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1. 发明授权

US09138166B2 Apparatus and methods for fiber integration and registration 有权
标题翻译：用于光纤集成和注册的设备和方法
公开(公告)号：US09138166B2
公开(公告)日：2015-09-22
申请号：US13314057
申请日：2011-12-07
申请人： Serena H. Wong , Jason J. Hsu , Francis MacNamara , Gene Reis , Randall L. Schlesinger , Neal A. Tanner
发明人： Serena H. Wong , Jason J. Hsu , Francis MacNamara , Gene Reis , Randall L. Schlesinger , Neal A. Tanner
IPC分类号： G02B6/00 , G02B6/38 , G02B6/06 , A61B5/06 , G01L1/24 , A61M25/01 , A61B1/005 , A61B19/00
CPC分类号： A61B5/065 , A61B1/0051 , A61B34/20 , A61B2017/00292 , A61B2034/2061 , A61B2562/12 , A61M25/0147 , A61M2025/0166 , G01B11/24 , G01L1/242
摘要： Systems and methods for integrating and/or registering a shape sensing fiber in or to various instruments are described herein. Registration fixtures and registration techniques for matching the coordinate system of a fiber to the coordinate system of an elongate instrument or other device are provided. Various systems and methods for integrating a shape sensing fiber into an elongate instrument or other device are also described herein.
摘要翻译：本文描述了用于将形状感测光纤集成和/或对准到各种仪器中的系统和方法。提供了用于将纤维的坐标系与细长仪器或其他装置的坐标系匹配的注册夹具和配准技术。本文还描述了用于将形状感测光纤集成到细长仪器或其它装置中的各种系统和方法。

2. 发明申请

US20130028554A1 APPARATUS AND METHODS FOR FIBER INTEGRATION AND REGISTRATION 有权
标题翻译：光纤集成和注册的装置和方法
公开(公告)号：US20130028554A1
公开(公告)日：2013-01-31
申请号：US13314057
申请日：2011-12-07
申请人： Serena H. WONG , Jason J. Hsu , Francis Macnamara , Gene Reis , Randall L. Schlesinger , Neal A. Tanner
发明人： Serena H. WONG , Jason J. Hsu , Francis Macnamara , Gene Reis , Randall L. Schlesinger , Neal A. Tanner
IPC分类号： G02B6/00
CPC分类号： A61B5/065 , A61B1/0051 , A61B34/20 , A61B2017/00292 , A61B2034/2061 , A61B2562/12 , A61M25/0147 , A61M2025/0166 , G01B11/24 , G01L1/242
摘要： Systems and methods for integrating and/or registering a shape sensing fiber in or to various instruments are described herein. Registration fixtures and registration techniques for matching the coordinate system of a fiber to the coordinate system of an elongate instrument or other device are provided. Various systems and methods for integrating a shape sensing fiber into an elongate instrument or other device are also described herein.
摘要翻译：本文描述了用于将形状感测光纤集成和/或对准到各种仪器中的系统和方法。提供了用于将纤维的坐标系与细长仪器或其他装置的坐标系匹配的注册夹具和配准技术。本文还描述了用于将形状感测光纤集成到细长仪器或其它装置中的各种系统和方法。

3. 发明申请

US20130030363A1 SYSTEMS AND METHODS UTILIZING SHAPE SENSING FIBERS 审中-公开
标题翻译：使用形状感应纤维的系统和方法
公开(公告)号：US20130030363A1
公开(公告)日：2013-01-31
申请号：US13314054
申请日：2011-12-07
申请人： Serena H. WONG , Jason J. Hsu , Francis Macnamara , Gene Reis , Randall L. Schlesinger , Neal A. Tanner
发明人： Serena H. WONG , Jason J. Hsu , Francis Macnamara , Gene Reis , Randall L. Schlesinger , Neal A. Tanner
IPC分类号： G02B6/00 , A61M25/092
CPC分类号： A61B5/065 , A61B1/0051 , A61B34/20 , A61B2017/00292 , A61B2034/2061 , A61B2562/12 , A61M25/0147 , A61M2025/0166 , G01B11/24 , G01L1/242
摘要： Systems and methods that utilize shape sensing fibers are described herein. In certain variations, a fiber may include a service loop or other length that allows for sliding or displacing of a fiber within the lumen of an elongate instrument when the distal portion of the elongate instrument is articulated. Systems and methods for registering a shape sensing fiber, including registration fixtures and registration techniques are also described herein.
摘要翻译：本文描述了利用形状感测纤维的系统和方法。在某些变型中，当细长器械的远端部分被铰接时，纤维可以包括服务回路或允许在细长器械的内腔内的纤维的滑动或移位的其它长度。本文还描述了用于登记形状感测光纤的系统和方法，包括配准固定装置和配准技术。

