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1. 发明申请

WO2008045828B1 ROBOTIC SURGICAL SYSTEM AND METHOD FOR SURFACE MODELING 审中-公开
标题翻译：机器人手术系统和表面建模方法
公开(公告)号：WO2008045828B1
公开(公告)日：2008-10-16
申请号：PCT/US2007080702
申请日：2007-10-08
申请人： ST JUDE MEDICAL ATRIAL FIBRILL , HAUCK JOHN A , SCHWEITZER JEFFREY A , OLSON ERIC S , VOTH ERIC J
发明人： HAUCK JOHN A , SCHWEITZER JEFFREY A , OLSON ERIC S , VOTH ERIC J
IPC分类号： A61B5/103
CPC分类号： A61B5/6885 , A61B34/20 , A61B34/30 , A61B34/71 , A61B2017/00026 , A61B2034/105 , A61B2034/2051 , A61B2034/301 , A61B2034/742 , A61B2090/064 , A61B2090/3784 , A61M25/0105
摘要： A method of generating a three-dimensional model of at least a portion of a heart (152) includes inserting an electrode (154) within the portion of a heart (152), robotically moving the electrode (154) therein, periodically detecting position information of the electrode (154) to generate a plurality of location points defining a space occupied by the portion of the heart (152), and generating a three dimensional model of the portion of the heart (152) including position information for at least some of the plurality of location points within the portion of the heart (152). The plurality of location points includes at least some location points on the surface of the heart and at least some location points interior thereto. The model is generated by utilizing a surface construction algorithm such as a shrink-wrap algorithm to identify the surface points and isolate or eliminate the interior points.
摘要翻译：产生心脏（152）的至少一部分的三维模型的方法包括在心脏（152）的部分内插入电极（154），自动地移动其中的电极（154），周期性地检测位置信息以产生限定心脏（152）的该部分所占据的空间的多个定位点，并且生成心脏（152）的该部分的三维模型，该三维模型包括至少一些心脏部分（152）内的多个定位点。多个定位点包括心脏表面上的至少一些定位点以及其内部的至少一些定位点。该模型通过利用表面构建算法（例如收缩包裹算法）来生成，以识别表面点并隔离或消除内部点。

2. 发明申请

WO2008112420A3 SYSTEM AND METHOD FOR LOCAL DEFORMABLE REGISTRATION OF A CATHETER NAVIGATION SYSTEM TO IMAGE DATA OR A MODEL 审中-公开
公开(公告)号：WO2008112420A3
公开(公告)日：2008-09-18
申请号：PCT/US2008/054969
申请日：2008-02-26
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , OLSON, Eric S. , VOTH, Eric J. , SCHWEITZER, Jeffrey A.
发明人： OLSON, Eric S. , VOTH, Eric J. , SCHWEITZER, Jeffrey A.
IPC分类号： A61M25/00
摘要： A method for registering a catheter navigation system to a three-dimensional image generally includes obtaining a three-dimensional image including position information for a plurality of surface points on a part of a patient's body, using a catheter navigation system to place a tool at a location on the surface of the patient's body, measuring position information for the surface location, identifying a corresponding location on the image, associating position information for the surface location and the location identified on the image as a fiducial pair, and using at least one fiducial pair to generate a mapping function. The mapping function transforms points within the coordinate system of the catheter navigation to the coordinate system of the three-dimensional image such that, for each fiducial pair, the mapping error is about zero. Suitable warping algorithms include thin plate splines, mean value coordinates, and radial basis function networks.

3. 发明申请

WO2008082802A2 CONTACT SENSOR AND SHEATH EXIT SENSOR 审中-公开
标题翻译：联系传感器和出口传感器
公开(公告)号：WO2008082802A2
公开(公告)日：2008-07-10
申请号：PCT/US2007/084678
申请日：2007-11-14
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , HAUCK, John , SCHWEITZER, Jeffrey A. , DREW, Kenneth H.
发明人： HAUCK, John , SCHWEITZER, Jeffrey A. , DREW, Kenneth H.
IPC分类号： A61B5/05
CPC分类号： A61B5/063 , A61B5/0538 , A61B5/6852 , A61B5/6885 , A61B5/7228 , A61B18/1492 , A61B34/20 , A61B2018/00755 , A61B2018/00839 , A61B2018/00875 , A61B2018/1467 , A61B2018/1472 , A61B2034/105 , A61B2034/2051 , A61B2090/065 , A61B2560/0475 , A61B2562/0214
摘要： A system and method is provided that allows for determining the local impedance of one or more electrodes (20, 22a) of an electrode catheter (14). Such local impedance may be utilized to identify the relative position of an electrode catheter (14) to a sheath (18) of a guiding introducer. In another arrangement, local impedance of a catheter electrode can be utilized to calibrate a catheter electrode to provide improved contact sensing.
摘要翻译：提供了允许确定电极导管（14）的一个或多个电极（20,22a）的局部阻抗的系统和方法。这种局部阻抗可用于识别电极导管（14）到导向引导器的护套（18）的相对位置。在另一种布置中，可以使用导管电极的局部阻抗来校准导管电极以提供改进的接触感测。

