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1. 发明申请

US20100331856A1 MULTIPLE FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS FOR MINIMALLY INVASIVE OPERATIONS 审中-公开
标题翻译：多个灵活和可操纵的ELENATE仪器用于最小的入侵操作
公开(公告)号：US20100331856A1
公开(公告)日：2010-12-30
申请号：US12637622
申请日：2009-12-14
申请人： Christopher R. Carlson , Neal A. Tanner , Gregory J. Stahler , Gene Reis , Enrique Romo , Federico Barbagli
发明人： Christopher R. Carlson , Neal A. Tanner , Gregory J. Stahler , Gene Reis , Enrique Romo , Federico Barbagli
IPC分类号： A61B19/00
CPC分类号： A61B1/00147 , A61B1/0051 , A61B1/01 , A61B1/018 , A61B1/313 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/361 , A61B2017/00314 , A61B2017/00327 , A61B2017/00464 , A61B2017/00477 , A61B2017/2906 , A61B2017/2927 , A61B2034/102 , A61B2034/2059 , A61B2034/301 , A61B2034/306 , A61B2034/742 , A61B2090/306 , A61B2090/3614
摘要： Configurations are described for conducting minimally invasive medical interventions utilizing elongate robotically controlled instruments and assemblies thereof. In one embodiment, a junction sheath may be utilized to facilitate surgical triangulation of two interventional instrument assemblies, while also directing them to the surgical theater through a minimal single wound or surgical port. One or more instrument drivers, and one or more master input devices comprising an operator workstation, may be utilized to independently and simultaneously control multiple degrees of freedom pertinent to each instrument comprising one or more instrument assembly.
摘要翻译：描述了使用细长的机器人控制的仪器及其组件进行微创医疗干预的配置。在一个实施例中，可以使用连接护套来促进两个介入器械组件的手术三角测量，同时还通过最小的单个伤口或手术端口将它们引导到外科手术室。可以使用一个或多个仪器驱动器和包括操作员工作站的一个或多个主输入装置来独立地并且同时地控制与包括一个或多个仪器组件的每个仪器相关的多个自由度。

2. 发明申请

US20110015484A1 ENDOSCOPIC ROBOTIC CATHETER SYSTEM 审中-公开
公开(公告)号：US20110015484A1
公开(公告)日：2011-01-20
申请号：US12504569
申请日：2009-07-16
申请人： Jeffrey B. Alvarez , Federico Barbagli , Christopher R. Carlson , Gregory J. Stahler , Neal A. Tanner
发明人： Jeffrey B. Alvarez , Federico Barbagli , Christopher R. Carlson , Gregory J. Stahler , Neal A. Tanner
IPC分类号： A61B1/04 , A61B1/06 , A61M25/00
CPC分类号： A61B1/307 , A61B18/24 , A61B34/30 , A61B2017/00477 , A61B2034/301 , A61B2090/306 , A61B2090/3614 , A61M25/0105
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 elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The 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.

3. 发明授权

US08409172B2 Systems and methods for performing minimally invasive procedures 有权
标题翻译：执行微创程序的系统和方法
公开(公告)号：US08409172B2
公开(公告)日：2013-04-02
申请号：US11833969
申请日：2007-08-03
申请人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , Christopher R. Carlson , Federico Barbagli
发明人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , Christopher R. Carlson , Federico Barbagli
IPC分类号： A61B17/00
CPC分类号： A61B19/2203 , A61B1/00082 , A61B1/018 , A61B1/307 , A61B17/0057 , A61B17/12122 , A61B17/12172 , A61B17/221 , A61B17/29 , A61B17/32056 , A61B18/1492 , A61B18/22 , A61B18/26 , A61B34/30 , A61B34/32 , A61B34/37 , A61B2017/00243 , A61B2017/00247 , A61B2017/00274 , A61B2017/003 , A61B2017/00575 , A61B2017/00632 , A61B2017/22034 , A61B2017/22059 , A61B2017/22069 , A61B2017/22072 , A61B2017/2212 , A61B2017/2215 , A61B2018/00392 , A61B2018/00547 , A61B2034/301 , A61B2034/741 , A61B2090/3614 , A61B2090/3782 , A61M25/0127 , A61M25/1002 , A61M2025/1072 , A61M2025/1086
摘要： A robotic surgical system includes an instrument driver and an instrument assembly operatively coupled to the instrument driver such that mechanisms of the instrument driver operate or control movement, operation, or both, of components of the instrument assembly. The instrument assembly components include an elongate flexible guide instrument, an optical light source, a camera and a working tool, wherein the light source, camera, and working tool are carried in one or more lumens of the guide instrument. An operator control station is operatively coupled to the instrument driver via a remote communication link. The instrument assembly further includes an inflatable visualization balloon carried on a distal end portion of the guide instrument, the light source and camera having distal ends located within an interior of the balloon, the balloon comprising a lumen extending from the guide instrument to a distal facing wall of the balloon, such that the working instrument may extend from a respective lumen of the guide instrument through the balloon lumen to contact body tissue when the distal end of the guide instrument is positioned in an interior body region.
摘要翻译：机器人手术系统包括仪器驱动器和可操作地耦合到仪器驱动器的仪器组件，使得仪器驱动器的机构操作或控制仪器组件的部件的运动，操作或两者。仪器组件部件包括细长的柔性引导仪器，光学光源，照相机和工作工具，其中光源，照相机和工作工具承载在导向仪器的一个或多个腔中。操作员控制站经由远程通信链路可操作地耦合到仪器驱动器。所述仪器组件还包括承载在所述导向仪器的远端部分上的充气可视化气囊，所述光源和所述照相机具有位于所述气囊内部的远端，所述球囊包括从所述引导器延伸到远侧面使得当导向器械的远端定位在内部身体区域中时，工作器械可以从引导器具的相应内腔延伸穿过气囊内腔而接触身体组织。

