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1. 发明授权

US08700129B2 Devices and methods for catheter localization 有权
标题翻译：导管定位的装置和方法
公开(公告)号：US08700129B2
公开(公告)日：2014-04-15
申请号：US12347271
申请日：2008-12-31
申请人： John A. Hauck , Lubomir V. Dragnev , D. Curtis Deno , Eric J. Wilkowske
发明人： John A. Hauck , Lubomir V. Dragnev , D. Curtis Deno , Eric J. Wilkowske
IPC分类号： A61B5/05 , A61B5/06
CPC分类号： A61B5/068 , A61B5/06 , A61B5/062 , A61B5/6869 , A61B8/12 , A61B34/20 , A61B2017/003 , A61B2017/00336 , A61B2034/2051 , A61B2034/2053 , A61B2562/0209 , A61B2562/043 , A61B2562/046 , A61M25/00 , A61M25/0105 , A61M25/0133
摘要： A medical device can be localized by providing at least three non-colinear localization elements (e.g., electrodes) thereon. Once placed in a non-ionizing localization field, three adjacent localization elements, at least one of which will typically be a spot electrode, may be selected, and the non-ionizing localization field may be used to measure their locations. A cylinder is defined to fit the measured locations of the selected localization elements. The cylinder is rotationally oriented using the measured location of a spot electrode. Location and rotational attitude information may be used to construct a three-dimensional representation of the medical device within the localization field. The electrodes may be provided on the medical device or on a sheath into which the medical device is inserted. The invention also provides systems and methods for identifying and calibrating deflection planes where the medical device and/or sheath are deflectable.
摘要翻译：可以通过在其上提供至少三个非共线定位元件（例如电极）来定位医疗装置。一旦放置在非电离定位场中，可以选择三个相邻的定位元件，其中至少一个定位元件通常是点电极，并且非电离定位域可用于测量它们的位置。气缸被定义为适合所选定位元件的测量位置。圆柱体使用点电极的测量位置进行旋转定向。位置和旋转姿态信息可以用于构建定位领域内的医疗装置的三维表示。电极可以设置在医疗装置上或医疗装置插入的护套中。本发明还提供用于识别和校准偏转平面的系统和方法，其中医疗装置和/或护套是可偏转的。

2. 发明申请

US20100168560A1 Devices and Methods for Catheter Localization 有权
标题翻译：导管定位的设备和方法
公开(公告)号：US20100168560A1
公开(公告)日：2010-07-01
申请号：US12347271
申请日：2008-12-31
申请人： John A. Hauck , Lubomir V. Dragnev , D. Curtis Deno , Eric J. Wilkowske
发明人： John A. Hauck , Lubomir V. Dragnev , D. Curtis Deno , Eric J. Wilkowske
IPC分类号： A61B5/05
CPC分类号： A61B5/068 , A61B5/06 , A61B5/062 , A61B5/6869 , A61B8/12 , A61B34/20 , A61B2017/003 , A61B2017/00336 , A61B2034/2051 , A61B2034/2053 , A61B2562/0209 , A61B2562/043 , A61B2562/046 , A61M25/00 , A61M25/0105 , A61M25/0133
摘要： A medical device can be localized by providing at least three non-colinear localization elements (e.g., electrodes) thereon. Once placed in a non-ionizing localization field, three adjacent localization elements, at least one of which will typically be a spot electrode, may be selected, and the non-ionizing localization field may be used to measure their locations. A cylinder is defined to fit the measured locations of the selected localization elements. The cylinder is rotationally oriented using the measured location of a spot electrode. Location and rotational attitude information may be used to construct a three-dimensional representation of the medical device within the localization field. The electrodes may be provided on the medical device or on a sheath into which the medical device is inserted. The invention also provides systems and methods for identifying and calibrating deflection planes where the medical device and/or sheath are deflectable.
摘要翻译：可通过在其上提供至少三个非共线定位元件（例如电极）来定位医疗装置。一旦放置在非电离定位场中，可以选择三个相邻的定位元件，其中至少一个定位元件通常是点电极，并且非电离定位域可用于测量它们的位置。气缸被定义为适合所选定位元件的测量位置。圆柱体使用点电极的测量位置进行旋转定向。位置和旋转姿态信息可以用于构建定位领域内的医疗装置的三维表示。电极可以设置在医疗装置上或医疗装置插入的护套中。本发明还提供用于识别和校准偏转平面的系统和方法，其中医疗装置和/或护套是可偏转的。

3. 发明申请

US20100168557A1 MULTI-ELECTRODE ABLATION SENSING CATHETER AND SYSTEM 审中-公开
标题翻译：多电极感应导管和系统
公开(公告)号：US20100168557A1
公开(公告)日：2010-07-01
申请号：US12346592
申请日：2008-12-30
申请人： D. Curtis Deno , Jeffrey A. Schweitzer , John A. Hauck
发明人： D. Curtis Deno , Jeffrey A. Schweitzer , John A. Hauck
IPC分类号： A61B18/18 , A61B5/05 , A61B18/14 , A61B5/053
CPC分类号： A61B5/0422 , A61B5/053 , A61B5/0538 , A61B18/14 , A61B2018/00755 , A61B2018/00839 , A61B2018/00875 , A61B2034/2051 , A61B2562/046
摘要： The invention is directed to a multi-electrode ablation sensing catheter and system suitable for medical procedures such as cardiac ablation. In one embodiment of the invention, a catheter is provided having an elongated catheter shaft and a catheter tip having two or more closely spaced electrodes mounted on the catheter tip, where the electrodes are coupled to a plurality of electronic circuitries and are used for electrogram sensing, impedance sensing, and location sensing and orientation. In another embodiment of the invention, a catheter system is provided having a catheter with an elongated catheter shaft and a catheter tip with two or more closely spaced electrodes mounted on the catheter tip, and an RF generator circuitry, an electrogram sensing circuitry, an impedance sensing circuitry, and a location sensing and orientation circuitry.
摘要翻译：本发明涉及一种适用于诸如心脏消融的医疗程序的多电极消融感测导管和系统。在本发明的一个实施例中，提供导管，其具有细长的导管轴和具有安装在导管尖端上的两个或更多个紧密间隔的电极的导管末端，其中电极耦合到多个电子电路并且用于电描记图感测，阻抗感测和位置感测和定位。在本发明的另一个实施例中，提供导管系统，其具有带有细长导管轴的导管，以及安装在导管尖端上的具有两个或更多个紧密间隔的电极的导管末端，以及RF发生器电路，电描记图检测电路，阻抗感测电路，以及位置感测和取向电路。

4. 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.

5. 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。

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

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。

8. 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。

9. 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。

10. 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。

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