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1. 发明授权

US09888973B2 Intuitive user interface control for remote catheter navigation and 3D mapping and visualization systems 有权
公开(公告)号：US09888973B2
公开(公告)日：2018-02-13
申请号：US13637401
申请日：2011-03-31
申请人： Eric S. Olson , John A. Hauck , Nicholas A. Patronik , Cem M. Shaquer
发明人： Eric S. Olson , John A. Hauck , Nicholas A. Patronik , Cem M. Shaquer
IPC分类号： A61B19/00 , A61B34/30 , A61B17/00 , A61B34/00 , A61B90/00
CPC分类号： A61B34/30 , A61B34/25 , A61B34/71 , A61B34/74 , A61B2017/00477 , A61B2034/301 , A61B2034/742 , A61B2090/372
摘要： The present disclosure relates to a control system for user-guided robotic control of a medical device and includes an electronic control unit, a computer-readable memory coupled to the ECU, and a visualization system configured to provide a view of an anatomical model. The memory contains user interface logic configured to be executed by the ECU, and configured to obtain input from a touch screen display with respect to the view of an anatomical model. Control logic stored in the memory is also configured to be executed by said ECU and is configured to produce an actuation control signal responsive to the input to control actuation of a manipulator assembly so as to move the medical device.

2. 发明授权

US09592100B2 Method and apparatus for encoding catheters with markers for identifying with imaging systems 有权
标题翻译：用于用成像系统识别的标记编码导管的方法和装置
公开(公告)号：US09592100B2
公开(公告)日：2017-03-14
申请号：US11967412
申请日：2007-12-31
申请人： Eric S. Olson , John A. Hauck
发明人： Eric S. Olson , John A. Hauck
IPC分类号： A61B6/00
CPC分类号： A61B90/96 , A61B34/20 , A61B90/39 , A61B2090/3937 , A61B2090/3983
摘要： An imaging system comprises an image acquisition device configured to image certain internal anatomic structures of a patient, and an interventional device, at least a portion of which is configured to be inserted into the body of a patient. The interventional device includes one or more markers disposed on the insertable portion(s) of the interventional device. The material of which the marker is formed is suitable for detection by the image acquisition device, and is arranged in an identifying pattern. The image acquisition device is configured to detect the marker and to read the identifying pattern. In response to the detection and reading of the pattern, the image acquisition device is configured to identify and track the position of the interventional device.
摘要翻译：成像系统包括被配置成对患者的某些内部解剖结构进行成像的图像采集装置和介入装置，其中至少一部分被配置为插入到患者体内。介入装置包括设置在介入装置的可插入部分上的一个或多个标记。标记物形成的材料适用于图像采集装置的检测，并以识别图案排列。图像获取装置被配置为检测标记并读取识别图案。响应于图案的检测和读取，图像获取装置被配置为识别和跟踪介入装置的位置。

3. 发明授权

US08998826B2 Contact sensor and sheath exit sensor 有权
公开(公告)号：US08998826B2
公开(公告)日：2015-04-07
申请号：US13608553
申请日：2012-09-10
申请人： John A. Hauck , Jeffrey A. Schweitzer , Kenneth H. Drew
发明人： John A. Hauck , Jeffrey A. Schweitzer , Kenneth H. Drew
IPC分类号： A61B5/103 , A61B5/053 , A61B5/06 , A61B5/00 , A61B18/14 , A61B19/00 , A61B18/00
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 of an electrode catheter. Such local impedance may be utilized to identify the relative position of an electrode catheter to a sheath 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.

4. 发明授权

US08911382B2 Catheter with pull wire measurement feature 有权
标题翻译：导管采用拉丝测量功能
公开(公告)号：US08911382B2
公开(公告)日：2014-12-16
申请号：US12716056
申请日：2010-03-02
申请人： John A. Hauck , Mark T. Johnson
发明人： John A. Hauck , Mark T. Johnson
IPC分类号： A61B5/00 , A61M31/00 , A61M37/00 , A61M25/00 , A61M25/098
摘要： An apparatus for determining a length of a portion of a steering wire disposed within a bendable medical device includes an electrical contact slidably coupled with a steering wire, an electrical source configured to transmit an electrical signal through a portion of the steering wire, and a processor configured to monitor a parameter of the electrical signal at or about the electrical contact and configured to determine a length of a portion of the steering wire using the monitored parameter.
摘要翻译：一种用于确定设置在可弯曲医疗装置内的操纵线的一部分的长度的装置包括可滑动地与操纵线耦合的电触点，被配置成通过所述操纵线的一部分传输电信号的电源，以及处理器被配置为在电触点处或周围监测电信号的参数，并被配置为使用所监视的参数来确定转向线的一部分的长度。

5. 发明授权

US08849393B2 Correction of shift and drift in impedance-based medical device navigation using measured impedances at external patch electrodes 有权
标题翻译：使用测量的外部贴片电极的阻抗校正基于阻抗的医疗设备导航中的位移和漂移
公开(公告)号：US08849393B2
公开(公告)日：2014-09-30
申请号：US13690737
申请日：2012-11-30
申请人： John A. Hauck , Jeffrey A. Schweitzer , Lev A. Koyrakh
发明人： John A. Hauck , Jeffrey A. Schweitzer , Lev A. Koyrakh
IPC分类号： A61B5/00
CPC分类号： A61B5/063 , A61B5/053 , A61B5/6801 , A61B5/742
摘要： A system and method are provided for determining characteristics of a device electrode disposed on a medical device within a body. A plurality of measurement electrodes are coupled to an external surface of the body and establish transmission paths for current through the body. An electronic control unit (ECU) is configured to cause transmission of current between a pair of active electrodes selected from the measurement electrodes and thereby generate a voltage on the device electrode. The ECU receives impedance signals from a plurality of passive electrodes among the measurement electrodes other than the active electrodes. The ECU establishes a virtual reference electrode at a reference position within the body responsive to the impedance signals and computes a position of the device responsive to the voltage on the device electrode and the reference position of the reference electrode. The ECU may also compute impedances at the device and measurement electrodes.
摘要翻译：提供了一种用于确定设置在身体内的医疗装置上的装置电极的特性的系统和方法。多个测量电极耦合到身体的外表面并建立用于通过身体的电流的传输路径。电子控制单元（ECU）被配置为在从测量电极中选择的一对有源电极之间引起电流的传输，从而在器件电极上产生电压。 ECU从除了有源电极之外的测量电极中的多个无源电极接收阻抗信号。 ECU根据阻抗信号在主体内的参考位置建立虚拟参考电极，并根据器件电极上的电压和参考电极的参考位置计算器件的位置。 ECU还可以计算设备和测量电极处的阻抗。

6. 发明授权

US08690821B2 Robotic catheter rotatable device cartridge 有权
标题翻译：机器人导管可旋转装置筒
公开(公告)号：US08690821B2
公开(公告)日：2014-04-08
申请号：US13681694
申请日：2012-11-20
申请人： Mark B. Kirschenman , Troy T. Tegg , John A. Hauck
发明人： Mark B. Kirschenman , Troy T. Tegg , John A. Hauck
IPC分类号： A61M31/00
CPC分类号： A61B19/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/10 , A61B2017/003 , A61B2017/00477 , A61B2017/00876 , A61B2034/301 , A61B2090/372 , A61M25/0097 , A61M25/0105
摘要： A robotic catheter rotatable device cartridge may include a housing member attachable to a drive mechanism for rotating the cartridge and a catheter attached to the cartridge along an axial direction of the catheter. A slider block may be generally slidable relative to the housing and engaged with one or more steering wires for controlling movement of the catheter in a transverse direction relative to the axial direction. The catheter may include the steering wire(s) engaged therewith and movable in the transverse direction when the slider block is linearly driven in a predetermined direction.
摘要翻译：机器人导管可旋转装置筒可以包括可附接到驱动机构的壳体构件，用于使筒旋转，以及沿着导管的轴向连接到筒的导管。滑动块通常可相对于壳体滑动并与一个或多个操纵线接合，用于控制导管相对于轴向方向的横向移动。导管可以包括与其接合的操纵线，并且当滑动块沿预定方向被线性驱动时可以在横向上移动。

