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1. 发明申请

WO2007067961A3 ADVANCER SYSTEM FOR COAXIAL MEDICAL DEVICES 审中-公开
标题翻译：同轴医疗设备的ADVANCER系统
公开(公告)号：WO2007067961A3
公开(公告)日：2007-12-27
申请号：PCT/US2006061755
申请日：2006-12-07
申请人： STEREOTAXIS INC , VISWANATHAN RAJU R , FLICKINGER WILLIAM
发明人： VISWANATHAN RAJU R , FLICKINGER WILLIAM
IPC分类号： A61M31/00
CPC分类号： A61M25/0113 , A61M25/0021 , A61M25/007 , A61M2025/0681
摘要： A telescoping medical device system is provided that includes an outer sheath having a proximal end and a distal end, and a lumen extending through at least the distal end portion, and a slot extending along a portion of the outer sheath. The telescoping medical device also includes an inner member extending through the slot and through the lumen in the outer sheath. A first drive mechanically engages and drives the outer sheath, and a second drive mechanically engages and drives the inner member through the slot and into the lumen of the outer sheath.
摘要翻译：提供了一种伸缩式医疗装置系统，其包括具有近端和远端以及延伸穿过至少远端部分的腔的外护套以及沿着外护套的一部分延伸的狭槽。伸缩式医疗装置还包括延伸穿过狭槽并穿过外护套中的内腔的内部构件。第一驱动器机械接合并驱动外护套，并且第二驱动器机械接合并驱动内构件通过狭槽并进入外护套的内腔。

2. 发明申请

WO2008112896A3 SYSTEM AND METHOD FOR REGISTRATION OF LOCALIZATION AND IMAGING SYSTEMS FOR NAVIGATIONAL CONTROL OF MEDICAL DEVICES 审中-公开
标题翻译：用于医疗设备导航控制的本地化和成像系统的注册系统和方法
公开(公告)号：WO2008112896A3
公开(公告)日：2008-12-04
申请号：PCT/US2008056861
申请日：2008-03-13
申请人： STEREOTAXIS INC , VISWANATHAN RAJU R , BLUME WALTER M , BARTAL MEIR , RUBISSA ASSAF
发明人： VISWANATHAN RAJU R , BLUME WALTER M , BARTAL MEIR , RUBISSA ASSAF
IPC分类号： A61B5/05
CPC分类号： A61B5/06 , A61B5/062 , A61B6/02
摘要： A system and method are provided for obtaining registration of a localization system's three-dimensional coordinates for a plurality of markers having known locations to the two-dimensional coordinates for the plurality of reference markers obtained from a single X-ray image. The method for registering a navigational system with a localization system having a plurality of reference markers includes determining the three-dimensional coordinates of the locations of a plurality of reference markers within the localization coordinate system, and providing a single two-dimensional X-ray image that includes a two dimensional location of the plurality of markers. The method further includes determining a coordinate transformation for obtaining a best fit registration of the localization system's three-dimensional coordinates to the two-dimensional coordinates obtained from the single X-ray image, for at least one reference marker location.
摘要翻译：提供了一种系统和方法，用于获得针对多个从单个X射线图像获得的多个参考标记的二维坐标的具有已知位置的多个标记的定位系统的三维坐标的配准。用于具有具有多个参考标记的定位系统登记导航系统的方法包括确定定位坐标系中多个参考标记的位置的三维坐标，以及提供单个二维X射线图像其包括多个标记的二维位置。所述方法还包括确定坐标变换，用于为至少一个参考标记位置获得所述定位系统的三维坐标与由所述单个X射线图像获得的二维坐标的最佳拟合配准。

3. 发明申请

WO2008051841A2 LOCATION AND DISPLAY OF OCCLUDED PORTIONS OF VESSELS ON 3-D ANGIOGRAPHIC IMAGES 审中-公开
标题翻译：三维血管成像血管的位置和显示
公开(公告)号：WO2008051841A2
公开(公告)日：2008-05-02
申请号：PCT/US2007081942
申请日：2007-10-19
申请人： STEREOTAXIS INC , BLUME WALTER M , GARIBALDI JEFFREY M , DRURY HEATHER , VISWANATHAN RAJU R
发明人： BLUME WALTER M , GARIBALDI JEFFREY M , DRURY HEATHER , VISWANATHAN RAJU R
IPC分类号： A61B6/00
CPC分类号： A61B6/504 , A61B6/481 , G06T7/73 , G06T2207/10116 , G06T2207/20101 , G06T2207/30101 , G06T2207/30172 , Y10S128/92 , Y10S128/921 , Y10S128/922 , Y10S128/923 , Y10S128/924
摘要： A method of finding the location of an occluded portion of a blood vessel relative to a three-dimensional angiographic image of a subject's vasculature includes identifying the location of the occluded portion of the blood vessel on each of a series of displayed two dimensional images derived from the three dimensional image data in planes substantially transverse to direction of the occluded portion of the vessel. The identified locations in the occluded portion of the vessel can then be used to determine the path of the occluded portion of the vessel.
摘要翻译：找到相对于受试者脉管系统的三维血管造影图像的血管的闭塞部分的位置的方法包括在从一个或多个第二维图像中导出的一系列显示的二维图像中的每一个上识别血管的封闭部分的位置基本上横向于容器的封闭部分的方向的平面中的三维图像数据。然后可以使用容器闭塞部分中的识别位置来确定容器的封闭部分的路径。

4. 发明申请

WO2008003059A3 ELECTROSTRICTION DEVICES AND METHODS FOR ASSISTED MAGNETIC NAVIGATION 审中-公开
标题翻译：电磁感应装置及辅助磁导管的方法
公开(公告)号：WO2008003059A3
公开(公告)日：2008-10-02
申请号：PCT/US2007072397
申请日：2007-06-28
申请人： STEREOTAXIS INC , VISWANATHAN RAJU R , WERP PETER R , RITTER ROGERS C
发明人： VISWANATHAN RAJU R , WERP PETER R , RITTER ROGERS C
IPC分类号： A61B5/05
CPC分类号： A61B19/22 , A61B34/70 , A61B34/73 , A61B2017/00106 , A61B2017/003
摘要： An apparatus and method for interventional navigation within a subject's body is provided in which a medica! device having at least one electrostrictive element is adapted to cause the distal end of the medical device to bend in a given direction for improving navigation. The medical device may further comprise at least one magnetically responsive element on the distal end, which may be oriented in the approximate direction of a magnetic field that is applied to the subject's body. At least one method for navigating a medical device though a subject's body is provided, by changing the direction of an applied magnetic field to align a magneticaliy responsive element on the distal end for orienting the distal end, and by applying a voltage to at least one electrostrictive element disposed in the distal portion of the device for causing the distal end to change orientation from that achieved by application of the magnetic field alone.
摘要翻译：提供了一种用于受试者身体内的介入导航的装置和方法，其中药物具有至少一个电致伸缩元件的装置适于使医疗装置的远端沿给定方向弯曲以改善导航。医疗装置还可以包括远端上的至少一个磁响应元件，其可以被施加到被检体的磁场的大致方向上定向。通过改变所施加的磁场的方向以使远端上的磁性响应元件对准以使远端定向，并且通过向至少一个电极施加电压，提供至少一种用于通过受试者身体导航医疗装置的方法电致伸缩元件设置在装置的远端部分中，用于使远端改变方向与通过仅施加磁场实现的方向。

5. 发明申请

WO2008022148A3 METHOD AND APPARATUS FOR ABLATIVE RECANALIZATION OF BLOCKED VASCULATURE 审中-公开
标题翻译：用于消融血管再生的方法和设备
公开(公告)号：WO2008022148A3
公开(公告)日：2008-07-31
申请号：PCT/US2007075927
申请日：2007-08-14
申请人： STEREOTAXIS INC , MUNGER GARETH T , PANDEY ASHWINI K , VISWANATHAN RAJU R
发明人： MUNGER GARETH T , PANDEY ASHWINI K , VISWANATHAN RAJU R
IPC分类号： A61B18/18
CPC分类号： A61B18/1492 , A61B34/10 , A61B34/20 , A61B34/73 , A61B2017/003 , A61B2034/107 , A61B2034/2051 , A61B2090/376 , A61B2090/378
摘要： A method of treating vessel occlusions including chronic total occlusions (CTO) of the coronary arteries, and to generally remove tissue material, is presented that relies on remotely actuated navigation of an interventional RF-capable ablation device to the occlusion and controlled application of ablative RP energy. The combined use of remote navigation-based precision control of the distal end of the device and application of ablative energy enables crossing of elongated lesions and CTOs, calcified lesions and CTO's, lesions and CTO's located at vessel branches, and in general the removal of tissue material at a chosen tissue location.
摘要翻译：提出了一种治疗血管闭塞（包括冠状动脉的慢性完全闭塞（CTO）并且通常除去组织材料）的方法，其依赖于将介入性RF能消融装置远程致动导航至消融的闭塞和受控应用，能源。结合使用基于远程导航的设备远端的精确控制和消融能量的应用，能够穿过延长的病灶和CTO，钙化病灶和位于血管分支处的CTO，病灶和CTO，并且通常移除组织材料在选定的组织位置。

6. 发明申请

WO2006050417A3 RESTRICTED NAVIGATION CONTROLLER FOR, AND METHODS OF CONTROLLING, A REMOTE NAVIGATION SYSTEM 审中-公开
标题翻译：限制导航控制器及其控制方法，远程导航系统
公开(公告)号：WO2006050417A3
公开(公告)日：2007-09-27
申请号：PCT/US2005039616
申请日：2005-10-31
申请人： STEREOTAXIS INC , VISWANATHAN RAJU R
发明人： VISWANATHAN RAJU R
IPC分类号： A61B5/05
CPC分类号： A61B34/70 , A61B34/74
摘要： A control and control method for a remote navigation system including an orientation controller that orients the distal end of a medical device in an operating region in a subject, and a length controller that extends and retracts the distal end of the medical device, to navigate the distal end of the medical device to a selected destination in response to user inputs. In accordance with the control method, the control interrupts operation of at least one of the orientation controller and the length controller when the user inputs would cause the orientation controller and the length controller to navigate the distal end of the medical device to one of a plurality of predetermined restricted locations (or alternatively when the user inputs would cause the orientation controller and length controller to navigate the distal end of the medical device other than to one of a plurality of predetermined target locations). In accordance with one preferred embodiment of the method, the control can determine inputs to cause the navigation system to navigate the medical device to an unrestricted location that is closest the user's original selection (or to a target location that is closes to the user's original selection).
摘要翻译：一种用于远程导航系统的控制和控制方法，包括：定向控制器，定向控制器，其定向对象中操作区域中的医疗设备的远端;以及长度控制器，其延伸和缩回医疗设备的远端，以导航医疗设备的远端响应于用户输入到所选择的目的地。根据控制方法，当用户输入时，控制中断方向控制器和长度控制器中的至少一个的操作将导致定向控制器和长度控制器将医疗设备的远端导航到多个（或者当用户输入将导致定向控制器和长度控制器导航到医疗设备的远端而不是多个预定目标位置之一时）。根据该方法的一个优选实施例，控制可以确定导致导航系统将医疗设备导航到最接近用户的原始选择（或关闭到用户的原始选择的目标位置）的非限制位置的输入）。

