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1. 发明申请

US20140155721A1 CORRECTION OF SHIFT AND DRIFT IN IMPEDANCE-BASED MEDICAL DEVICE NAVIGATION USING MEASURED IMPEDANCES AT EXTERNAL PATCH ELECTRODES 有权
标题翻译：使用外部贴片电极测量的阻抗进行基于阻抗的医疗设备导航中的移位和移位校正
公开(公告)号：US20140155721A1
公开(公告)日：2014-06-05
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： A61B5/06
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。

2. 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。

3. 发明授权

US09113807B2 Dynamic adaptive respiration compensation with automatic gain control 有权
标题翻译：动态自适应呼吸补偿与自动增益控制
公开(公告)号：US09113807B2
公开(公告)日：2015-08-25
申请号：US12980515
申请日：2010-12-29
申请人： Lev A. Koyrakh , Eric J. Voth , John A. Hauck , Jeffrey A. Schweitzer
发明人： Lev A. Koyrakh , Eric J. Voth , John A. Hauck , Jeffrey A. Schweitzer
IPC分类号： A61B5/053 , A61B5/00 , A61B5/06 , H04L25/03 , H04L25/02
CPC分类号： A61B5/7207 , A61B5/0044 , A61B5/053 , A61B5/0536 , A61B5/0538 , A61B5/06 , A61B5/061 , A61B5/063 , A61B5/6801 , A61B5/7203 , A61B5/721 , A61B5/7267 , A61B5/742 , H04L25/0278 , H04L25/03019
摘要： A system for determining a location of an electrode of a medical device (e.g., a catheter) in a body of a patient includes a localization block for producing an uncompensated electrode location, a motion compensation block for producing a compensation signal (i.e., for respiration, cardiac, etc.), and a mechanism for subtracting the compensation signal from the uncompensated electrode location. The result is a corrected electrode location substantially free of respiration and cardiac artifacts. The motion compensation block includes a dynamic adaptation feature which accounts for changes in a patient's respiration patterns as well as intentional movements of the medical device to different locations within the patient's body. The system further includes an automatic compensation gain control which suppresses compensation when certain conditions, such as noise or sudden patch impedance changes, are detected.
摘要翻译：用于确定患者体内的医疗装置（例如，导管）的电极的位置的系统包括用于产生未补偿的电极位置的定位块，用于产生补偿信号的运动补偿块（即，用于呼吸，心脏等），以及用于从未补偿的电极位置减去补偿信号的机构。结果是基本上没有呼吸和心脏伪影的校正电极位置。运动补偿块包括动态适应特征，其考虑了患者呼吸模式的变化以及医疗装置对患者体内不同位置的有意移动。该系统还包括自动补偿增益控制，当检测到某些条件（例如噪声或突发阻抗变化）时，该自动补偿增益控制抑制补偿。

4. 发明授权

US08528565B2 Robotic surgical system and method for automated therapy delivery 有权
公开(公告)号：US08528565B2
公开(公告)日：2013-09-10
申请号：US11647297
申请日：2006-12-29
申请人： John A. Hauck , Jeffrey A. Schweitzer , Kedar Ravindra Belhe
发明人： John A. Hauck , Jeffrey A. Schweitzer , Kedar Ravindra Belhe
IPC分类号： A61B19/00
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 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, robotically navigating the medical device to a starting point on the path, and robotically navigating the medical device along the navigation path to an endpoint. Waypoints 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 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 along the navigation path, either forward or in reverse, or while navigating the medical device along a return path defined by a plurality of virtual breadcrumbs generated as the medical device traverses the navigation path.

5. 发明授权

US07974674B2 Robotic surgical system and method for surface modeling 有权
标题翻译：机器人手术系统和表面建模方法
公开(公告)号：US07974674B2
公开(公告)日：2011-07-05
申请号：US11647304
申请日：2006-12-29
申请人： John A. Hauck , Jeffrey A. Schweitzer , Eric S. Olson , Eric J. Voth
发明人： John A. Hauck , Jeffrey A. Schweitzer , Eric S. Olson , Eric J. Voth
IPC分类号： A61B5/04
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 includes inserting an electrode within the portion of a heart, robotically moving the electrode therein, periodically detecting position information of the electrode to generate a plurality of location points defining a space occupied by the portion of the heart, and generating a three-dimensional model of the portion of the heart including position information for at least some of the plurality of location points within the portion of the heart. 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：产生心脏的至少一部分的三维模型的方法包括将电极插入心脏的部分内，使电极在其中自动移动，周期性地检测电极的位置信息，以产生多个定位点由心脏部分占据的空间，以及生成心脏部分的三维模型，包括心脏部分内的多个位置点中的至少一些位置信息。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。

6. 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.