7. 发明申请

US20130172906A1 Intuitive user interface control for remote catheter navigation and 3D mapping and visualization systems 有权
标题翻译：直观的用户界面控制，用于远程导航导航和3D映射和可视化系统
公开(公告)号：US20130172906A1
公开(公告)日：2013-07-04
申请号：US13637401
申请日：2011-03-31
申请人： Eric S. Olson , John A. Hauck , Nicholas A. Patronik , Cem M. Shaquer
发明人： Eric S. Olson , John A. Hauck , Nicholas A. Patronik , Cem M. Shaquer
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/25 , A61B34/71 , A61B34/74 , A61B2017/00477 , A61B2034/301 , A61B2034/742 , A61B2090/372
摘要： The present disclosure relates to a control system for user-guided robotic control of a medical device and includes an electronic control unit, a computer-readable memory coupled to the ECU, and a visualization system configured to provide a view of an anatomical model. The memory contains user interface logic configured to be executed by the ECU, and configured to obtain input from a touch screen display with respect to the view of an anatomical model. Control logic stored in the memory is also configured to be executed by said ECU and is configured to produce an actuation control signal responsive to the input to control actuation of a manipulator assembly so as to move the medical device.
摘要翻译：本公开涉及一种用于医疗设备的用户引导的机器人控制的控制系统，并且包括电子控制单元，耦合到ECU的计算机可读存储器以及被配置为提供解剖模型的视图的可视化系统。存储器包含被配置为由ECU执行的用户界面逻辑，并被配置为相对于解剖模型的视图从触摸屏显示器获得输入。存储在存储器中的控制逻辑也被配置为由所述ECU执行，并且被配置为产生响应于输入的致动控制信号，以控制操纵器组件的致动以移动医疗装置。

8. 发明授权

US08343096B2 Robotic catheter system 有权
标题翻译：机器人导管系统
公开(公告)号：US08343096B2
公开(公告)日：2013-01-01
申请号：US12347811
申请日：2008-12-31
申请人： Mark B. Kirschenman , John A. Hauck
发明人： Mark B. Kirschenman , John A. Hauck
IPC分类号： A61M31/00
CPC分类号： A61B34/30 , A61B18/1492 , A61B34/20 , A61B34/37 , A61B34/71 , A61B34/76 , A61B34/77 , A61B90/06 , A61B2017/00026 , A61B2017/00477 , A61B2018/00351 , A61B2018/00577 , A61B2018/00642 , A61B2034/2055 , A61B2034/301 , A61B2034/305 , A61B2034/741 , A61B2034/742 , A61B2090/064 , A61M25/0113 , A61M25/0147
摘要： A robotic catheter system including one or more robotic catheter manipulator assemblies supported on a manipulator support structure. The robotic catheter manipulator assembly may include one or more removably mounted robotic catheter device cartridges and robotic sheath device cartridges, with each cartridge being generally linearly movable relative to the robotic catheter manipulator assembly. An input control system may be provided for controlling operation of the robotic catheter manipulator assembly. A visualization system may include one or more display monitors for displaying a position of a catheter and/or a sheath respectively attached to the robotic catheter and sheath device cartridges.
摘要翻译：一种机器人导管系统，包括一个或多个机器人导管操纵器组件，其支撑在操纵器支撑结构上。机器人导管操纵器组件可以包括一个或多个可移除地安装的机器人导管装置盒和机器人护套装置盒，每个盒通常相对于机器人导管操纵器组件可线性移动。可以提供输入控制系统来控制机器人导管操纵器组件的操作。可视化系统可以包括一个或多个显示监视器，用于显示分别附接到机器人导管和鞘装置盒的导管和/或护套的位置。