4. 发明申请

US20110015648A1 ENDOSCOPIC ROBOTIC CATHETER SYSTEM 审中-公开
公开(公告)号：US20110015648A1
公开(公告)日：2011-01-20
申请号：US12504559
申请日：2009-07-16
申请人： Jeffery B. Alvarez , Gregory J. Stahler , Federico Barbagli , Christopher R. Carlson
发明人： Jeffery B. Alvarez , Gregory J. Stahler , Federico Barbagli , Christopher R. Carlson
IPC分类号： A61B19/00
CPC分类号： A61B17/221 , A61B17/22031 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/361 , A61B2017/00477 , A61B2017/22035 , A61B2017/2212 , A61B2034/105 , A61B2034/301 , A61B2090/306 , A61B2090/3614 , A61B2090/376
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 elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The 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.

5. 发明申请

US20110270273A1 SYSTEMS AND METHODS FOR PERFORMING MINIMALLY INVASIVE SURGICAL OPERATIONS 审中-公开
标题翻译：用于执行最小的入侵手术操作的系统和方法
公开(公告)号：US20110270273A1
公开(公告)日：2011-11-03
申请号：US13179052
申请日：2011-07-08
申请人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , Christopher R. Carlson , Federico Barbagli
发明人： Frederic H. Moll , Daniel T. Wallace , Gregory J. Stahler , Christopher R. Carlson , Federico Barbagli
IPC分类号： A61B19/00
CPC分类号： A61B1/307 , A61B8/12 , A61B17/0218 , A61B17/22004 , A61B17/22031 , A61B17/221 , A61B17/29 , A61B18/1445 , A61B18/26 , A61B34/30 , A61B34/35 , A61B34/37 , A61B2017/00557 , A61B2017/22051 , A61B2017/22069 , A61B2018/00577 , A61B2034/301 , A61B2090/306 , A61B2090/373 , A61M25/0105 , A61M25/10 , A61M2025/1081
摘要： A robotic surgical system (100) includes an instrument driver (106) that is mounted on an operation table (104), and an instrument assembly (108) is operatively coupled to the instrument driver (106), wherein the instrument assembly (108) includes a flexible guide instrument and a component instrument carried in a lumen of the guide instrument, the component instrument including a light source, camera and laser energy fiber.
摘要翻译：机器人手术系统（100）包括安装在操作台（104）上的仪器驱动器（106），并且仪器组件（108）可操作地联接到仪器驱动器（106），其中仪器组件（108）包括灵活的引导仪器和携带在引导仪器的内腔中的组件仪器，该组件仪器包括光源，照相机和激光能量纤维。

