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11. 发明申请

US20140081114A1 METHOD AND APPARATUS FOR MEASURING BIOPOTENTIAL AND MAPPING EPHAPTIC COUPLING EMPLOYING A CATHETER WITH MOSFET SENSOR ARRAY 审中-公开
标题翻译：用MOSFET传感器阵列测量使用导管的生物显示和映射耦合耦合的方法和装置
公开(公告)号：US20140081114A1
公开(公告)日：2014-03-20
申请号：US13621727
申请日：2012-09-17
申请人： Yehoshua Shachar , Eli Gang
发明人： Yehoshua Shachar , Eli Gang
IPC分类号： A61B5/04 , A61B5/0478
CPC分类号： A61B5/04001 , A61B5/042 , A61B5/04284 , A61B5/0478 , A61B5/6858
摘要： This invention relates generally to electro-anatomical mapping method and an apparatus using a catheter and more particularly to a mapping catheter having an embedded MOSFET sensor array for detecting local electrophysiological parameters such as biopotential signals within an excitable cellular matrix geometry, for determining physiological as well as electrical characteristics of conduction path and its underlying substrate within the endocardial and epicardial spaces, the arterial structure and in ganglionic plexus. The apparatus with its MOSFET sensor is geometrically configured as a decapolar linear array and optionally with an 8×8 sensor matrix placed on a balloon-like structure.
摘要翻译：本发明一般涉及电解剖映射方法和使用导管的装置，更具体地说，涉及具有嵌入式MOSFET传感器阵列的映射导管，用于检测局部电生理参数，例如可兴奋的细胞矩阵几何中的生物电位信号，用于确定生理学作为心内膜和心外膜空间，动脉结构和神经节丛中的传导路径及其下面的底物的电特性。其MOSFET传感器的装置几何构造为十极线阵列，并且可选地具有放置在气球状结构上的8×8传感器矩阵。

12. 发明申请

US20120143127A1 APPARATUS AND METHOD FOR SHAPED MAGNETIC FIELD CONTROL FOR CATHETER, GUIDANCE, CONTROL, AND IMAGING 审中-公开
标题翻译：用于导管，指导，控制和成像的形状磁场控制的装置和方法
公开(公告)号：US20120143127A1
公开(公告)日：2012-06-07
申请号：US13245310
申请日：2011-09-26
申请人： Yehoshua Shachar
发明人： Yehoshua Shachar
IPC分类号： A61M25/092
CPC分类号： A61B5/06 , A61B1/00158 , A61B5/0507 , A61B5/062 , A61B34/25 , A61B34/70 , A61B34/73 , A61B34/77 , A61B2017/00703 , A61B2034/2051 , A61B2034/2063 , A61B2034/732 , A61B2090/376 , A61M25/0127 , A61M2025/0166
摘要： A variable magnet system for manipulating a magnetic catheter is described. In one embodiment, a cluster of electromagnets is configured to generate a desired magnetic field. In one embodiment, one or more poles of the cluster are moveable with respect to other poles in the cluster to allow shaping of the magnetic field. In one embodiment, one or more magnetic poles can be extended or retracted to shape the magnetic field. In one embodiment, the electromagnets can be positioned to generate magnetic fields that exert a desired torque and/or movement force on the catheter. In one embodiment, a magnetic field source is used to create a magnetic field of sufficient strength and orientation to move a magnetically-responsive catheter tip in a desired direction by a desired amount.
摘要翻译：描述了用于操纵磁导管的可变磁体系统。在一个实施例中，一组电磁体被配置为产生期望的磁场。在一个实施例中，簇的一个或多个极可相对于簇中的其它极点移动，以允许磁场成形。在一个实施例中，可以延伸或缩回一个或多个磁极以使磁场成形。在一个实施例中，电磁体可以被定位成产生在导管上施加期望的扭矩和/或移动力的磁场。在一个实施例中，使用磁场源来产生具有足够强度和取向的磁场，以将磁响应导管尖端沿所需方向移动所需量。