4. 发明申请

WO2008045831A2 ROBOTIC SURGICAL SYSTEM AND METHOD FOR AUTOMATIC CREATION OF ABLATION LESIONS 审中-公开
标题翻译：机器人手术系统及自动创伤手术方法
公开(公告)号：WO2008045831A2
公开(公告)日：2008-04-17
申请号：PCT/US2007080705
申请日：2007-10-08
申请人： ST JUDE MEDICAL ATRIAL FIBRILL , HAUCK JOHN A , SCHWEITZER JEFFREY A , BELHE KEDAR RAVINDRA , BURRELL JEFFREY L
发明人： HAUCK JOHN A , SCHWEITZER JEFFREY A , BELHE KEDAR RAVINDRA , BURRELL JEFFREY L
IPC分类号： A61B18/14
CPC分类号： A61B5/6885 , A61B34/20 , A61B34/30 , A61B34/71 , A61B2017/00026 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/742 , A61B2090/064 , A61B2090/3784 , A61M25/0105
摘要： A system (10) for ablating tissue includes an ablation catheter (12) for insertion into the body of a patient and a robotic controller (24) for moving the catheter (12) within the body. The robotic controller (24) advances the catheter (12) until the catheter (12) contacts the tissue surface (82), maintains contact between the catheter (12) and the tissue surface (82), and moves the catheter (12) along a predetermined path (200) to create a substantially continuous lesion of ablated tissue. A display device (156) may be used to present a graphical representation of an area of tissue to be ablated. A user interface (166) permits selection of a plurality of treatment points (202) on the graphical representation. The interface (166) is preferably coupled to the controller (24) and catheter (12) such that the controller (24) may cause the catheter (12) to automatically ablate tissue at and between the plurality of treatment points in response to the received user input.
摘要翻译：用于烧蚀组织的系统（10）包括用于插入患者体内的消融导管（12）和用于在体内移动导管（12）的机器人控制器（24）。机器人控制器（24）推进导管（12）直到导管（12）接触组织表面（82），保持导管（12）和组织表面（82）之间的接触，并使导管（12）沿着预定路径（200），以产生消融组织的基本上连续的损伤。显示装置（156）可用于呈现要消融的组织区域的图形表示。用户界面（166）允许在图形表示上选择多个治疗点（202）。界面（166）优选地联接到控制器（24）和导管（12），使得控制器（24）可以使导管（12）响应于接收到的来自动地在多个治疗点之间和之间消融组织用户输入。

5. 发明申请

WO2008045825A3 ROBOTIC SURGICAL SYSTEM 审中-公开
公开(公告)号：WO2008045825A3
公开(公告)日：2008-04-17
申请号：PCT/US2007/080698
申请日：2007-10-08
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , HAUCK, John A. , SCHWEITZER, Jeffrey A. , TEGG, Troy T. , ESSINGTON, James D. , JOHNSON, Mark T. , BELHE, Kedar Ravindra
发明人： HAUCK, John A. , SCHWEITZER, Jeffrey A. , TEGG, Troy T. , ESSINGTON, James D. , JOHNSON, Mark T. , BELHE, Kedar Ravindra
IPC分类号： A61B18/18
摘要： A robotic surgical system (10) includes a track (14), a catheter holding device (16) including a catheter receiving portion (26) translatably associated with the track (14), a translation servo mechanism (18) to control translation of the catheter holding device (16) relative to the track (14), a catheter deflection control mechanism (20), a deflection servo mechanism (22) to control the catheter deflection control mechanism (20), and a controller (24) to control at least one of the servo mechanisms. The catheter receiving portion (26) is adapted for quick installation and removal of a catheter (12). The catheter receiving portion (26) may be rotatable, with a rotation servo mechanism to control the rotatable catheter receiving portion (26). The controller (24) controls at least one of the deflection and rotation servo mechanisms to maintain a substantially constant catheter deflection as the catheter (12) rotates. An introducer, which may be steerable, and an expandable, collapsible sterile tube may also be provided.