6. 发明申请

US20110015483A1 ENDOSCOPIC ROBOTIC CATHETER SYSTEM 审中-公开
标题翻译：内窥镜机械导管系统
公开(公告)号：US20110015483A1
公开(公告)日：2011-01-20
申请号：US12504564
申请日：2009-07-16
申请人： Federico Barbagli , Gregory J. Stahler , Christopher M. Sewell , Christopher R. Carlson
发明人： Federico Barbagli , Gregory J. Stahler , Christopher M. Sewell , Christopher R. Carlson
IPC分类号： A61B1/00
CPC分类号： A61B1/307 , A61B18/24 , A61B34/30 , A61B2017/00477 , A61B2017/2212 , A61B2034/105 , A61B2034/301 , A61B2090/306 , A61B2090/3614 , A61B2090/374 , A61B2090/376 , A61B2090/378
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 elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The 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.
摘要翻译：机器人导管系统包括具有主输入装置的控制器。仪器驱动器与控制器通信，并且具有细长的仪器接口，其包括响应于至少部分由主输入设备产生的控制信号的多个仪器驱动元件。细长仪器具有基部，远端和工作腔，其中导向仪器基座可操作地联接到导向仪器接口。细长器械优选地包括和/或限定其他腔体，以适应诸如光学束，光束，激光光纤和冲洗冲洗的仪器。工作管腔优选地构造成容纳用于诸如肾结石干预的过程中的抓握或捕获工具，例如可折叠篮或抓紧器。细长仪器包括多个仪器控制元件，其操作上联接到相应的驱动元件并固定到仪器的远端。仪器控制元件相对于引导仪器可轴向移动，使得导向仪器远端的运动可以由主输入装置控制。

7. 发明申请

US20110295268A1 SYSTEM AND METHOD FOR AUTOMATED MASTER INPUT SCALING 审中-公开
标题翻译：自动主输入放大系统与方法
公开(公告)号：US20110295268A1
公开(公告)日：2011-12-01
申请号：US12833935
申请日：2010-07-09
申请人： Matthew J. Roelle , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Neal A. Tanner , Daniel T. Wallace
发明人： Matthew J. Roelle , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Neal A. Tanner , Daniel T. Wallace
IPC分类号： A61B19/00
CPC分类号： B25J9/1689 , A61B18/1492 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/76 , A61B34/77 , A61B2017/00057 , A61B2017/0007 , A61B2017/00084 , A61B2017/00123 , A61B2017/00477 , A61B2018/00678 , A61B2018/00702 , A61B2018/00708 , A61B2018/00779 , A61B2018/00791 , A61B2018/00839 , A61B2034/301 , A61B2090/062 , A61B2090/064 , A61B2090/065
摘要： Embodiments are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic medical instrument system, comprising an elongate instrument having proximal and distal ends; a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move the instrument; a master input device in communication with the controller and configured to generate input commands in response to a directional movement of the master input device; and a load sensor operatively coupled to the elongate instrument and configured to sense magnitude and direction of loads applied to the distal end of the elongate instrument; wherein the controller is configured to compute an instrument movement command to selectively move the instrument based upon the input commands and an input command scaling factor applied to the input commands, the input command scaling factor being variable with the magnitude of sensed loads.
摘要翻译：描述了用于自动化患者的微创治疗治疗方面的实施例。一种机器人医疗器械系统，包括具有近端和远端的细长器械; 控制器，被配置为选择性地致动一个或多个可操作地耦合到所述仪器的电机，从而选择性地移动所述仪器; 与所述控制器通信并被配置为响应于主输入设备的定向移动而产生输入命令的主输入设备; 以及负载传感器，其操作地耦合到所述细长仪器并且被配置为感测施加到所述细长仪器的远端的负载的大小和方向; 其中所述控制器被配置为基于所述输入命令和施加到所述输入命令的输入命令缩放因子来计算仪器移动命令以选择性地移动所述仪器，所述输入命令缩放因子随所感测负载的大小而变化。

8. 发明申请

US20090076476A1 SYSTEMS AND METHODS EMPLOYING FORCE SENSING FOR MAPPING INTRA-BODY TISSUE 审中-公开
标题翻译：使用力感测系统和方法进行体内组织
公开(公告)号：US20090076476A1
公开(公告)日：2009-03-19
申请号：US12192974
申请日：2008-08-15
申请人： Federico Barbagli , Christopher R. Carlson , Neal A. Tanner , Christopher M. Sewell
发明人： Federico Barbagli , Christopher R. Carlson , Neal A. Tanner , Christopher M. Sewell
IPC分类号： A61B5/103 , A61N1/00 , A61M31/00
CPC分类号： A61B5/1076 , A61B5/0215 , A61B5/042 , A61B5/6885 , A61B90/06 , A61B2090/064
摘要： A medical instrument system includes a controller and a guide instrument coupled to an instrument driver, the instrument driver configured to manipulate a distal end portion of the guide instrument in response to control signals generated by the controller. A force sensor is associated with the guide instrument or with a working instrument carried by the guide instrument, and generates force signals responsive to a force applied to a respective distal end portion of the guide instrument or working instrument. A position determining system generates position data indicative of a position of the respective guide or working instrument distal end portion associated with the force sensor, and a processor operatively coupled to the force sensor and position determining system processes respective force signals and position data to generate and display a geometric rendering of an internal body tissue surface based on sensed forces applied to the respective instrument distal end portion as the guide instrument is maneuvered within an interior region of a body containing the body surface.
摘要翻译：医疗仪器系统包括控制器和耦合到仪器驱动器的引导器，所述仪器驱动器被配置为响应于由所述控制器产生的控制信号来操纵所述引导器械的远端部分。力传感器与导向仪器或由导向仪器承载的工作仪器相关联，并且响应于施加到引导仪器或工作仪器的相应远端部分的力而产生力信号。位置确定系统产生指示与力传感器相关联的相应导向或工作仪器远端部分的位置的位置数据，以及可操作地耦合到力传感器和位置确定系统的处理器处理相应的力信号和位置数据以产生和当在包含身体表面的身体的内部区域内操纵导向仪器时，基于施加到相应器械远端部分的感测力，显示内部身体组织表面的几何渲染。

