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1. 发明申请

WO2004019769A1 TENDON-DIRVEN ENDOSCOPE AND METHODS OF INSERTION 审中-公开
标题翻译： TENDON-DIRVEN内窥镜和插入方法
公开(公告)号：WO2004019769A1
公开(公告)日：2004-03-11
申请号：PCT/US2003/027042
申请日：2003-08-27
申请人： NEOGUIDE SYSTEMS, INC. , OHLINE, Robert, M. , TARTAGLIA, Joseph, M. , BELSON, Amir , ROTH, Alex, T. , KELLER, Wade, A. , ANDERSON, Scott, C. , JULIAN, Chris, A.
发明人： OHLINE, Robert, M. , TARTAGLIA, Joseph, M. , BELSON, Amir , ROTH, Alex, T. , KELLER, Wade, A. , ANDERSON, Scott, C. , JULIAN, Chris, A.
IPC分类号： A61B1/00
CPC分类号： A61B1/00128 , A61B1/00006 , A61B1/00057 , A61B1/0016 , A61B1/0053 , A61B1/0057 , A61B1/0058 , A61B1/01 , A61B1/31 , A61B5/065 , A61B2034/301 , A61B2034/741 , A61B2034/742
摘要： A steerable, tendon-driven endoscope is described herein. The endoscope has an elongated body with a manually or selectively steerable distal portion and an automatically controlled, segmented proximal portion. The steerable distal portion and the segment of the controllable portion are actuated by at least two tendons. As the endoscope is advanced, the user maneuvers the distal portion, and a motion controller actuates tendons in the segmented proximal portion so that the proximal portion assumes the selected curve of the selectively steerable distal portion. By this method the selected curves are propagated along the endoscope body so that the endoscope largely conforms to the pathway selected. When the endoscope is withdrawn proximally, the selected curves can propagate distally along the endoscope body. This allows the endoscope to negotiate tortuous curves along a desired path through or around and between organs within the body.
摘要翻译：这里描述了可操纵的肌腱驱动的内窥镜。内窥镜具有细长主体，其具有手动或选择性可操纵的远侧部分和自动控制的分段近端部分。可操纵的远端部分和可控部分的段由至少两个腱致动。当内窥镜前进时，使用者操纵远侧部分，并且运动控制器致动分段近端部分中的腱，使得近端部分呈现选择性可操纵的远侧部分的选定曲线。通过该方法，所选择的曲线沿着内窥镜主体传播，使得内窥镜大体上符合所选择的路径。当内窥镜向近侧收回时，所选择的曲线可以沿着内窥镜体向远侧传播。这允许内窥镜沿着穿过体内器官之间或之间的所需途径协商曲折曲线。

2. 发明申请

WO2009097461A1 APPARATUS AND METHODS FOR AUTOMATICALLY CONTROLLING AN ENDOSCOPE 审中-公开
标题翻译：用于自动控制内镜的装置和方法
公开(公告)号：WO2009097461A1
公开(公告)日：2009-08-06
申请号：PCT/US2009/032481
申请日：2009-01-29
申请人： NEOGUIDE SYSTEMS INC. , DONHOWE, Caitlin , KRIEG, Kenneth , BELSON, Amir , MINTZ, David , DONHOWE, Kristoffer , WOODLEY, Bruce , ZHANG, Jun
发明人： DONHOWE, Caitlin , KRIEG, Kenneth , BELSON, Amir , MINTZ, David , DONHOWE, Kristoffer , WOODLEY, Bruce , ZHANG, Jun
IPC分类号： A61B1/00
CPC分类号： A61B1/0051 , A61B5/062
摘要： Systems for controlling a controllable elongate articulatable instrument, or endoscope, are provided which may include any number of features. One feature of the system is that it can determine the shape, position, and/or orientation of the instrument with the use of position and orientation sensors. Another feature of the system is a control system that receives a user command, data related to a keep-out region, and shape, position, and/or orientation information, and selects a commanded configuration to produce a controlled movement of the instrument. Methods associated with use of the controllable elongate articulatable instrument are also covered.
摘要翻译：提供了用于控制可控制的细长可关节运动器械或内窥镜的系统，其可以包括任何数量的特征。该系统的一个特点是它可以使用位置和方向传感器来确定仪器的形状，位置和/或方位。系统的另一特征是接收用户命令，与保留区域相关的数据以及形状，位置和/或取向信息的控制系统，并且选择命令配置以产生仪器的受控运动。还涉及与使用可控伸长可铰接仪器相关的方法。

3. 发明申请

WO2005072445A2 APPARATUS AND METHOD FOR FACILITATING TREATMENT OF TISSUE VIA IMPROVED DELIVERY OF ENERGY BASED AND NON-ENERGY BASED MODALITIES 审中-公开
标题翻译：通过改进基于能源和非能源的模式的交付来促进组织治疗的装置和方法
公开(公告)号：WO2005072445A2
公开(公告)日：2005-08-11
申请号：PCT/US2005/003140
申请日：2005-01-28
申请人： NEOGUIDE SYSTEMS, INC. , BELSON, Amir , OHLINE, Matt
发明人： BELSON, Amir , OHLINE, Matt
IPC分类号： A61B1/005 , A61B1/05 , A61B1/31 , A61B17/00 , A61B18/02 , A61B18/14 , A61B18/22 , G02B23/24
CPC分类号： A61B1/0055 , A61B1/0051 , A61B1/0052 , A61B1/0053 , A61B1/0058 , A61B1/0125 , A61B1/018 , A61B1/05 , A61B1/31 , A61B18/02 , A61B18/1492 , A61B18/22 , A61B2017/00296 , A61B2017/003 , A61B2018/00351 , A61B2018/00446 , A61B2018/0212 , A61B2034/301 , G02B23/2469 , G02B23/2476 , G02B23/2484
摘要： Methods and apparatus for accessing and treating regions of the body are disclosed herein. Using an endoscopic device having an automatically controllable proximal and a selectively steerable distal portion, the device generally may be advanced into the body through an opening. The distal portion is selectively steered to assume a selected curve along a desired path within the body which avoids contact with tissue while the proximal portion is automatically controlled to assume the selected curve of the distal portion. The endoscopic device can then be used for accessing various regions of the body which are typically difficult to access and treat through conventional surgical techniques because the device is unconstrained by "straight-line" requirements. Various applications can include accessing regions of the brain, thoracic cavity, including regions within the heart, peritoneal cavity, etc., which are difficult to reach using conventional surgical procedures.
摘要翻译：本文公开了用于进入和处理身体区域的方法和装置。使用具有自动控制的近侧和可选择性可操纵的远端部分的内窥镜装置，该装置通常可以通过开口进入身体。远侧部分被选择性地转向以沿着主体内的期望路径呈现出选择的曲线，其避免与组织的接触，而近端部分被自动控制以呈现远端部分的选定曲线。然后可以使用内窥镜装置来访问身体的各个区域，这些区域通常难以通过常规手术技术进行治疗，因为该装置不受“直线”要求的约束。各种应用可以包括进入脑，胸腔的区域，包括心脏内的区域，腹膜腔等，其使用常规的外科手术难以达到。

4. 发明申请

WO2003059150A3 APPARATUS AND METHOD FOR SPECTROSCOPIC EXAMINATION OF THE COLON 审中-公开
公开(公告)号：WO2003059150A3
公开(公告)日：2003-07-24
申请号：PCT/US2002/041340
申请日：2002-12-20
申请人： NEOGUIDE SYSTEMS, INC. , BELSON, Amir
发明人： BELSON, Amir
IPC分类号： A61B6/00
摘要： Apparatus and methods for spectroscopic examination of the colon are described herein. A spectroscopy device comprising an illumination device and an image capture device is integrated directly into a steerable endoscope or colonoscope. Alternatively, the spectroscopy device and the steerable colonoscope can be separate instruments that are functionally combined for performing endoscopic spectroscopy. The steerable colonoscope uses serpentine motion to facilitate rapid and safe insertion of the colonoscope into the patient's colon, which allows the endoscopic spectroscopy method to be performed more quickly and more safely. The spectroscopic spectroscopy method to be performed more quickly and more safely. The spectroscopy can be performed by autofluorescence, dye-enhanced fluorescence or any other known spectroscopy techniques. Other imaging technologies that use light with a wavelength outside of the visible range may also be used. The reflected light information can be used to create a three-dimensional mathematical model of the patient's colon and the location of any lesions identified during the initial examination.

5. 发明申请

WO2006053198A2 CONNECTOR DEVICE FOR A CONTROLLABLE INSTRUMENT 审中-公开
标题翻译：用于可控制仪器的连接器装置
公开(公告)号：WO2006053198A2
公开(公告)日：2006-05-18
申请号：PCT/US2005/040893
申请日：2005-11-08
申请人： NEOGUIDE SYSTEMS, INC. , JULIAN, Christopher, Allen , BELSON, Amir , BROWN, Aaron, Wesley , HARASYM, Mark , KREIDLER, Marc, S. , OHLINE, Robert, M. , REINER, Scott, James , ROMO, Enrique , SWINEHART, Charles, E. , WHITIN, Katherine
发明人： JULIAN, Christopher, Allen , BELSON, Amir , BROWN, Aaron, Wesley , HARASYM, Mark , KREIDLER, Marc, S. , OHLINE, Robert, M. , REINER, Scott, James , ROMO, Enrique , SWINEHART, Charles, E. , WHITIN, Katherine
IPC分类号： A61B1/00
CPC分类号： A61B1/00128 , A61B1/0016 , A61B1/0053 , A61B1/0055 , A61B1/0057 , A61B1/008 , A61B1/31 , A61B2017/003 , A61B2017/00477
摘要： A connector assembly for controllable articles is described herein. The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.
摘要翻译：本文描述了用于可控制品的连接器组件。连接器组件接合用于从一个或多个力发生器传递力的力传递元件与用于操纵可控制品的力传递元件。另外，连接器组件提供组织，从而简化了通常以快速单一运动连接多个元件的过程。

6. 发明申请

WO2003092476A3 ENDOSCOPE HAVING A GUIDE TUBE 审中-公开
公开(公告)号：WO2003092476A3
公开(公告)日：2003-11-13
申请号：PCT/US2003/013600
申请日：2003-05-02
申请人： NEOGUIDE SYSTEMS, INC. , JAFFE, Ross , TARTAGLIA, Joseph, M. , BELSON, Amir
发明人： JAFFE, Ross , TARTAGLIA, Joseph, M. , BELSON, Amir
IPC分类号： A61B1/00
摘要： An endoscope having a guide tube is described herein. The assembly has an endoscope which is slidably insertable within the lumen of a guide tube. The guide tube is configured to be rigidizable along its entire length from a relaxed configuration. The endoscope has a steerable distal portion to facilitate the steering of the device through tortuous paths. In the relaxed configuration, a portion of the guide tube is able to assume the shape or curve defined by the controllable distal portion of the endoscope. Having assumed the shape or curve of the endoscope, the guide tube may be rigidized by the physician or surgeon to maintain that shape or curve while the endoscope is advanced distally through the tortuous path without having to place any undue pressure against the tissue walls.

7. 发明申请

WO2003059151A3 APPARATUS AND METHOD FOR ENDOSCOPIC COLECTOMY 审中-公开
公开(公告)号：WO2003059151A3
公开(公告)日：2003-07-24
申请号：PCT/US2002/041358
申请日：2002-12-20
申请人： NEOGUIDE SYSTEMS, INC. , BELSON, Amir
发明人： BELSON, Amir
IPC分类号： A61B17/08
摘要： Apparatus and methods for endoscopic colectomy are described herein. A colectomy device (102) having a first and a second tissue approximation device is mounted on a colonoscope (100) separated from one another. During deployment of the colectomy device (102), a diseased portion of the colon is positioned inbetween the tissue approximation devices. The tissue approximation devices (104, 106) are radially expanded such that they contact and grasp the colon wall at two sites adjacent to the diseased portion of the colon. The diseased portion is separated from the omentum and is transected using a laparoscope or is drawn into the colonoscope (100) for later removal. The tissue approximation devices (104, 106) are then urged towards one another over the colonoscope (100) to approximate the two free edges of the colon into contact together where they are fastened to one another using the tissue approximation device as a surgical stapler to create an end-to-end anastomosis.

8. 发明申请

WO2007087004A2 STEERING AID 审中-公开
标题翻译：转向援助
公开(公告)号：WO2007087004A2
公开(公告)日：2007-08-02
申请号：PCT/US2006/045299
申请日：2006-11-21
申请人： NEOGUIDE SYSTEMS, INC. , BELSON, Amir
发明人： BELSON, Amir
IPC分类号： A61B1/04 , A61B1/00
CPC分类号： A61B1/01 , A61B1/00151 , A61B1/0051 , A61B5/061 , A61M25/0119
摘要： The present invention provides embodiments of a steerable instrument having an elongate body having a distal end and a proximal end; a guide structure distal to the elongate body distal end; and a connector supported by the elongate body distal end and attached to the guide structure, wherein the guide structure or the connector is adapted to provide position feedback of the guide structure relative to the elongate body. There are also provided methods for advancing an instrument along a path by providing an indication of the direction of the path of the instrument by movement of a guide structure in response to interaction with an object defining the path; and adjusting the direction of the instrument based on the indication.
摘要翻译：本发明提供了具有细长体的可操纵器具的实施例，其具有远端和近端; 远离细长体远端的引导结构; 以及由细长主体远端支撑并连接到引导结构的连接器，其中引导结构或连接器适于提供引导结构相对于细长主体的位置反馈。还提供了通过响应于与限定路径的对象的相互作用而通过引导结构的移动提供仪器的路径的方向的指示来提供沿着路径的仪器的方法; 并根据指示调整仪器的方向。

