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1. 发明申请

US20060293643A1 Robotic catheter system 有权
标题翻译：机器人导管系统
公开(公告)号：US20060293643A1
公开(公告)日：2006-12-28
申请号：US11176957
申请日：2005-07-06
申请人： Daniel Wallace , Robert Younge , Michael Zinn , Federico Barbagli , David Moore , Gregory Stahler , Daniel Adams , Frederic Moll , Kenneth Martin , Gunter Niemeyer
发明人： Daniel Wallace , Robert Younge , Michael Zinn , Federico Barbagli , David Moore , Gregory Stahler , Daniel Adams , Frederic Moll , Kenneth Martin , Gunter Niemeyer
IPC分类号： A61B17/00
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 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。

2. 发明申请

US20060100610A1 Methods using a robotic catheter system 审中-公开
标题翻译：使用机器人导管系统的方法
公开(公告)号：US20060100610A1
公开(公告)日：2006-05-11
申请号：US11176598
申请日：2005-07-06
申请人： Daniel Wallace , Robert Younge , Michael Zinn , Federico Barbagli , David Moore , Gregory Stahler , Daniel Adams , Frederic Moll , Kenneth Martin
发明人： Daniel Wallace , Robert Younge , Michael Zinn , Federico Barbagli , David Moore , Gregory Stahler , Daniel Adams , Frederic Moll , Kenneth Martin
IPC分类号： A61B17/00
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 method using a robotic system to perform a procedure on a patient, includes moving a control interface provided on a master input device, generating control signals corresponding, at least in part, to movement of the interface, moving one or more drive elements of an instrument driver in response to the control signal, the one or more 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. The method may further comprise providing tactile feedback through the interface.
摘要翻译：一种使用机器人系统对患者执行过程的方法包括移动设在主输入设备上的控制界面，产生至少部分地对应于接口移动的控制信号，移动一个或多个驱动元件响应于控制信号的仪器驱动器，所述一个或多个驱动元件可操作地联接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导向器具可轴向移动使得驱动元件的移动导致引导器械的相应移动。该方法还可以包括通过界面提供触觉反馈。

3. 发明申请

US20070043338A1 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：US20070043338A1
公开(公告)日：2007-02-22
申请号：US11481433
申请日：2006-07-03
申请人： Frederic Moll , Daniel Wallace , Gregory Stahler , David Moore , Daniel Adams , Kenneth Martin , Robert Younge , Michael Zinn , Gunter Niemeyer , David Lundmark
发明人： Frederic Moll , Daniel Wallace , Gregory Stahler , David Moore , Daniel Adams , Kenneth Martin , Robert Younge , Michael Zinn , Gunter Niemeyer , David Lundmark
IPC分类号： A61B17/00
CPC分类号： A61B17/062 , A61B17/0469 , A61B17/1114 , A61B17/42 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/77 , A61B46/10 , A61B50/13 , A61B50/15 , A61B2017/00238 , A61B2017/00243 , A61B2017/003 , A61B2017/00336 , A61B2017/00477 , A61B2017/00743 , A61B2017/00805 , A61B2017/00827 , A61B2034/301 , A61B2034/715 , 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。

4. 发明申请

US20060084945A1 Instrument driver for robotic catheter system 有权
标题翻译：机器人导管系统仪器驱动
公开(公告)号：US20060084945A1
公开(公告)日：2006-04-20
申请号：US11176954
申请日：2005-07-06
申请人： Frederic Moll , Daniel Wallace , Robert Younge , Kenneth Martin , Gregory Stahler , David Moore , Daniel Adams , Michael Zinn , Gunter Niemeyer
发明人： Frederic Moll , Daniel Wallace , Robert Younge , Kenneth Martin , Gregory Stahler , David Moore , Daniel Adams , Michael Zinn , Gunter Niemeyer
IPC分类号： A61B17/00
CPC分类号： A61B8/12 , A61B5/7285 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B34/77 , A61B90/50 , A61B2017/00247 , A61B2017/003 , 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
摘要： A robotic medical system comprises an operator control station having a master input device, a catheter instrument, and an instrument driver in communication with the operator control station. The catheter instrument includes an elongate flexible catheter member, a flexible control element, such as, e.g., a cable, extending within the catheter member, and a proximal drivable assembly configured to axially move the control element relative to the catheter member to perform a kinematic function at a distal end of the catheter member, such as a deflection of the distal end of the catheter member. The instrument driver is configured to operate the drivable assembly to axially move the control element in response to control signals generated, at least in part, by the master input device. The drivable assembly is mounted to the instrument driver, thereby providing mechanically close relationship between the drivable assembly and the instrument driver and minimizing the errors between the actual and predicted kinematic functions otherwise introduced into the system via intervening structure between the drivable assembly and instrument driver.
摘要翻译：机器人医疗系统包括具有与操作者控制站通信的主输入装置，导管仪器和仪器驱动器的操作员控制站。导管器械包括细长的柔性导管构件，在导管构件内延伸的柔性控制元件，例如电缆，以及配置成相对于导管构件轴向移动控制元件以执行运动学的近端可驱动组件在导管构件的远端处起作用，例如导管构件的远端的偏转。仪器驱动器被配置为操作可驱动组件以响应于至少部分地由主输入设备产生的控制信号来轴向移动控制元件。可驱动的组件安装到仪器驱动器，从而在可驱动组件和仪器驱动器之间提供机械上的密切关系，并且通过可驱动组件和仪器驱动器之间的中间结构，最小化其它引入系统的实际和预测的运动功能之间的误差。

5. 发明申请

US20050222554A1 Robotic catheter system 有权
标题翻译：机器人导管系统
公开(公告)号：US20050222554A1
公开(公告)日：2005-10-06
申请号：US11073363
申请日：2005-03-04
申请人： Daniel Wallace , Frederic Moll , Robert Younge , Kenneth Martin , Gregory Stahler , David Moore , Daniel Adams , Michael Zinn , Gunter Niemeyer
发明人： Daniel Wallace , Frederic Moll , Robert Younge , Kenneth Martin , Gregory Stahler , David Moore , Daniel Adams , Michael Zinn , Gunter Niemeyer
IPC分类号： A61B8/12 , A61B10/00 , A61B10/06 , A61B17/00 , A61B19/00 , A61M25/01
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.
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，并且具有引导仪器接口，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引导仪器驱动元件。细长的引导器具具有底座，远端和工作腔，其中导向仪器底座可操作地连接到导向仪器接口。导向仪器包括多个导向仪器控制元件，其可操作地联接到相应的引导驱动元件并固定到引导器械的远端。引导仪器控制元件相对于引导仪器可轴向移动，使得引导器械远端的移动可由主输入装置控制。

6. 发明申请

US20060095022A1 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：US20060095022A1
公开(公告)日：2006-05-04
申请号：US11179007
申请日：2005-07-06
申请人： Frederic Moll , Daniel Wallace , Robert Younge , David Moore , Michael Zinn , Kenneth Martin , Gunter Niemeyer
发明人： Frederic Moll , Daniel Wallace , Robert Younge , David Moore , Michael Zinn , Kenneth Martin , Gunter Niemeyer
IPC分类号： A61B17/00 , A61B18/14
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。

7. 发明申请

US20060276775A1 Robotic catheter system 有权
公开(公告)号：US20060276775A1
公开(公告)日：2006-12-07
申请号：US11418398
申请日：2006-05-03
申请人： Craig Rosenberg , David Moore , Randall Schlesinger , Frederic Moll , Daniel Wallace
发明人： Craig Rosenberg , David Moore , Randall Schlesinger , Frederic Moll , Daniel Wallace
IPC分类号： A61B17/00
CPC分类号： A61B17/00234 , A61B17/0469 , A61B17/29 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B50/13 , A61B2017/00243 , A61B2017/003 , A61B2017/00323 , A61B2017/00477 , A61B2017/0472 , A61B2017/06057 , A61B2017/2905 , A61B2034/301 , A61M25/0113 , B33Y80/00
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.

8. 发明申请

US20050073496A1 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：US20050073496A1
公开(公告)日：2005-04-07
申请号：US10389892
申请日：2003-03-17
申请人： David Moore , Kenneth Martin , Steve Vassallo , Louis Rosenberg
发明人： David Moore , Kenneth Martin , Steve Vassallo , Louis Rosenberg
IPC分类号： G05G9/047 , G06F3/00 , G06F3/01 , G09B23/28 , G09G5/00 , G09G5/08
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 senor 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。传感器感测到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。

9. 发明申请

US20050052415A1 Directional tactile feedback for haptic feedback interface devices 审中-公开
公开(公告)号：US20050052415A1
公开(公告)日：2005-03-10
申请号：US10888632
申请日：2004-07-08
申请人： Adam Braun , Louis Rosenberg , David Moore , Kenneth Martin , Alex Goldenberg
发明人： Adam Braun , Louis Rosenberg , David Moore , Kenneth Martin , Alex Goldenberg
IPC分类号： A63F13/06 , G06F3/00 , G06F3/01 , G06F3/033 , G09G5/00 , G09G5/08
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.

10. 发明申请

US20050030284A1 Directional tactile feedback for haptic feedback interface devices 有权
公开(公告)号：US20050030284A1
公开(公告)日：2005-02-10
申请号：US10944628
申请日：2004-09-17
申请人： Adam Braun , Louis Rosenberg , David Moore , Kenneth Martin , Alex Goldenberg
发明人： Adam Braun , Louis Rosenberg , David Moore , Kenneth Martin , Alex Goldenberg
IPC分类号： A63F13/06 , G06F3/00 , G06F3/01 , G06F3/033 , G09G5/00
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.

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