPC分类号： A61K3912
CPC分类号： C12N15/8257 , A61K39/12 , A61K2039/517 , A61K2039/552 , C12N2720/10034
摘要： There is provided a stable vaccine for providing protection against disease having viral proteins transgenically expressed in plant cells. Also provided is a stable vaccine which provides protection against disease containing viral protein and coding sequences cloned into an E. coli expression system. A method of vaccination by transgenically expressing viral proteins capable of providing protection against disease into plant cells and administering the plant cells to an animal in need of vaccination is also provided. Also provided is a method of vaccination by cloning viral protein and coding sequences capable of providing protection against disease into an E. coli expression system and administering the E. coli into the animal in need of vaccination.
摘要翻译：提供了一种稳定的疫苗，用于在植物细胞中转基因表达的具有病毒蛋白的疾病的保护。还提供了一种稳定的疫苗，其提供针对含有病毒蛋白的病毒和克隆到大肠杆菌表达系统中的编码序列的保护。还提供了通过转基因表达能够向疾病进入植物细胞并将植物细胞施用于需要接种疫苗的动物进行疫苗接种的方法。还提供了一种通过将病毒蛋白和编码序列克隆到大肠杆菌表达系统中以及将大肠杆菌施用于需要接种疫苗的动物的疫苗接种方法。

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