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1. 发明申请

WO2008045825A3 ROBOTIC SURGICAL SYSTEM 审中-公开
公开(公告)号：WO2008045825A3
公开(公告)日：2008-04-17
申请号：PCT/US2007/080698
申请日：2007-10-08
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , HAUCK, John A. , SCHWEITZER, Jeffrey A. , TEGG, Troy T. , ESSINGTON, James D. , JOHNSON, Mark T. , BELHE, Kedar Ravindra
发明人： HAUCK, John A. , SCHWEITZER, Jeffrey A. , TEGG, Troy T. , ESSINGTON, James D. , JOHNSON, Mark T. , BELHE, Kedar Ravindra
IPC分类号： A61B18/18
摘要： A robotic surgical system (10) includes a track (14), a catheter holding device (16) including a catheter receiving portion (26) translatably associated with the track (14), a translation servo mechanism (18) to control translation of the catheter holding device (16) relative to the track (14), a catheter deflection control mechanism (20), a deflection servo mechanism (22) to control the catheter deflection control mechanism (20), and a controller (24) to control at least one of the servo mechanisms. The catheter receiving portion (26) is adapted for quick installation and removal of a catheter (12). The catheter receiving portion (26) may be rotatable, with a rotation servo mechanism to control the rotatable catheter receiving portion (26). The controller (24) controls at least one of the deflection and rotation servo mechanisms to maintain a substantially constant catheter deflection as the catheter (12) rotates. An introducer, which may be steerable, and an expandable, collapsible sterile tube may also be provided.

2. 发明申请

WO2008045828A2 ROBOTIC SURGICAL SYSTEM AND METHOD FOR SURFACE MODELING 审中-公开
标题翻译：机械手术系统及表面建模方法
公开(公告)号：WO2008045828A2
公开(公告)日：2008-04-17
申请号：PCT/US2007/080702
申请日：2007-10-08
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , HAUCK, John A. , SCHWEITZER, Jeffrey A. , OLSON, Eric S. , VOTH, Eric J.
发明人： HAUCK, John A. , SCHWEITZER, Jeffrey A. , OLSON, Eric S. , VOTH, Eric J.
IPC分类号： A61B1/04 , H04N5/225
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 (152) includes inserting an electrode (154) within the portion of a heart (152), robotically moving the electrode (154) therein, periodically detecting position information of the electrode (154) to generate a plurality of location points defining a space occupied by the portion of the heart (152), and generating a three dimensional model of the portion of the heart (152) including position information for at least some of the plurality of location points within the portion of the heart (152). 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（152）的至少一部分的三维模型的方法包括将电极（154）插入心脏部分（152）内，使电极（154）在其中自动移动，周期性地检测位置信息以产生限定由心脏部分（152）占据的空间的多个位置点，以及生成心脏部分（152）的三维模型，该三维模型包括至少一些心脏部分内的多个位置点（152）。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。

3. 发明申请

WO2012091765A1 DYNAMIC ADAPTIVE RESPIRATION COMPENSATION WITH AUTOMATIC GAIN CONTROL 审中-公开
标题翻译：动态自适应呼叫补偿与自动增益控制
公开(公告)号：WO2012091765A1
公开(公告)日：2012-07-05
申请号：PCT/US2011/051447
申请日：2011-09-13
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , KOYRAKH, Lev A. , VOTH , Eric J , HAUCK, John A. , SCHWEITZER, Jeffrey A.
发明人： KOYRAKH, Lev A. , VOTH , Eric J , HAUCK, John A. , SCHWEITZER, Jeffrey A.
IPC分类号： A61M25/095
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 (11) includes a localization block 32 ()for producing an uncompensated electrode location (33), a motion compensation block (34) for producing a compensation (signal 35) ( i.e ., for respiration, cardiac, etc.), and a mechanism (37) for subtracting the compensation signal (35) from the uncompensated electrode location (33). The result is a corrected electrode location (38) substantially free of respiration and cardiac artifacts. The motion compensation block (34) 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 (36) 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（33）的定位块32（），运动补偿块用于产生补偿（信号35）（即，用于呼吸，心脏等）的机构（37）以及用于从未补偿的电极位置（33）减去补偿信号（35）的机构（37）。结果是基本上没有呼吸和心脏伪像的校正电极位置（38）。运动补偿块（34）包括动态适应特征，其考虑患者呼吸模式的变化以及医疗装置对病人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（36），其在检测到某些条件（例如噪声或突发阻抗变化）时抑制补偿。