4. 发明申请

US20100331856A1 MULTIPLE FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS FOR MINIMALLY INVASIVE OPERATIONS 审中-公开
标题翻译：多个灵活和可操纵的ELENATE仪器用于最小的入侵操作
公开(公告)号：US20100331856A1
公开(公告)日：2010-12-30
申请号：US12637622
申请日：2009-12-14
申请人： Christopher R. Carlson , Neal A. Tanner , Gregory J. Stahler , Gene Reis , Enrique Romo , Federico Barbagli
发明人： Christopher R. Carlson , Neal A. Tanner , Gregory J. Stahler , Gene Reis , Enrique Romo , Federico Barbagli
IPC分类号： A61B19/00
CPC分类号： A61B1/00147 , A61B1/0051 , A61B1/01 , A61B1/018 , A61B1/313 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/361 , A61B2017/00314 , A61B2017/00327 , A61B2017/00464 , A61B2017/00477 , A61B2017/2906 , A61B2017/2927 , A61B2034/102 , A61B2034/2059 , A61B2034/301 , A61B2034/306 , A61B2034/742 , A61B2090/306 , A61B2090/3614
摘要： Configurations are described for conducting minimally invasive medical interventions utilizing elongate robotically controlled instruments and assemblies thereof. In one embodiment, a junction sheath may be utilized to facilitate surgical triangulation of two interventional instrument assemblies, while also directing them to the surgical theater through a minimal single wound or surgical port. One or more instrument drivers, and one or more master input devices comprising an operator workstation, may be utilized to independently and simultaneously control multiple degrees of freedom pertinent to each instrument comprising one or more instrument assembly.
摘要翻译：描述了使用细长的机器人控制的仪器及其组件进行微创医疗干预的配置。在一个实施例中，可以使用连接护套来促进两个介入器械组件的手术三角测量，同时还通过最小的单个伤口或手术端口将它们引导到外科手术室。可以使用一个或多个仪器驱动器和包括操作员工作站的一个或多个主输入装置来独立地并且同时地控制与包括一个或多个仪器组件的每个仪器相关的多个自由度。

5. 发明申请

US20120071822A1 STEERABLE CATHETERS 有权
标题翻译：可变导管
公开(公告)号：US20120071822A1
公开(公告)日：2012-03-22
申请号：US13173994
申请日：2011-06-30
申请人： Enrique Romo , Jeffery B. Alvarez , Francis Macnamara , Gene Reis
发明人： Enrique Romo , Jeffery B. Alvarez , Francis Macnamara , Gene Reis
IPC分类号： A61M25/092 , A61M25/00 , A61M25/09
CPC分类号： A61B19/2203 , A61B6/12 , A61B6/4423 , A61B6/487 , A61B8/0841 , A61B8/12 , A61B8/4218 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B46/10 , A61B90/361 , A61B2017/00991 , A61B2034/102 , A61B2034/301 , A61B2034/715 , A61B2034/742 , G06T19/00 , G06T2210/41
摘要： Medical devices having an elongated steerable member are described herein. In one embodiment, a device includes an elongated body having a proximal section, a distal section, and a working lumen extending through the proximal and distal sections, a first coil having a distal portion, and a proximal portion, the proximal portion of the first coil being slidable relative to the proximal section of the elongated body, and being closer to a wall of the elongated body than to an axis of the elongated body, wherein a lengthwise portion of the distal portion of the first coil is anchored to the distal section of the elongated body, and a first steering wire located within a lumen of the first coil.
摘要翻译：本文描述了具有细长的可操纵构件的医疗装置。在一个实施例中，装置包括细长体，其具有近端部分，远侧部分和延伸穿过近端部分和远端部分的工作腔，具有远端部分的第一线圈和近端部分，第一部分的近端部分线圈相对于细长体的近端部分可滑动，并且比细长体的轴线更靠近细长体的壁，其中第一线圈的远端部分的纵向部分锚定到远端部分以及位于第一线圈的内腔内的第一操纵线。