6. 发明申请

WO2012170119A1 NOISE TOLERANT LOCALIZATION SYSTEMS AND METHODS 审中-公开
标题翻译：噪声容限本地化系统和方法
公开(公告)号：WO2012170119A1
公开(公告)日：2012-12-13
申请号：PCT/US2012/034032
申请日：2012-04-18
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , SCHWEITZER, Jeffrey, A. , DENO, D., Curtis , CURRAN, Timothy, G. , HULL, Larry, J.
发明人： SCHWEITZER, Jeffrey, A. , DENO, D., Curtis , CURRAN, Timothy, G. , HULL, Larry, J.
IPC分类号： A61B5/053
CPC分类号： A61B5/062 , A61B5/0402 , A61B5/042 , A61B5/055 , A61B5/063 , A61B5/7203 , A61B5/7217 , A61B5/7264 , A61B18/1492 , A61B34/20 , A61B2090/374 , G01R33/5673
摘要： A system and method for tracking catheter electrode locations with the body of a patient during an MRI scan sequence includes mitigation logic configured to identify one or more impedance measurements that were taken during potentially noise- inducing conditions ( i.e. , magnet gradients, RF pulses), and were thus subject to corruption by noise. The mitigation logic is configured to replace the potentially corrupt impedance measurements with previously-obtained impedance measurements taken from an immediately preceding acquisition cycle ( e.g. , from a previous time-slice).
摘要翻译：用于在MRI扫描序列期间跟踪患者身体的导管电极位置的系统和方法包括缓解逻辑，其被配置为识别在潜在的噪声诱导条件（即，磁体梯度，RF脉冲）期间采取的一个或多个阻抗测量，因此受到噪音的腐败。缓解逻辑被配置为用先前获得的阻抗测量值取代潜在的损坏的阻抗测量值，该阻抗测量值取自紧接在前的采集周期（例如，从先前的时间片）。

7. 发明申请

WO2012068505A9 ELECTRODE CATHETER DEVICE WITH INDIFFERENT ELECTRODE FOR DIRECT CURRENT TISSUE THERAPIES 审中-公开
公开(公告)号：WO2012068505A9
公开(公告)日：2012-05-24
申请号：PCT/US2011/061475
申请日：2011-11-18
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , GRASSE, Martin Maitre , STEHR, Richard E. , BYRD, Israel Alexander , CLARK, Lynn Eleanor , DENO, D. Curtis , TEGG, Troy T. , KAUPHUSMAN, James V. , PAUL, Saurav , SCHWEITZER, Jeffrey A.
发明人： GRASSE, Martin Maitre , STEHR, Richard E. , BYRD, Israel Alexander , CLARK, Lynn Eleanor , DENO, D. Curtis , TEGG, Troy T. , KAUPHUSMAN, James V. , PAUL, Saurav , SCHWEITZER, Jeffrey A.
IPC分类号： A61B18/04
摘要： An electrode catheter device with indifferent electrode for direct current tissue therapies is disclosed. An example of the catheter device has a flexible tubing with at least one ablation electrode. The catheter device also may also be used with a sheath for introducing the flexible tubing inside a patient's body. An indifferent electrode on the sheath can provide a ground for a direct current (DC) pulse to deliver electrical energy and create an electrical field adjacent a tissue. Various other embodiments are also disclosed.

8. 发明申请

WO2008045832A2 ROBOTIC SURGICAL SYSTEM AND METHOD FOR AUTOMATED THERAPY DELIVERY 审中-公开
标题翻译：机器人手术系统及自动化治疗方法
公开(公告)号：WO2008045832A2
公开(公告)日：2008-04-17
申请号：PCT/US2007/080706
申请日：2007-10-08
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , HAUCK, John, A. , SCHWEITZER, Jeffrey, A. , BELHE, Kedar, Ravindra
发明人： HAUCK, John, A. , SCHWEITZER, Jeffrey, A. , BELHE, Kedar, Ravindra
IPC分类号： A61B18/18
CPC分类号： A61B34/71 , A61B5/6885 , A61B34/20 , A61B34/30 , A61B2017/00026 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/742 , A61B2090/064 , A61B2090/3784 , A61M25/0105
摘要： A method of navigating a medical device (12) through a body of a patient includes providing a topography of at least a portion of the body, accepting user input defining a navigation path (200), robotically navigating the medical device (12) to a starting point on the path, and robotically navigating the medical device (12) along the navigation path (200) to an endpoint. Waypoints (202) defining the navigation path may be input on a graphical representation of the topography using a user interface such as a pointing device or touchscreen. The navigation path (200) may also be defined by tracing a substantially continuous path on the graphical representation. A therapy may be administered while robotically navigating the medical device (12) along the navigation path, either forward or in reverse, or while navigating the medical device (12) along a return path defined by a plurality of virtual breadcrumbs generated as the medical device (12) traverses the navigation path (200).
摘要翻译：通过患者身体导航医疗装置（12）的方法包括提供身体的至少一部分的形貌，接受定义导航路径（200）的用户输入，将医疗装置（12）自动导航到并且沿着导航路径（200）将医疗设备（12）机器人地导航到端点。定义导航路径的路点（202）可以使用诸如指点设备或触摸屏的用户界面在地形的图形表示上输入。还可以通过在图形表示上跟踪基本上连续的路径来定义导航路径（200）。治疗可以沿着导航路径机动地导航医疗装置（12），前向或反向，或者沿着沿着由作为医疗装置生成的多个虚拟面包屑所限定的返回路径导航医疗装置（12）（12）穿过导航路径（200）。