4. 发明申请

WO2008083111A1 NAVIGATIONAL REFERENCE DISLODGEMENT DETECTION METHOD AND SYSTEM 审中-公开
标题翻译：导航参考推荐检测方法和系统
公开(公告)号：WO2008083111A1
公开(公告)日：2008-07-10
申请号：PCT/US2007/088675
申请日：2007-12-21
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , HAUCK, John A.
发明人： HAUCK, John A.
IPC分类号： A61B5/05
CPC分类号： A61B5/06 , A61B5/042 , A61B5/063 , A61B5/7221 , A61B34/20 , A61B2034/2051 , A61B2034/2053 , A61B2034/2072
摘要： A method of tracking a position of a catheter within a patient includes securing a navigational reference at a reference location within the patient, defining the reference location as the origin of a coordinate system, determining a location of an electrode moving within the patient relative to that coordinate system, monitoring for a dislodgement of the navigational reference from the initial reference location, for example by measuring the navigational reference relative to a far field reference outside the patient's body, and generating a signal indicating that the navigational reference has dislodged from the reference location. Upon dislodgement, a user may be provided with guidance to help reposition and secure the navigational reference to the initial reference location, or the navigational reference may be automatically repositioned and secured to the initial reference location. Alternatively, a reference adjustment may be calculated to compensate for the changed reference point/origin.
摘要翻译：跟踪患者体内导管位置的方法包括：将导航参考固定在患者体内的参考位置处，将参考位置定义为坐标系的原点，确定在患者体内相对于该坐标系移动的电极，例如通过测量相对于患者身体外部的远场参考的导航参考，监测从初始参考位置移动导航参考，以及生成指示导航参考已从参考位置移出。在移位时，可以向用户提供指导以帮助重新定位并确保对初始参考位置的导航参考，或者可以自动重新定位导航参考并将其固定到初始参考位置。或者，可以计算参考调整以补偿改变的参考点/原点。

5. 发明申请

WO2007035339A3 METHOD OF SCALING NAVIGATION SIGNALS TO ACCOUNT FOR IMPEDANCE DRIFT IN TISSUE 审中-公开
公开(公告)号：WO2007035339A3
公开(公告)日：2007-03-29
申请号：PCT/US2006/035585
申请日：2006-09-12
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , HAUCK, John A.
发明人： HAUCK, John A.
IPC分类号： A61B5/05
摘要： A method for scaling the impedance measured during the course of an electrophysiology study accounts for impedance drifts. By scaling the impedance there is greater assurance that previously recorded positional information can be used to accurately relocate an electrode at a prior visited position. The scale factor may be based upon a mean value across several sensing electrodes (e.g., 12, 14, 16, 17, 18, 19, or 22). Alternatively, the scale factor may be calculated specifically with respect to an orientation of a dipole pair of driven electrodes (e.g., 12, 14, 16, 17, 19, 19, 22).

6. 发明申请

WO2009085807A1 METHOD AND APPARATUS FOR ENCODING INTERVENTIONAL DEVICES 审中-公开
标题翻译：编码传统装置的方法和装置
公开(公告)号：WO2009085807A1
公开(公告)日：2009-07-09
申请号：PCT/US2008/087131
申请日：2008-12-17
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , OLSON, Eric S. , HAUCK, John A.
发明人： OLSON, Eric S. , HAUCK, John A.
IPC分类号： A61B5/05
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 portions of the interventional devic. 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。

7. 发明申请

WO2008045827A2 ROBOTIC SURGICAL SYSTEM WITH CONTACT SENSING FEATURE 审中-公开
标题翻译：具有接触感应功能的机器人手术系统
公开(公告)号：WO2008045827A2
公开(公告)日：2008-04-17
申请号：PCT/US2007/080701
申请日：2007-10-08
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , HAUCK, John A.
发明人： HAUCK, John A.
IPC分类号： A61B19/00 , A61B5/04 , A61B18/14
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 monitoring contact between a probe (12) and a tissue surface (82) includes placing the probe (12) in proximity to the surface (82), robotically moving the probe (12), measuring a tissue parameter at the distal end of the probe (12), calculating an amount of change in the measured tissue parameter between measurements thereof, and indicating a change in proximity or degree of contact between the probe (12) and the surface (82) based upon the amount of change. The indication of change may be based directly upon the calculated amount of change in the measured parameter or upon a calculated rate of change in the parameter. The rate of change may be relative to the time between measurements or the distance traveled by the probe between measurements, and may be calculated as a first, second, or other derivative of the tissue parameter.
摘要翻译：监测探头（12）与组织表面（82）之间接触的方法包括将探头（12）放置在表面（82）附近，自动移动探头（12）测量探针（12）远端处的组织参数，计算其测量之间测量的组织参数的变化量，并且指示探针（12）与表面（82）之间的接触或接触程度的变化）基于变化量。改变的指示可以直接基于计算的参数的计算的改变量或基于计算的参数改变的速率。变化率可以相对于测量之间的时间或探针在测量之间行进的距离，并且可以作为组织参数的第一，第二或其他导数来计算。

