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1. 发明申请

WO2020092064A1 SYSTEM AND METHOD FOR NAVIGATING A DEVICE THROUGH A PATH TO A TARGET LOCATION 审中-公开
公开(公告)号：WO2020092064A1
公开(公告)日：2020-05-07
申请号：PCT/US2019/057438
申请日：2019-10-22
申请人： CORINDUS, INC.
发明人： KOTTENSTETTE, Nicholas , BERGMAN, Per , BLACKER, Steven J. , DAFNI, Adi , SHEINFELD, Adi
IPC分类号： A61B5/05 , A61B19/00 , A61M25/092
摘要： A method for delivering an elongated medical device along a path to a target location using a catheter procedure system includes generating a mask of the path, tracking a position of a distal portion of the elongated medical device based on a set of real-time images and determining a remaining path length based at least on the position of the distal portion of the elongated medical device. The remaining path length is a distance between the distal portion of the elongated medical device and the target location. The remaining path length decreases as the distal portion of the elongated medical device approaches the target location. The method also includes updating the remaining path length during movement of the elongated medical device, determining if the distal portion of the elongated medical device is off path, adjusting the position of the elongated medical device if the distal portion of the elongated medical device is off path, monitoring the distal portion of the elongated medical device in the set of real-time images to identify a prolapse and advancing the elongated medical device to the target location at a velocity determined based at least on the remaining path length.

2. 发明申请

WO2017106177A1 SYSTEM AND METHOD FOR CONTROLLING X-RAY FRAME RATE OF AN IMAGING SYSTEM 审中-公开
标题翻译：用于控制成像系统的X射线帧速率的系统和方法
公开(公告)号：WO2017106177A1
公开(公告)日：2017-06-22
申请号：PCT/US2016/066362
申请日：2016-12-13
申请人： CORINDUS, INC.
发明人： WENDEROW, Tal , HANDLER, David , KOTTENSTETTE, Nicholas
IPC分类号： A61M31/00 , A61M5/00 , A61M25/01 , A61M25/09 , A61B6/12
CPC分类号： A61B6/12 , A61B6/465 , A61B6/466 , A61B6/486 , A61B6/487 , A61B6/503 , A61B6/504 , A61B34/20 , A61M5/00 , G06F19/00 , G06F19/30
摘要： A method for controlling x-ray frame rate of an imaging system for a catheter procedure system includes generating a first control signal that indicates a first frame rate and providing the first control signal to an imaging system. The imaging system obtains a first set of images at the first frame rate based on the first control signal. At least one parameter of a catheter procedure performed by the catheter procedure system is determined and a second control signal is generated based on the at least one parameter of the catheter procedure. The second control signal indicates a second frame rate. The second control signal is provides to the imaging system to adjust the first frame rate to the second frame rate. The imaging system obtains a second set of images at the second frame rate and displays the second set of images on a display.
摘要翻译：用于控制用于导管程序系统的成像系统的X射线帧速率的方法包括产生指示第一帧速率的第一控制信号并且将第一控制信号提供给成像系统。成像系统基于第一控制信号以第一帧速率获得第一组图像。确定由导管程序系统执行的导管程序的至少一个参数，并基于导管程序的至少一个参数生成第二控制信号。第二控制信号指示第二帧速率。第二控制信号被提供给成像系统以将第一帧速率调整到第二帧速率。成像系统以第二帧速率获得第二组图像，并在显示器上显示第二组图像。

3. 发明申请

WO2018004834A1 INTERLOCKING SYSTEM AND METHOD FOR JOYSTICKS IN A CATHETER PROCEDURE SYSTEM 审中-公开
标题翻译：导管程序系统中的摇杆的互锁系统和方法
公开(公告)号：WO2018004834A1
公开(公告)日：2018-01-04
申请号：PCT/US2017/031921
申请日：2017-05-10
申请人： CORINDUS, INC.
发明人： KOTTENSTETTE, Nicholas , BERGMAN, Per , LI, Yao , HUNTER, Seth , YOUNG, Adam
IPC分类号： A61M25/01 , A61M25/09 , A61M25/092 , G05G9/04 , G05G9/047 , G06F3/03
摘要： An interlocking system for a joystick in a catheter procedure system includes a joystick configured to generate a first voltage output signal based on a linear activation of the joystick and a second voltage output signal based on a rotational activation of the joystick. A joystick cover is disposed over the joystick and includes an upper portion having an electrode plating on an inner surface of the upper portion and a lower portion having an inner surface. A capacitive touch detection circuit is coupled to the electrode plating of the upper portion of the joystick cover and is mounted on the inner surface of the lower portion of the joystick cover. The capacitive touch detection circuit is configured to detect a proximal change in capacitance in the electrode plating of the upper portion of the joystick cover and to generate a touch output signal to indicate whether a change in capacitance has been detected. A signal enable circuit is coupled to the joystick and the capacitive touch detection circuit and is configured to generate a linear enable voltage output signal and a rotational enable voltage output signal based on whether a change in capacitance has been detected.
摘要翻译：用于导管程序系统中的操纵杆的互锁系统包括操纵杆，该操纵杆被配置成基于操纵杆的线性激活产生第一电压输出信号并基于操纵杆的旋转激活产生第二电压输出信号操纵杆。操纵杆盖布置在操纵杆上并且包括在上部的内表面上具有电极镀层的上部和具有内表面的下部。电容式触摸检测电路连接到操纵杆盖上部的电极板上，并安装在操纵杆盖下部的内表面上。电容性触摸检测电路被配置为检测操纵杆盖的上部的电极镀层中的电容的近端变化并且生成触摸输出信号以指示是否已经检测到电容的变化。信号使能电路耦合到操纵杆和电容性触摸检测电路，并且被配置为基于是否已经检测到电容变化来生成线性使能电压输出信号和旋转使能电压输出信号。

4. 发明申请

WO2015095149A1 SYSTEM AND METHOD FOR CONTROLLING A MOTOR IN A CATHETER PROCEDURE SYSTEM 审中-公开
标题翻译：用于控制电动机程序系统中的电动机的系统和方法
公开(公告)号：WO2015095149A1
公开(公告)日：2015-06-25
申请号：PCT/US2014/070529
申请日：2014-12-16
申请人： CORINDUS, INC.
发明人： KOTTENSTETTE, Nicholas
IPC分类号： H02P3/06
CPC分类号： A61B34/30 , A61B17/00234 , A61B90/06 , A61B2017/00044 , A61B2017/00477 , A61B2034/301 , A61B2090/066 , A61M25/0113 , H02P8/00 , H02P8/20 , H02P21/18 , H02P21/20
摘要： A catheter procedure system includes a bedside system having a percutaneous device, at least one drive mechanism coupled to the percutaneous device and at least one motor coupled to the at least one drive mechanism. The system also includes a workstation that is coupled to the bedside system and includes a user interface and a controller coupled to the bedside system and the user interface. The controller is programmed to receive at last one parameter of the motor, determine a quadrature current of the motor based on at least the at least one parameter, determine a load torque on the motor based on at least the quadrature current, an angular velocity and an angular acceleration and control the operation of the motor based on the load torque, wherein the operation of the motor causes the drive mechanism to move the percutaneous device.
摘要翻译：导管程序系统包括具有经皮装置的床边系统，耦合到经皮装置的至少一个驱动机构和耦合到至少一个驱动机构的至少一个马达。该系统还包括耦合到床边系统的工作站，并且包括用户界面和耦合到床边系统和用户界面的控制器。所述控制器被编程为至少接收所述电动机的一个参数，至少基于所述至少一个参数确定所述电动机的正交电流，至少基于所述正交电流确定所述电动机的负载转矩，角速度和角加速度并且基于负载转矩来控制电动机的操作，其中电动机的操作使驱动机构移动经皮装置。

5. 发明申请

WO2020061240A1 ROBOTIC ASSISTED MOVEMENTS OF ELONGATED MEDICAL DEVICES 审中-公开
公开(公告)号：WO2020061240A1
公开(公告)日：2020-03-26
申请号：PCT/US2019/051800
申请日：2019-09-18
申请人： CORINDUS, INC.
发明人： STEPANAUSKAS, Jared , BLACKER, Steven J. , DRAKE, Kaitlyn , BERGMAN, Per , LEE, Sang-Joon , KOTTENSTETTE, Nicholas
IPC分类号： A61B34/30 , A61B34/00 , A61M25/00 , A61M25/01
摘要： An example system includes an apparatus having a first elongated medical device and a second elongated medical device; and a controller coupled to the apparatus. The controller is provided to determine a magnitude and a direction of linear translation of the first elongated medical device and responsive to the determined translation of the first elongated medical device, cause a linear translation of the second elongated medical device, the linear translation of the second elongated device having a substantially equal magnitude to the linear translation of the first elongated medical device and being in a direction opposite the direction of translation of the first elongated medical device. The controller is further provided to modify at least one parameter of the linear translation of either (a) the first elongated medical device or (b) the second elongated medical device in response to the determined translation of the first elongated device.

6. 发明申请

WO2019222641A1 REMOTE COMMUNICATIONS AND CONTROL SYSTEM FOR ROBOTIC INTERVENTIONAL PROCEDURES 审中-公开
公开(公告)号：WO2019222641A1
公开(公告)日：2019-11-21
申请号：PCT/US2019/032888
申请日：2019-05-17
申请人： CORINDUS, INC.
发明人： KOTTENSTETTE, Nicholas , LI, Yao , BERGMAN, Per
IPC分类号： B25J9/10 , B25J9/12 , B25J9/16 , B25J9/18
摘要： A method for using a control center at a remote site to control operation of a robotic medical device system at a local site includes transmitting a control signal from the control center to the robotic medical device system, determining a delay in transmission of the control signal, comparing the delay to a threshold delay value and operating the robotic medical device system based on the comparison of the delay to the threshold delay value.