9. 发明申请

WO2004049905A2 ENDOSCOPE WITH ADJACENTLY POSITIONED GUIDING APPARATUS 审中-公开
标题翻译：内窥镜与定位指导装置
公开(公告)号：WO2004049905A2
公开(公告)日：2004-06-17
申请号：PCT/US2003/037778
申请日：2003-11-26
申请人： NEOGUIDE SYSTEMS, INC. , TARTAGLIA, Joseph, M. , KELLER, Wade, A. , BELSON, Amir , RATCHFORD, Arthur, R.
发明人： TARTAGLIA, Joseph, M. , KELLER, Wade, A. , BELSON, Amir , RATCHFORD, Arthur, R.
IPC分类号： A61B
CPC分类号： A61B1/00073 , A61B1/0014 , A61B1/00147 , A61B1/0053 , A61B1/0055 , A61B1/008 , A61B1/01 , A61B1/07 , A61B1/31 , A61B5/065 , A61B2017/00323 , A61B2034/301 , A61B2034/741 , A61B2034/742
摘要： An endoscope with guiding apparatus is provided. The endoscope has an elongate body with a steerable distal portion, an automatically controlled portion, a flexible and passively manipulated proximal portion, and an externally controlled and manipulatable guiding apparatus. The guiding apparatus may be positioned within the endoscope or may be positioned adjacent to the endoscope. An interlocking device is provided to slidably interlock the guiding apparatus and the endoscope. When the guide is in a flexible state, it can conform to a curve or path defined by the steerable distal portion and the automatically controlled portion. The guide can be then be selectively rigidized to assume that curve or path. Once rigidized, the endoscope can be advanced along the guide in a monorail or “piggy-back” fashion so that the flexible proximal portion follows the curve held by the guide until the endoscope reaches a next point of curvature within a body lumen.
摘要翻译：提供具有引导装置的内窥镜。内窥镜具有细长主体，其具有可转向的远端部分，自动控制部分，柔性和被动操纵的近端部分以及外部控制和可操纵的引导装置。引导装置可以定位在内窥镜内，或者可以定位成与内窥镜相邻。联锁装置设置成可滑动地联动引导装置和内窥镜。当引导件处于柔性状态时，其可以符合由可转向远端部分和自动控制部分限定的曲线或路径。然后可以将引导件选择性地刚性化以假定该曲线或路径。一旦刚性化，内窥镜可以沿着导轨以单轨或“背部”方式前进，使得柔性近端部分遵循由引导件保持的曲线，直到内窥镜到达体腔内的下一个曲率点。

10. 发明申请

WO2003073920A3 ENDOSCOPE WITH GUIDING APPARATUS 审中-公开
公开(公告)号：WO2003073920A3
公开(公告)日：2003-09-12
申请号：PCT/US2003/006078
申请日：2003-02-26
申请人： NEOGUIDE SYSTEMS, INC. , TARTAGLIA, Joseph, M. , BELSON, Amir , OHLINE, Robert, Matthew
发明人： TARTAGLIA, Joseph, M. , BELSON, Amir , OHLINE, Robert, Matthew
IPC分类号： A61B1/00
摘要： An endoscope with guiding apparatus is described herein. A steerable endoscope (20) is described having an elongate body (21) with a manually or selectively steerable distal portion (24), an automatically controlled portion (28), a flexible and passively manipulated proximal portion (22), and an externally controlled and manipulatable tracking rod or guide (36). The tracking rod or guide (36) is positioned within a guide channel (37) within the endoscope and slides relative to the endoscope. When the guide (36)is in a flexible state, it can conform to a curve or path defined by the steerable distal portion and the automatically controlled portion. The guide can then be selectively rigidized to assume that curve or path. Once set, the endoscope (20) can be advanced over the rigidized guide (36) in a monorail or "piggy-back" fashion so that the flexible proximal portion follows the curve held by the guide until the endoscope reaches a next point of curvature within a body lumen.

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