8. 发明申请

WO2008083109A2 FILTERING METHOD FOR SURFACE MODELING 审中-公开
标题翻译：表面建模过滤方法
公开(公告)号：WO2008083109A2
公开(公告)日：2008-07-10
申请号：PCT/US2007/088671
申请日：2007-12-21
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. , WITTKAMPF, Frederik H. , HAUCK, John A.
发明人： WITTKAMPF, Frederik H. , HAUCK, John A.
IPC分类号： A61B5/05
CPC分类号： A61B5/065 , A61B5/066 , A61B5/1076 , A61B5/6885 , A61B5/7246 , A61B5/743 , A61B34/20 , A61B2034/105 , G01B7/008 , G01B21/04
摘要： A system for mapping a tissue surface includes a probe for mapping a tissue surface, a localization system to measure a location data point indicative of the probe's location, a memory in which to store the location data point, a servo mechanism to move the probe along at least a portion of the tissue surface, a controller to move the probe to a plurality of locations and to record in the memory a plurality of location data points, and a contact-sensing processor to analyze the plurality of location data points and to identify a subset thereof on the tissue surface. A modeling processor generates a model of the tissue surface using the subset of location data points. The contact-sensing processor utilizes probe velocity, or a rate of change in the distance moved by the probe, to determine contact between the probe and the tissue surface.
摘要翻译：用于映射组织表面的系统包括用于映射组织表面的探针，定位系统以测量指示探针位置的位置数据点，存储位置数据点的存储器，用于移动探头的伺服机构组织表面的至少一部分，将探针移动到多个位置并在存储器中记录多个位置数据点的控制器，以及接触感应处理器，用于分析多个位置数据点并识别其子集在组织表面上。建模处理器使用位置数据点的子集生成组织表面的模型。接触检测处理器利用探针速度或由探针移动的距离的变化率来确定探针和组织表面之间的接触。

9. 发明申请

WO2014201113A1 MULTI-ELECTRODE IMPEDANCE SENSING 审中-公开
标题翻译：多电阻阻抗传感器
公开(公告)号：WO2014201113A1
公开(公告)日：2014-12-18
申请号：PCT/US2014/041904
申请日：2014-06-11
申请人： ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC.
发明人： HAUCK, John A.
IPC分类号： A61B5/00 , A61B5/053
CPC分类号： A61B5/04 , A61B5/0538 , A61B5/6843 , A61B5/6857 , A61B18/1492 , A61B90/06 , A61B2018/00577 , A61B2018/00875 , A61B2090/065
摘要： A system and method for assessing contact between a medical device and tissue may comprise an electronic control unit (ECU) configured to be coupled to a medical device, the medical device comprising a first electrode and a second electrode. The ECU may be further configured to select the first electrode as an electrical source and the second electrode as an electrical sink, to cause an electrical signal to be driven between the source and sink, to detect respective electric potentials on the first electrode and the second electrode while the electrical signal is driven, and to determine an impedance respective of one of the first electrode and the second electrode according to both of the respective electric potentials.
摘要翻译：用于评估医疗装置和组织之间的接触的系统和方法可以包括被配置为联接到医疗装置的电子控制单元（ECU），所述医疗装置包括第一电极和第二电极。 ECU还可以被配置为选择第一电极作为电源，将第二电极选择为电接收器，以使电信号在源极和吸收器之间被驱动，以检测第一电极和第二电极上的相应电位电极，同时根据两个电位来确定第一电极和第二电极中的一个的阻抗。

10. 发明授权

EP3007613B1 MULTI-ELECTRODE IMPEDANCE SENSING 有权
公开(公告)号：EP3007613B1
公开(公告)日：2018-05-30
申请号：EP14736553.0
申请日：2014-06-11
申请人： St. Jude Medical Atrial Fibrillation Division Inc.
发明人： HAUCK, John A.
IPC分类号： A61B5/00 , A61B5/053
CPC分类号： A61B5/04 , A61B5/0538 , A61B5/6843 , A61B5/6857 , A61B18/1492 , A61B90/06 , A61B2018/00577 , A61B2018/00875 , A61B2090/065
摘要： A system and method for assessing contact between a medical device and tissue may comprise an electronic control unit (ECU) configured to be coupled to a medical device, the medical device comprising a first electrode and a second electrode. The ECU may be further configured to select the first electrode as an electrical source and the second electrode as an electrical sink, to cause an electrical signal to be driven between the source and sink, to detect respective electric potentials on the first electrode and the second electrode while the electrical signal is driven, and to determine an impedance respective of one of the first electrode and the second electrode according to both of the respective electric potentials.

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