6. 发明授权

US08827948B2 Steerable catheters 有权
标题翻译：导向导管
公开(公告)号：US08827948B2
公开(公告)日：2014-09-09
申请号：US13173994
申请日：2011-06-30
申请人： Enrique Romo , Jeffery B. Alvarez , Francis Macnamara , Gene Reis
发明人： Enrique Romo , Jeffery B. Alvarez , Francis Macnamara , Gene Reis
IPC分类号： A61M31/00 , A61M37/00 , A61B8/00 , A61B6/00 , A61B8/12 , G06T19/00 , A61B6/12 , A61B8/08
CPC分类号： A61B19/2203 , A61B6/12 , A61B6/4423 , A61B6/487 , A61B8/0841 , A61B8/12 , A61B8/4218 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B46/10 , A61B90/361 , A61B2017/00991 , A61B2034/102 , A61B2034/301 , A61B2034/715 , A61B2034/742 , G06T19/00 , G06T2210/41
摘要： Medical devices having an elongated steerable member are described herein. In one embodiment, a device includes an elongated body having a proximal section, a distal section, and a working lumen extending through the proximal and distal sections, a first coil having a distal portion, and a proximal portion, the proximal portion of the first coil being slidable relative to the proximal section of the elongated body, and being closer to a wall of the elongated body than to an axis of the elongated body, wherein a lengthwise portion of the distal portion of the first coil is anchored to the distal section of the elongated body, and a first steering wire located within a lumen of the first coil.
摘要翻译：本文描述了具有细长的可操纵构件的医疗装置。在一个实施例中，装置包括细长体，其具有近端部分，远侧部分和延伸穿过近端部分和远端部分的工作腔，具有远端部分的第一线圈和近端部分，第一部分的近端部分线圈相对于细长体的近端部分可滑动，并且比细长体的轴线更靠近细长体的壁，其中第一线圈的远端部分的纵向部分锚定到远端部分以及位于第一线圈的内腔内的第一操纵线。

7. 发明授权

US08720448B2 Sterile interface apparatus 有权
标题翻译：无菌接口装置
公开(公告)号：US08720448B2
公开(公告)日：2014-05-13
申请号：US12614349
申请日：2009-11-06
申请人： Gene Reis , Gregory J. Stahler , Gregory Francis Hirth , Enrique Romo
发明人： Gene Reis , Gregory J. Stahler , Gregory Francis Hirth , Enrique Romo
IPC分类号： A61B19/08
CPC分类号： A61B46/10 , A61B34/30 , A61B2017/00477
摘要： A robotic surgical system configured to perform minimally invasive surgical procedures. In one variation, this robotic surgical system includes an instrument driver configured to steer an elongate instrument of an instrument assembly in one or more degrees of motion. A drape is disposed between the instrument driver and the instrument assembly. A drive interface apparatus is operatively coupled to the drape. The drape and drive interface apparatus may form a fluid barrier between the instrument driver and the instrument assembly. Drive interface apparatus may be disposed on a top surface of the instrument driver and on a bottom surface of the instrument assembly. The drive interface apparatus may transmit torque from the instrument driver to the instrument assembly. The input torque drives a pulley in the instrument assembly that operates one or more control wires to steer an elongate instrument of the instrument assembly for performing minimally invasive surgical procedures.
摘要翻译：构造成执行微创外科手术的机器人手术系统。在一个变型中，该机器人手术系统包括被配置为以一个或多个运动程度转向仪器组件的细长仪器的仪器驱动器。在仪器驱动器和仪器组件之间设置悬垂布置。驱动器接口装置可操作地联接到悬垂。悬垂和驱动接口装置可以在仪器驱动器和仪器组件之间形成流体屏障。驱动接口装置可以设置在仪器驱动器的顶表面上和仪器组件的底表面上。驱动接口装置可以将仪器驱动器的扭矩传递到仪器组件。输入扭矩驱动仪器组件中的滑轮，其操作一个或多个控制线以引导器械组件的细长仪器，以执行微创外科手术。

8. 发明授权

US08602031B2 Modular interfaces and drive actuation through barrier 有权
标题翻译：模块化接口和驱动器驱动通过屏障
公开(公告)号：US08602031B2
公开(公告)日：2013-12-10
申请号：US12352551
申请日：2009-01-12
申请人： Gene Reis , Gregory Francis Hirth , Enrique Romo
发明人： Gene Reis , Gregory Francis Hirth , Enrique Romo
IPC分类号： A61B19/08 , A61B19/00
CPC分类号： A61B19/081 , A61B34/30 , A61B46/10 , A61B46/23 , A61B90/40 , A61B2090/0813 , Y10T74/19967
摘要： The invention relates generally to robotically controlled systems, such as medical robotic systems. In one variation, a robotic catheter system is configured with a sterile barrier capable for transmitting a rotary force from a drive system on one side of the barrier to surgical tool on the other side of the sterile barrier for performing minimally invasive diagnostic and therapeutic procedures. Modularized drive systems for robotics arc also disclosed herein.
摘要翻译：本发明一般涉及机器人控制的系统，例如医疗机器人系统。在一个实施例中，机器人导管系统配置有无菌屏障，其能够将阻力的一侧上的驱动系统的旋转力传递到无菌屏障的另一侧上的手术工具，以执行微创诊断和治疗过程。本文还公开了用于机器人的模块化驱动系统。