9. 发明申请

US20120203485A1 ROBOTICALLY CONTROLLED CATHETER AND METHOD OF ITS CALIBRATION 有权
标题翻译：机械控制导管及其校准方法
公开(公告)号：US20120203485A1
公开(公告)日：2012-08-09
申请号：US13441249
申请日：2012-04-06
申请人： John A. Hauck
发明人： John A. Hauck
IPC分类号： G06F19/00
CPC分类号： A61B19/20 , A61B1/0052 , A61B5/042 , A61B5/7257 , A61B34/20 , A61B34/30 , A61B34/70 , A61B34/71 , A61B90/10 , A61B2017/003 , A61B2017/00699 , A61B2017/00703 , A61B2017/00725 , A61B2017/22075 , A61B2017/3409 , A61B2034/2051 , A61B2034/2053 , A61B2034/301 , A61B2034/742 , A61B2560/0223 , A61M25/0105 , A61M25/0133
摘要： A method of calibrating a robotic device, such as a cardiac catheter, including oscillating the device on an actuation axis by applying an oscillation vector at an oscillation frequency. While oscillating, a location of the device is periodically measured to generate a plurality of location data points, which may express the location of the device relative to a plurality of measurement axes. The location data points are then processed using a signal processing algorithm, such as a Fourier transform algorithm, to derive a transfer function relating a position of the device to a movement vector for the actuation axis. The transfer function may be resolved into and expressed as a calibration vector for the actuation axis, which may include one or more components, including zero components, directed along each of the measurement axes. The process may be repeated for any actuation axes on which calibration is desired.
摘要翻译：一种校准诸如心脏导管的机器人装置的方法，包括通过施加振荡频率的振荡矢量使装置在致动轴上振荡。在振荡的同时，周期性地测量设备的位置以产生多个位置数据点，其可以表示设备相对于多个测量轴的位置。然后使用诸如傅立叶变换算法的信号处理算法来处理位置数据点，以导出将装置的位置与致动轴的运动矢量相关联的传递函数。传递函数可以被解析为并且表示为用于致动轴的校准矢量，其可以包括沿着每个测量轴指向的一个或多个零件，包括零分量。对于期望校准的任何致动轴，可以重复该过程。

10. 发明申请

US20120172715A1 SYSTEM FOR DETERMINING THE POSITION OF A MEDICAL DEVICE WITHIN A BODY 有权
标题翻译：用于确定身体内的医疗装置的位置的系统
公开(公告)号：US20120172715A1
公开(公告)日：2012-07-05
申请号：US12981150
申请日：2010-12-29
申请人： Mark A. MacGregor , John A. Hauck , Graydon E. Beatty , Kevin Dillon
发明人： Mark A. MacGregor , John A. Hauck , Graydon E. Beatty , Kevin Dillon
IPC分类号： A61B5/05
CPC分类号： A61B5/065 , A61B5/04085 , A61B5/0422 , A61B5/063 , A61B5/6833 , A61B5/6869 , A61B34/20 , A61B2034/2053
摘要： A system for determining a position of a medical device within a body is provided that reduces positional error by establishing a reference origin closer to the device and/or simplifies the system by integrating components and functions. In one embodiment, a pair of drive electrodes are affixed to opposed surfaces of the body and create a pathway for transmission of current through a position sensor related to the medical device. A pair of reference electrodes proximate the drive electrodes are coupled to a common reference node outputting a reference signal establishing the reference origin. An electronic control unit determines the position of the medical device responsive to the position signal and the reference signal. In another embodiment, a patch affixed to an external surface of the body has a base layer and multiple devices supported on the base layer, electrically isolated from one another, and configured to perform different functions.
摘要翻译：提供了一种用于确定身体内的医疗装置的位置的系统，其通过建立靠近装置的参考原点和/或通过集成部件和功能来简化系统来减少位置误差。在一个实施例中，一对驱动电极固定在主体的相对表面上，并且产生用于通过与医疗装置相关的位置传感器传输电流的路径。靠近驱动电极的一对参考电极被耦合到公共参考节点，该公共参考节点输出建立参考原点的参考信号。电子控制单元响应于位置信号和参考信号确定医疗设备的位置。在另一个实施例中，固定到主体的外表面的贴片具有基底层和支撑在基底层上的多个器件，彼此电隔离并且被配置为执行不同的功能。

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