7. 发明申请

WO2017004307A1 SYSTEM AND METHOD FOR DETECTING A POSITION OF A GUIDE CATHETER SUPPORT 审中-公开
标题翻译：用于检测导管支架位置的系统和方法
公开(公告)号：WO2017004307A1
公开(公告)日：2017-01-05
申请号：PCT/US2016/040262
申请日：2016-06-30
申请人： CORINDUS, INC.
发明人： KOTTENSTETTE, Nicholas , FALB, Peter , DEIGNAN, Timothy , BERGMAN, Per
IPC分类号： A61M25/01 , A61M25/08 , A61M25/092 , A61M25/18
CPC分类号： A61B34/20 , A61B6/503 , A61B34/30 , A61B34/37 , A61B2034/2055 , A61B2034/2059 , A61B2034/301 , A61F2/958 , A61M39/105
摘要： A catheter procedure system includes a base and a robotic mechanism having a longitudinal axis and being movable relative to the base along the longitudinal axis. The robotic mechanism includes a robotic drive base including at least one drive mechanism, a cassette operatively secured to the robotic drive base, a rigid guide coupled to the cassette and fixed relative to the robotic mechanism and a flexible track having a distal end, a proximal end and a plurality of reflective sections. At least a portion of the flexible track is disposed within the rigid guide. The robotic mechanism also includes a position detector mounted to the robotic drive base and positioned beneath the flexible track. The position detector is configured to detect light reflected off of the reflective sections of the flexible track and to determine the position of the distal end of the flexible track based on the detected reflected light.
摘要翻译：导管程序系统包括基座和机器人机构，其具有纵向轴线并且可沿着纵向轴线相对于基座移动。机器人机构包括机器人驱动基座，其包括至少一个驱动机构，可操作地固定到机器人驱动基座的盒，耦合到盒并且相对于机器人机构固定的刚性引导件，以及具有远端的柔性轨道，端部和多个反射部分。柔性轨道的至少一部分设置在刚性导轨内。机器人机构还包括安装到机器人驱动基座并位于柔性轨道下方的位置检测器。位置检测器被配置为检测从柔性轨道的反射部分反射的光，并且基于检测到的反射光来确定柔性轨道的远端的位置。

8. 发明公开

EP4169472A1 MEDICAL DEVICE SYSTEMS AND COMPUTER-READABLE MEDIUMS FOR OPERATING THE SAME 审中-实审
公开(公告)号：EP4169472A1
公开(公告)日：2023-04-26
申请号：EP22203299.7
申请日：2022-10-24
申请人： Corindus, Inc.
发明人： KOTTENSTETTE, Nicholas , BERGMAN, Per , LI, Yao
IPC分类号： A61B34/35 , G05B11/00 , A61B34/37 , A61B34/20 , B25J9/16
摘要： A robotic medical device system includes a robotic medical device and a controller. The controller is configured to control, in response to one or more control signals, movement of the robotic medical device to maintain a substantially constant overshoot for different step responses of the robotic medical device system independent of variations in a delay associated with control of the robotic medical device, the one or more control signals received via a network.

9. 发明公开

EP3836865A1 ROBOTIC ASSISTED MOVEMENTS OF ELONGATED MEDICAL DEVICES 审中-公开
公开(公告)号：EP3836865A1
公开(公告)日：2021-06-23
申请号：EP19861569.2
申请日：2019-09-18
申请人： Corindus, Inc.
发明人： STEPANAUSKAS, Jared , BLACKER, Steven J. , DRAKE, Kaitlyn , BERGMAN, Per , LEE, Sang-Joon , KOTTENSTETTE, Nicholas
IPC分类号： A61B34/30 , A61B34/00 , A61M25/00 , A61M25/01

10. 发明公开

EP3389759A1 SYSTEM AND METHOD FOR CONTROLLING X-RAY FRAME RATE OF AN IMAGING SYSTEM 有权转让
公开(公告)号：EP3389759A1
公开(公告)日：2018-10-24
申请号：EP16876482.7
申请日：2016-12-13
申请人： Corindus, Inc.
发明人： WENDEROW, Tal , HANDLER, David , KOTTENSTETTE, Nicholas
IPC分类号： A61M31/00 , A61M5/00 , A61M25/01 , A61M25/09 , A61B6/12
CPC分类号： A61B6/12 , A61B6/405 , A61B6/465 , A61B6/466 , A61B6/486 , A61B6/487 , A61B6/503 , A61B6/504 , A61B6/542 , A61B6/545 , A61B34/20 , A61B2034/301 , A61B2090/376 , A61M5/00 , A61M5/007 , G06F19/00 , G16H30/40 , G16H40/63
摘要： A method for controlling x-ray frame rate of an imaging system for a catheter procedure system includes generating a first control signal that indicates a first frame rate and providng the first control signal to an imaging system. The imaging system obtains a first set of images at the first frame rate based on the first control signal. At least one parameter of a catheter procedure performed by the catheter procedure system is determined and a second control signal is generated based on the at least one parameter of the catheter procedure. The second control signal indicates a second frame rate. The second control signal is provides to the imaging system to adjust the first frame rate to the second frame rate. The imaging system obtains a second set of images at the second frame rate and displays the second set of images on a display.

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