9. 发明授权

US08377077B2 Apparatus systems and methods for flushing gas from catheter of a robotic catheter system 有权
标题翻译：用于从机器人导管系统的导管冲洗气体的装置系统和方法
公开(公告)号：US08377077B2
公开(公告)日：2013-02-19
申请号：US13039181
申请日：2011-03-02
申请人： Gene Reis
发明人： Gene Reis
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/70 , A61B2034/2061 , A61B2034/301 , A61B2034/741
摘要： Apparatus, systems and methods for flushing a lumen of a catheter instrument to reduce or eliminate bubbles within the lumen. An interface valve is adapted for attachment to a proximal end of the catheter instrument and can receive a working instrument for insertion into the he catheter instrument lumen. A fluid supply line and purge lines are coupled to the interface valve and in fluid communication with at least a portion of the interface valve lumen. Flow of fluid (e.g. saline and a gas such as bubbles) through purge lines is controllable using clamps such that fluid flowing into the interface valve lumen can be manipulated to flow in different directions through different portions of the interface valve lumen for evacuation through different purge lines, thus allowing for purging of forward and backward flows to remove gas or bubbles from the catheter instrument lumen.
摘要翻译：用于冲洗导管器械的内腔以减少或消除内腔内的气泡的装置，系统和方法。接口阀适于附接到导管器械的近端，并且可以接收用于插入到导管器械管腔中的工作器械。流体供应管线和清洗管线联接到界面阀并与接口阀腔的至少一部分流体连通。可以使用夹子来控制流体（例如盐水和气体，例如气泡）通过清洗管线，使得流入界面阀腔的流体可以被操纵以不同方向流过界面阀腔的不同部分，以通过不同吹扫排出从而允许向前和向后的流动的吹扫以从导管仪器管腔去除气体或气泡。

10. 发明申请

US20120022405A1 METHOD OF SENSING FORCES ON A WORKING INSTRUMENT 有权
标题翻译：传感器在工作仪器上的方法
公开(公告)号：US20120022405A1
公开(公告)日：2012-01-26
申请号：US13251370
申请日：2011-10-03
申请人： Daniel T. Wallace , Gregory Stahler , Alex Goldenberg , Gene Reis , Robert G. Younge , Mathew Clopp , David Camarillo , Toby St. John King
发明人： Daniel T. Wallace , Gregory Stahler , Alex Goldenberg , Gene Reis , Robert G. Younge , Mathew Clopp , David Camarillo , Toby St. John King
IPC分类号： A61B5/00 , A61M25/092
CPC分类号： A61M25/01 , A61B5/6885 , A61B17/3403 , A61B17/3476 , A61B2017/00243 , A61B2017/003 , A61B2017/00477 , A61B2034/301 , A61B2090/064 , A61B2090/065
摘要： A method for estimating the force on a distal end of a working catheter includes positioning a portion of a robotically controlled guide catheter and working catheter into a body lumen wherein a distal end of the working catheter projects distally from a distal end of the guide catheter. The working catheter and guide catheter are dithered with respect to one another using a dithering device operatively connected to a proximal portion of the working catheter. The coupling may occur directly to the working catheter or via a seal such as a Touhy seal. The force experienced by the working catheter at a proximal region is measured through at least one dithering cycle. The force at the distal end of the working catheter is then estimated based on the measured force at the proximal region. The estimated force may be displayed to a physician on, for example, a monitor.
摘要翻译：用于估计工作导管的远端上的力的方法包括将机器人控制的引导导管和工作导管的一部分定位到体腔中，其中工作导管的远端从导向导管的远端远端突出。工作导管和引导导管相对于彼此使用可操作地连接到工作导管的近端部分的抖动装置进行抖动。联轴器可以直接发生在工作导管上，或通过诸如Touhy密封件的密封件。通过至少一个抖动周期测量由近端区域上的工作导管所经受的力。然后基于在近端区域处测量的力来估计工作导管远端处的力。估计的力可以在例如监视器上向医生显示。

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