9. 发明申请

WO2008045828A2 ROBOTIC SURGICAL SYSTEM AND METHOD FOR SURFACE MODELING 审中-公开
标题翻译：机械手术系统及表面建模方法
公开(公告)号：WO2008045828A2
公开(公告)日：2008-04-17
申请号：PCT/US2007/080702
申请日：2007-10-08
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , HAUCK, John A. , SCHWEITZER, Jeffrey A. , OLSON, Eric S. , VOTH, Eric J.
发明人： HAUCK, John A. , SCHWEITZER, Jeffrey A. , OLSON, Eric S. , VOTH, Eric J.
IPC分类号： A61B1/04 , H04N5/225
CPC分类号： A61B5/6885 , A61B34/20 , A61B34/30 , A61B34/71 , A61B2017/00026 , A61B2034/105 , A61B2034/2051 , A61B2034/301 , A61B2034/742 , A61B2090/064 , A61B2090/3784 , A61M25/0105
摘要： A method of generating a three-dimensional model of at least a portion of a heart (152) includes inserting an electrode (154) within the portion of a heart (152), robotically moving the electrode (154) therein, periodically detecting position information of the electrode (154) to generate a plurality of location points defining a space occupied by the portion of the heart (152), and generating a three dimensional model of the portion of the heart (152) including position information for at least some of the plurality of location points within the portion of the heart (152). The plurality of location points includes at least some location points on the surface of the heart and at least some location points interior thereto. The model is generated by utilizing a surface construction algorithm such as a shrink-wrap algorithm to identify the surface points and isolate or eliminate the interior points.
摘要翻译：产生心脏（152）的至少一部分的三维模型的方法包括将电极（154）插入心脏部分（152）内，使电极（154）在其中自动移动，周期性地检测位置信息以产生限定由心脏部分（152）占据的空间的多个位置点，以及生成心脏部分（152）的三维模型，该三维模型包括至少一些心脏部分内的多个位置点（152）。多个位置点包括心脏表面上的至少一些位置点和其内部的至少一些位置点。该模型通过利用诸如收缩包裹算法的表面构造算法来生成，以识别表面点并隔离或消除内部点。

10. 发明申请

WO2012082200A1 NAVIGATION REFERENCE DISLODGEMENT DETECTION METHOD AND SYSTEM 审中-公开
标题翻译：导航参考解决方案检测方法和系统
公开(公告)号：WO2012082200A1
公开(公告)日：2012-06-21
申请号：PCT/US2011/051441
申请日：2011-09-13
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , KOYRAKH, Lev, A. , SCHWEITZER, Jeffrey, A. , STARKS, Daniel, R. , CARBONERA, Carlos
发明人： KOYRAKH, Lev, A. , SCHWEITZER, Jeffrey, A. , STARKS, Daniel, R. , CARBONERA, Carlos
IPC分类号： A61B5/05
CPC分类号： A61B5/042 , A61B5/7221
摘要： A method of detecting dislodgement of a navigational reference for a localization system (8) includes securing a reference catheter (29), including at least one reference localization element, at an initial reference location within a localization field. The positions of one or more of the reference localization elements are monitored for a perceived displacement that suggests that the reference catheter (29) has become dislodged from the initial reference location (e.g., a displacement above a certain threshold, such as about 4 mm). The direction of this perceived displacement may then be further analyzed (e.g., compared to a predicted or most likely direction of displacement) to determine whether there has been an actual dislodgement of the reference catheter (29), and, if so, an appropriate signal (e.g., an audible or visual warning) may be generated. Upon dislodgement, guidance may be provided to aid the practitioner in restoring the reference catheter (29) to its initial location.
摘要翻译：检测用于定位系统（8）的导航参考的移动的方法包括在定位域内的初始参考位置处固定包括至少一个参考定位元件的参考导管（29）。监测一个或多个参考定位元件的位置以感知到的位移，该位移表明参考导管（29）已经从初始参考位置移开（例如，高于某个阈值（例如约4mm）的位移）。然后可以进一步分析该感知位移的方向（例如，与预测或最可能的位移方向相比较），以确定是否已经存在参考导管（29）的实际移动，并且如果是，则适当的信号（例如，听觉或视觉警告）。在移动时，可以提供指导以帮助从业者将参考导管（29）恢复到其初始位置。

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