7. 发明申请

WO2006042198A3 SURGICAL NAVIGATION WITH OVERLAY ON ANATOMICAL IMAGES 审中-公开
标题翻译：外科医学导航与解剖学图像重叠
公开(公告)号：WO2006042198A3
公开(公告)日：2007-04-26
申请号：PCT/US2005036362
申请日：2005-10-07
申请人： STEREOTAXIS INC , VISWANATHAN RAJU R
发明人： VISWANATHAN RAJU R
IPC分类号： A61B5/05
CPC分类号： A61B5/062 , A61B6/12 , A61B6/4441 , A61B6/463 , A61B6/547 , A61B34/10 , A61B34/20 , A61B34/25 , A61B90/36 , A61B2017/00243 , A61B2017/00703 , A61B2034/101 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2090/363 , A61B2090/364 , A61B2090/365 , A61B2090/376
摘要： A system and method are provided for control of a navigation system for deploying a medical device within a subject, and for enhancement of a display image of anatomical features for viewing the projected location and movement of medical devices, and projected locations of a variety of anatomical features and other spatial markers in the operating region. The display of the X-ray imaging system information is augmented in a manner such that a physician can more easily become oriented in three dimensions with the use of a single-plane X-ray display. The projection of points and geometrical shapes within the subject body onto a known imaging plane can be obtained using associated imaging parameters and projective geometry.
摘要翻译：提供了一种系统和方法，用于控制用于在受试者内部署医疗装置的导航系统，并且用于增强用于观察医疗装置的投影位置和运动的解剖特征的显示图像，以及各种解剖学的投影位置特征和其他空间标记。 X射线成像系统信息的显示以这样的方式进行增强，使得医生可以通过使用单平面X射线显示器更容易地在三维方向上定向。可以使用相关的成像参数和投影几何来获得主体内的点和几何形状到已知成像平面上的投影。

8. 发明申请

WO2008112902A3 AUTOMATED SURGICAL NAVIGATION WITH ELECTRO-ANATOMICAL AND PRE-OPERATIVE IMAGE DATA 审中-公开
标题翻译：具有电离解剖图像和自动图像数据的自动手术导航
公开(公告)号：WO2008112902A3
公开(公告)日：2008-12-11
申请号：PCT/US2008056868
申请日：2008-03-13
申请人： STEREOTAXIS INC , VISWANATHAN RAJU R , BLUME WALTER M , LIAV OREN , PATT ZAFRIR , RUBISSA ASSAF
发明人： VISWANATHAN RAJU R , BLUME WALTER M , LIAV OREN , PATT ZAFRIR , RUBISSA ASSAF
IPC分类号： G06K9/00 , A61B5/05
CPC分类号： A61B34/73 , A61B5/042 , A61B18/1492 , A61B34/20 , A61B34/70 , A61B2034/2051 , A61B2090/364
摘要： A method for navigating a medical device to an anatomical surface within a subject to perform electro-anatomical mapping using a magnetic navigation system is provided that includes importing a pre-operative image data set of an anatomical surface in the subject's body into a localization system One or more control parameters are applied to the magnetic navigation system to drive the medical device to one or more points of tissue contact, from the locations of which a geometric anatomical map can be created and registered with the pre-operative anatomical image The preoperative anatomical surface image and a representation of the geometric anatomical map are displayed relative to one another The localization system provides the location data to the magnetic navigation system to drive the medical device to the desired location, for enabling further electrophysiology mapping or ablation treatment.
摘要翻译：提供了一种用于将医疗装置导航到对象内的解剖表面以使用磁导航系统执行电解剖映射的方法，其包括将主体内的解剖表面的术前图像数据集导入到定位系统中或更多的控制参数被应用于磁导航系统以将医疗装置驱动到组织接触的一个或多个点，从其位置可以创建几何解剖图并且与术前解剖图像一起注册。术前解剖表面图像和几何解剖图的表示相对于彼此显示。定位系统将位置数据提供给磁性导航系统，以将医疗装置驱动到期望的位置，以实现进一步的电生理学绘图或消融治疗。