9. 发明申请

US20110295267A1 SYSTEM AND METHOD FOR AUTOMATED TISSUE STRUCTURE TRAVERSAL 审中-公开
标题翻译：用于自动组织结构的系统和方法TRAVERSAL
公开(公告)号：US20110295267A1
公开(公告)日：2011-12-01
申请号：US12833927
申请日：2010-07-09
申请人： Neal A. Tanner , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Christopher M. Sewell , Daniel T. Wallace
发明人： Neal A. Tanner , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Christopher M. Sewell , Daniel T. Wallace
IPC分类号： A61B19/00
CPC分类号： B25J9/1689 , A61B18/1492 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/76 , A61B34/77 , A61B2017/00057 , A61B2017/0007 , A61B2017/00084 , A61B2017/00123 , A61B2017/00477 , A61B2018/00678 , A61B2018/00702 , A61B2018/00708 , A61B2018/00779 , A61B2018/00791 , A61B2018/00839 , A61B2034/301 , A61B2090/062 , A61B2090/064 , A61B2090/065
摘要： Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic tissue structure traversal system may comprise a controller including a master input device, an electromechanically controlled elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion comprising a traversing tip and being configured to be interactively navigated about internal structures of a patient's body in response to signals from the controller; and a load sensor operatively coupled between the distal portion of the elongate instrument and the controller; wherein the controller is configured to automatically advance the traversing tip through a thickness of an internal structure by observing loads from the load sensor.
摘要翻译：描述了用于自动化患者的微创治疗治疗方面的系统和方法。机器人组织结构遍历系统可以包括控制器，该控制器包括主输入设备，具有近端接口部分和远端部分的机电控制的细长仪器，所述近端接口部分被配置为可操作地耦合到机电仪器驱动器，控制器，所述远端部分包括横向末端并且被配置为响应于来自所述控制器的信号而被围绕所述患者身体的内部结构交互地导航; 以及负载传感器，其可操作地联接在所述细长仪器的远端部分和所述控制器之间; 其中所述控制器被配置为通过观察来自所述负载传感器的负载来自动地使所述横向前端穿过内部结构的厚度。

10. 发明授权

US07974681B2 Robotic catheter system 有权
标题翻译：机器人导管系统
公开(公告)号：US07974681B2
公开(公告)日：2011-07-05
申请号：US11176957
申请日：2005-07-06
申请人： Daniel T. Wallace , Robert G. Younge , Michael R. Zinn , Federico Barbagli , David F. Moore , Gregory J. Stahler , Daniel T. Adams , Frederic H. Moll , Kenneth M. Martin , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Robert G. Younge , Michael R. Zinn , Federico Barbagli , David F. Moore , Gregory J. Stahler , Daniel T. Adams , Frederic H. Moll , Kenneth M. Martin , Gunter D. Niemeyer
IPC分类号： A61B5/05
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 robotic catheter system includes a controller with a master input device, and an instrument driver in communication with the controller, the instrument driver configured for independently controlling each of number of desired motions of a flexible, elongate guide instrument in a body of a patient in response to control signals generated by the controller, the desired motions selected from the group comprising axial advancement, axial retraction, axial rotation, and radial bending. Integrated haptics capability may be provided, in which one or more motors provide tactile feedback to an operator through the master input device.
摘要翻译：机器人导管系统包括具有主输入装置的控制器和与控制器通信的仪器驱动器，该仪器驱动器被配置为独立地控制患者身体中的柔性细长引导器械的期望运动的数量对由控制器产生的控制信号的响应，从包括轴向前进，轴向收缩，轴向旋转和径向弯曲的组中选择的期望运动。可以提供集成的触觉能力，其中一个或多个电动机通过主输入装置向操作者提供触觉反馈。

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