13. 发明授权

US08027714B2 Apparatus and method for shaped magnetic field control for catheter, guidance, control, and imaging 失效
标题翻译：用于导管，引导，控制和成像的成形磁场控制的装置和方法
公开(公告)号：US08027714B2
公开(公告)日：2011-09-27
申请号：US11140475
申请日：2005-05-27
申请人： Yehoshua Shachar
发明人： Yehoshua Shachar
IPC分类号： A61B5/05 , A61B5/06
CPC分类号： A61B5/06 , A61B1/00158 , A61B5/0507 , A61B5/062 , A61B34/25 , A61B34/70 , A61B34/73 , A61B34/77 , A61B2017/00703 , A61B2034/2051 , A61B2034/2063 , A61B2034/732 , A61B2090/376 , A61M25/0127 , A61M2025/0166
摘要： A variable magnet system for manipulating a magnetic catheter is described. In one embodiment, a cluster of electromagnets is configured to generate a desired magnetic field. In one embodiment, one or more poles of the cluster are moveable with respect to other poles in the cluster to allow shaping of the magnetic field. In one embodiment, one or more magnetic poles can be extended or retracted to shape the magnetic field. In one embodiment, the electromagnets can be positioned to generate magnetic fields that exert a desired torque and/or movement force on the catheter. In one embodiment, the catheter guidance system includes a closed-loop servo feedback system. In one embodiment, a radar system is used to determine the location of the distal end of the catheter inside the body, thus, minimizing or eliminating the use of ionizing radiation such as X-rays. The catheter guidance system can also be used in combination with an X-ray system (or other imaging systems) to provide additional imagery to the operator. The magnetic system used in the magnetic catheter guidance system can also be used to locate the catheter tip to provide location feedback to the operator and the control system. In one embodiment, a magnetic field source is used to create a magnetic field of sufficient strength and orientation to move a magnetically-responsive catheter tip in a desired direction by a desired amount.
摘要翻译：描述了用于操纵磁导管的可变磁体系统。在一个实施例中，一组电磁体被配置为产生期望的磁场。在一个实施例中，簇的一个或多个极可相对于簇中的其它极点移动，以允许磁场成形。在一个实施例中，可以延伸或缩回一个或多个磁极以使磁场成形。在一个实施例中，电磁体可以被定位成产生在导管上施加期望的扭矩和/或移动力的磁场。在一个实施例中，导管引导系统包括闭环伺服反馈系统。在一个实施例中，使用雷达系统来确定导管在体内的远端的位置，从而最小化或消除诸如X射线的电离辐射的使用。导管引导系统还可以与X射线系统（或其他成像系统）组合使用，以向操作者提供额外的图像。用于磁导管引导系统的磁系统也可用于定位导管尖端以向操作者和控制系统提供位置反馈。在一个实施例中，使用磁场源来产生具有足够强度和取向的磁场，以将磁响应导管尖端沿所需方向移动所需量。

14. 发明授权

US07873401B2 System and method for a magnetic catheter tip 失效
标题翻译：磁导管尖端的系统和方法
公开(公告)号：US07873401B2
公开(公告)日：2011-01-18
申请号：US11331485
申请日：2006-01-13
申请人： Yehoshua Shachar
发明人： Yehoshua Shachar
IPC分类号： A61B5/05
CPC分类号： A61B5/06 , A61B5/062 , A61B5/7455 , A61B17/22 , A61B34/20 , A61B34/70 , A61B34/73 , A61B34/76 , A61B2017/00084 , A61B2017/003 , A61B2017/00703 , A61B2034/102 , A61B2034/2051 , A61B2034/301 , A61B2034/732 , A61B2034/742 , A61B2090/365 , A61B2090/376 , A61B2090/3954 , A61M25/0158
摘要： A system whereby a magnetic tip attached to a surgical tool is detected, displayed and influenced positionally so as to allow diagnostic and therapeutic procedures to be performed rapidly, accurately, simply, and intuitively is described. The tools that can be so equipped include catheters, guidewires, and secondary tools such as lasers and balloons, in addition biopsy needles, endoscopy probes, and similar devices. The tip position and orientation information and the dynamic body part position information are also utilized to provide a display that allows three dimensional viewing of the magnetic tip position and orientation relative to the body part.
摘要翻译：一种系统，其中检测，显示和影响外科手术工具的磁性尖端，以便能够快速，准确，简单，直观地执行诊断和治疗过程。可以配备的工具包括导管，导线和辅助工具，例如激光和气球，还有活检针，内窥镜探针和类似装置。尖端位置和姿势信息以及动态身体部位位置信息也用于提供允许相对于身体部分三维观察磁头位置和取向的显示器。

15. 发明申请

US20100130854A1 SYSTEM AND METHOD FOR A CATHETER IMPEDANCE SEEKING DEVICE 失效
标题翻译：用于电缆阻抗寻找装置的系统和方法
公开(公告)号：US20100130854A1
公开(公告)日：2010-05-27
申请号：US12323231
申请日：2008-11-25
申请人： Yehoshua Shachar , Bruce Marx , Leslie Farkas , Laszlo Farkas , David Johnson , Eli Gang
发明人： Yehoshua Shachar , Bruce Marx , Leslie Farkas , