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1. 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.

2. 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.

3. 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。

4. 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.

5. 发明授权

US08038625B2 System and method for three-dimensional mapping of electrophysiology information 有权
标题翻译：电生理信息三维映射的系统和方法
公开(公告)号：US08038625B2
公开(公告)日：2011-10-18
申请号：US11227006
申请日：2005-09-15
申请人： Valtino X. Afonso , Kedar Ravindra Belhe , Jeffrey A. Schweitzer
发明人： Valtino X. Afonso , Kedar Ravindra Belhe , Jeffrey A. Schweitzer
IPC分类号： A61B5/02 , A61B5/05
CPC分类号： A61B5/0422 , A61B5/04012 , A61B5/044 , A61B5/0452
摘要： An electrophysiology apparatus is used to measure electrical activity occurring in a heart of a patient and to visualize the electrical activity and/or information related to the electrical activity. A three-dimensional map of the electrical activity and/or the information related to the electrical activity is created. Exemplary maps include a time difference between action potentials at a roving electrode and a reference electrode, the peak-to-peak timing of action potentials at the roving electrode, the peak negative voltage of action potentials at the roving electrode, complex fractionated electrogram information, a dominant frequency of an electrogram signal, a maximum peak amplitude at the dominant frequency, a ratio of energy in one band of the frequency-domain to the energy in a second band of the frequency-domain, a low-frequency or high-frequency passband of interest, a frequency with the maximum energy in a passband, a number of peaks within a passband, an energy, power, and/or area in each peak, a ratio of energy and/or area in each peak to that in another passband, and a width of each peak in a spectrum. Colors, shades of colors, and/or grayscales are assigned to values of the parameters and colors corresponding to the parameters for the electrograms sampled by the electrodes are updated on the three-dimensional model.
摘要翻译：电生理学装置用于测量在患者心脏中发生的电活动并且可视化与电活动有关的电活动和/或信息。创建电活动的三维图和/或与电活动相关的信息。示例性地图包括粗纱电极上的动作电位和参考电极之间的时间差，粗纱动作电位的峰 - 峰定时，粗纱动作电位的峰值负电压，复分数电描记图信息，电描记信号的主要频率，主频率的最大峰值幅度，频域的一个频带中的能量与频域的第二频带中的能量的比率，低频或高频通带的通带，通带中的最大能量的频率，通带内的峰值数，每个峰中的能量，功率和/或面积，每个峰中的能量和/或面积与另一峰中的峰的比率通带和频谱中每个峰的宽度。将颜色，色调和/或灰度等级分配给参数的值，并且对应于由电极采集的电描记图的参数对应的颜色在三维模型上更新。

6. 发明授权

US09877781B2 Electrode catheter device with indifferent electrode for direct current tissue therapies 有权
公开(公告)号：US09877781B2
公开(公告)日：2018-01-30
申请号：US13885776
申请日：2011-11-18
申请人： Martin M. Grasse , Richard E. Stehr , Israel A. Byrd , Lynn E. Gilmour , D. Curtis Deno , Troy T. Tegg , James V. Kauphusman , Saurav Paul , Jeffrey A. Schweitzer
发明人： Martin M. Grasse , Richard E. Stehr , Israel A. Byrd , Lynn E. Gilmour , D. Curtis Deno , Troy T. Tegg , James V. Kauphusman , Saurav Paul , Jeffrey A. Schweitzer
IPC分类号： A61N1/00 , A61B5/04 , A61B18/16 , A61B5/042 , A61B18/14 , A61B18/00 , A61M25/01 , A61M25/06
CPC分类号： A61B18/16 , A61B5/042 , A61B18/1492 , A61B2018/00357 , A61B2018/00613 , A61B2018/00791 , A61B2018/1435 , A61B2018/162 , A61M25/0147 , A61M2025/0681
摘要： An electrode catheter device with indifferent electrode for direct current tissue therapies is disclosed. An example of the catheter device has a flexible tubing with at least one ablation electrode. The catheter device also may also be used with a sheath for introducing the flexible tubing inside a patient's body. An indifferent electrode on the sheath can provide a ground for a direct current (DC) pulse to deliver electrical energy and create an electrical field adjacent a tissue. Various other embodiments are also disclosed.

7. 发明申请

US20120035460A1 MOVABLE MAGNET FOR MAGNETICALLY GUIDED CATHETER 有权
标题翻译：用于磁导管的可变磁铁
公开(公告)号：US20120035460A1
公开(公告)日：2012-02-09
申请号：US12851407
申请日：2010-08-05
申请人： Todd R. Stangenes , Saurav Paul , James V. Kauphusman , Troy T. Tegg , Jeffrey A. Schweitzer
发明人： Todd R. Stangenes , Saurav Paul , James V. Kauphusman , Troy T. Tegg , Jeffrey A. Schweitzer
IPC分类号： A61M25/092 , A61B5/055 , A61B6/12
CPC分类号： A61M25/0127 , A61B5/0422 , A61B5/055 , A61B5/062 , A61B5/6857 , A61B6/12 , A61B6/487 , A61B18/1492 , A61B34/32 , A61B34/73 , A61B2018/00375 , A61B2018/00577 , A61B2018/00791 , A61B2034/301 , A61B2034/303 , A61B2034/731 , A61B2034/732 , A61B2562/0271 , A61M25/0158
摘要： A catheter is disclosed having a flexible tubing with a proximal end and a distal end. The catheter comprising at least one movable magnet provided within the distal end of the flexible tubing. A control mechanism is operable to selectively activate the at least one movable magnet from the proximal end of the flexible tubing. The at least one movable magnet is responsive to an external magnetic field to position and guide the distal end of the flexible tubing within a body of a patient.
摘要翻译：公开了一种具有近端和远端的柔性管的导管。导管包括设置在柔性管的远端内的至少一个可动磁体。控制机构可操作以从柔性管的近端选择性地启动至少一个可动磁体。所述至少一个可移动磁体响应外部磁场来定位和引导患者体内的柔性管的远端。

8. 发明申请

US20130338467A1 Electrode catheter device with indifferent electrode for direct current tissue therapies 有权
标题翻译：用于直流组织治疗的具有无关电极的电极导管装置
公开(公告)号：US20130338467A1
公开(公告)日：2013-12-19
申请号：US13885776
申请日：2011-11-18
申请人： Martin M. Grasse , Richard E. Stehr , Israel A. Byrd , Lynn E. Clark , D. Curtis Deno , Troy T. Tegg , James V. Kauphusman , Saurav Paul , Jeffrey A. Schweitzer
发明人： Martin M. Grasse , Richard E. Stehr , Israel A. Byrd , Lynn E. Clark , D. Curtis Deno , Troy T. Tegg , James V. Kauphusman , Saurav Paul , Jeffrey A. Schweitzer
IPC分类号： A61B18/16
CPC分类号： A61B18/16 , A61B5/042 , A61B18/1492 , A61B2018/00357 , A61B2018/00613 , A61B2018/00791 , A61B2018/1435 , A61B2018/162 , A61M25/0147 , A61M2025/0681
摘要： An electrode catheter device with indifferent electrode for direct current tissue therapies is disclosed. An example of the catheter device has a flexible tubing with at least one ablation electrode. The catheter device also may also be used with a sheath for introducing the flexible tubing inside a patient's body. An indifferent electrode on the sheath can provide a ground for a direct current (DC) pulse to deliver electrical energy and create an electrical field adjacent a tissue. Various other embodiments are also disclosed.
摘要翻译：公开了一种具有用于直流组织治疗的无电极的电极导管装置。导管装置的示例具有带有至少一个消融电极的柔性管。导管装置还可以与护套一起使用以将柔性管引入患者体内。护套上的无电极可以为直流（DC）脉冲提供接地，以传递电能并在组织附近产生电场。还公开了各种其它实施例。

9. 发明授权

US08532743B2 Movable magnet for magnetically guided catheter 有权
标题翻译：磁导管用可动磁铁
公开(公告)号：US08532743B2
公开(公告)日：2013-09-10
申请号：US12851407
申请日：2010-08-05
申请人： Todd R. Stangenes , Saurav Paul , James V. Kauphusman , Troy T. Tegg , Jeffrey A. Schweitzer
发明人： Todd R. Stangenes , Saurav Paul , James V. Kauphusman , Troy T. Tegg , Jeffrey A. Schweitzer
IPC分类号： A61B5/05 , A61M25/00 , A61M31/00
CPC分类号： A61M25/0127 , A61B5/0422 , A61B5/055 , A61B5/062 , A61B5/6857 , A61B6/12 , A61B6/487 , A61B18/1492 , A61B34/32 , A61B34/73 , A61B2018/00375 , A61B2018/00577 , A61B2018/00791 , A61B2034/301 , A61B2034/303 , A61B2034/731 , A61B2034/732 , A61B2562/0271 , A61M25/0158
摘要： A catheter is disclosed having a flexible tubing with a proximal end and a distal end. The catheter comprising at least one movable magnet provided within the distal end of the flexible tubing. A control mechanism is operable to selectively activate the at least one movable magnet from the proximal end of the flexible tubing. The at least one movable magnet is responsive to an external magnetic field to position and guide the distal end of the flexible tubing within a body of a patient.
摘要翻译：公开了一种具有近端和远端的柔性管的导管。导管包括设置在柔性管的远端内的至少一个可动磁体。控制机构可操作以从柔性管的近端选择性地启动至少一个可动磁体。所述至少一个可移动磁体响应外部磁场来定位和引导患者体内的柔性管的远端。

10. 发明申请

US20130006137A1 CONTACT SENSOR AND SHEATH EXIT SENSOR 有权
标题翻译：联系传感器和出口传感器
公开(公告)号：US20130006137A1
公开(公告)日：2013-01-03
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： A61B5/053
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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