9. 发明申请

WO2006026465A3 SURGICAL NAVIGATION AND LOCALIZATION SYSTEM UTLIZING SCALE-INVARIANT REGISTRATION 审中-公开
标题翻译：外科导航和本地化系统统一规模不变注册
公开(公告)号：WO2006026465A3
公开(公告)日：2007-06-07
申请号：PCT/US2005030477
申请日：2005-08-26
申请人： STEREOTAXIS INC , VISWANATHAN RAJU R
发明人： VISWANATHAN RAJU R
IPC分类号： A61B5/05
CPC分类号： G06T7/73 , G06T7/30
摘要： A system for navigating a medical device through the lumens and cavities in an operating region in a subject, comprising an imaging system for displaying an image of the operating region, including a representation of the distal end of the medical device in the operating region. The system also includes a localization system for determining the position of the medical device in a frame of reference translatable to the displayed image. Finally, the system includes an algorithm for evaluating one or more rotation matrix using a cost function to determine an optimum rotation matrix for performing transformation of a vector in the local frame of the localization system to that of the reference frame of the navigation system. The rotation matrix can then provide a scale invariant transformation or "registration" of the coordinate systems of the localization system and the navigation system.. This allows navigation to be performed to a significant extent from the localization system display alone, which avoids the frequent x-ray irradiation that occurs during the use of fluoro imaging for navigation purposes.
摘要翻译：一种用于通过被检体中的操作区域中的流明和空腔导航医疗装置的系统，包括用于显示所述操作区域的图像的成像系统，所述成像系统包括所述操作区域中所述医疗装置的远端的表示。该系统还包括定位系统，用于确定可转换为所显示图像的参考系中的医疗装置的位置。最后，该系统包括用于使用成本函数来评估一个或多个旋转矩阵的算法，以确定用于执行定位系统的本地帧中的向量到导航系统的参考帧的矢量的最佳旋转矩阵。然后旋转矩阵可以提供定位系统和导航系统的坐标系的尺度不变变换或“注册”。这允许从本地化系统显示单独执行导航，这避免了频繁的x 在用于导航的氟成像期间发生的射线照射。

10. 发明申请

WO2007015843A3 APPARATUS AND METHODS FOR AUTOMATED SEQUENTIAL MOVEMENT CONTROL FOR OPERATION OF A REMOTE NAVIGATION SYSTEM 审中-公开
标题翻译：用于远程导航系统操作的自动顺序运动控制的装置和方法
公开(公告)号：WO2007015843A3
公开(公告)日：2007-04-26
申请号：PCT/US2006027802
申请日：2006-07-17
申请人： STEREOTAXIS INC , VISWANATHAN RAJU R , BLUME WALTER M , KASTELEIN NATHAN , GARIBALDI JEFFREY M
发明人： VISWANATHAN RAJU R , BLUME WALTER M , KASTELEIN NATHAN , GARIBALDI JEFFREY M
IPC分类号： A61B5/05
CPC分类号： A61B90/36 , A61B34/20 , A61B34/70 , A61B2034/2051 , A61B2090/061
摘要： A method of defining automated movement sequences of a remotely controlled medical device actuated by a remote navigation system includes the steps of: defining a reference length for a medical device inserted into an anatomical chamber where subsequent device length measurements are made and automated device length changes are applied with respect to the reference length, and defining a movement sequence as a concatenation of automated movement building block primitives for subsequent automated execution by the remote navigation system.
摘要翻译：定义由远程导航系统启动的远程控制的医疗设备的自动移动顺序的方法包括以下步骤：为插入到解剖腔室中的医疗设备定义参考长度，其中进行随后的设备长度测量并且自动化设备长度变化并且将运动顺序定义为自动运动构建块基元的连接，以供远程导航系统随后的自动执行。

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