7. 发明授权

US09782130B2 Robotic surgical system 有权
公开(公告)号：US09782130B2
公开(公告)日：2017-10-10
申请号：US11647300
申请日：2006-12-29
申请人： John A. Hauck , Jeffrey A. Schweitzer , Troy T. Tegg , James D. Essington , Mark T. Johnson , Kedar Ravindra Belhe
发明人： John A. Hauck , Jeffrey A. Schweitzer , Troy T. Tegg , James D. Essington , Mark T. Johnson , Kedar Ravindra Belhe
IPC分类号： A61B18/18 , A61B5/00 , A61B34/20 , A61B17/00 , A61M25/01 , A61B34/00 , A61B90/00 , A61B34/30
CPC分类号： A61B5/6885 , A61B34/20 , A61B34/30 , A61B34/70 , A61B34/71 , A61B2017/00026 , A61B2034/2051 , A61B2034/301 , A61B2034/742 , A61B2090/064 , A61B2090/3784 , A61M25/0105
摘要： A robotic surgical system includes a track, a catheter holding device including a catheter receiving portion translatably associated with the track, a translation servo mechanism to control translation of the catheter holding device relative to the track, a catheter deflection control mechanism, a deflection servo mechanism to control the catheter deflection control mechanism, and a controller to control at least one of the servo mechanisms. The catheter receiving portion is adapted for quick installation and removal of a catheter. The catheter receiving portion may be rotatable, with a rotation servo mechanism to control the rotatable catheter receiving portion. The controller controls at least one of the deflection and rotation servo mechanisms to maintain a substantially constant catheter deflection as the catheter rotates. An introducer, which may be steerable, and an expandable, collapsible sterile tube may also be provided.

8. 发明授权

US08755864B2 Robotic surgical system and method for diagnostic data mapping 有权
标题翻译：机器人手术系统和诊断数据映射方法
公开(公告)号：US08755864B2
公开(公告)日：2014-06-17
申请号：US11647298
申请日：2006-12-29
申请人： John A. Hauck , Jeffrey A. Schweitzer , Kedar Ravindra Belhe
发明人： John A. Hauck , Jeffrey A. Schweitzer , Kedar Ravindra Belhe
IPC分类号： A61B5/05 , A61B5/06 , A61B19/00
CPC分类号： A61B19/2203 , A61B5/04011 , A61B5/06 , A61B5/6885 , A61B5/7425 , A61B5/7475 , A61B34/20 , A61B34/30 , A61B34/71 , A61B2017/00026 , A61B2034/105 , A61B2034/2051 , A61B2034/2053 , A61B2034/2072 , A61B2034/301 , A61B2034/303 , A61B2034/742 , A61B2090/064 , A61B2090/3784 , A61M25/0105
摘要： A method of generating a diagnosis map of at least a portion of the heart includes inserting an electrode within the portion of a heart, robotically moving the electrode therein, measuring electrophysiology information at a point on the surface of the heart, associating the measured electrophysiology information with position information for the point on the surface of the heart, repeating the measuring and associating steps for a plurality of points on the surface of the heart, thereby generating a plurality of surface diagnostic data points, and generating the diagnosis map therefrom. The electrode may be moved within the heart randomly, pseudo-randomly, or according to one or more predetermined patterns. A three-dimensional model of the portion of the heart may be provided and presented as a graphical representation, either with or without information indicative of the measured electrophysiology information superimposed thereon.
摘要翻译：产生心脏的至少一部分的诊断图的方法包括：在心脏的部分内插入电极，在其中机械地移动电极，测量心脏表面上的点处的电生理学信息，将测量的电生理学信息对于心脏表面上的点的位置信息，重复心脏表面上的多个点的测量和关联步骤，由此产生多个表面诊断数据点，并从中生成诊断图。电极可以随机，伪随机地移动，或根据一个或多个预定模式移动。可以提供心脏部分的三维模型并将其呈现为图形表示，或者具有或不具有指示叠加在其上的测量的电生理学信息的信息。

9. 发明授权

US10258285B2 Robotic surgical system and method for automated creation of ablation lesions 有权
公开(公告)号：US10258285B2
公开(公告)日：2019-04-16
申请号：US11647296
申请日：2006-12-29
申请人： John A. Hauck , Jeffrey A. Schweitzer , Kedar Ravindra Belhe , Jeffrey L. Burrell
发明人： John A. Hauck , Jeffrey A. Schweitzer , Kedar Ravindra Belhe , Jeffrey L. Burrell
IPC分类号： A61B18/24 , A61B5/00 , A61B34/20 , A61B34/00 , A61B34/30 , A61B17/00 , A61M25/01 , A61B90/00 , A61B34/10
摘要： A system for ablating tissue includes an ablation catheter for insertion into the body of a patient and a robotic controller for moving the catheter within the body. The robotic controller advances the catheter until the catheter contacts the tissue surface, maintains contact between the catheter and the tissue surface, and moves the catheter along a predetermined path to create a substantially continuous lesion of ablated tissue. A display device may be used to present a graphical representation of an area of tissue to be ablated. A user interface permits selection of a plurality of treatment points on the graphical representation. The interface is preferably coupled to the controller and catheter such that the controller may cause the catheter to automatically ablate tissue at and between the plurality of treatment points in response to the received user input.

10. 发明授权

US08265745B2 Contact sensor and sheath exit sensor 有权
标题翻译：接触传感器和护套出口传感器
公开(公告)号：US08265745B2
公开(公告)日：2012-09-11
申请号：US11618484
申请日：2006-12-29
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： A61B5/05
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 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.
摘要翻译：提供了允许确定电极导管的一个或多个电极的局部阻抗的系统和方法。可以利用这种局部阻抗来识别电极导管与导向引导器护套的相对位置。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。

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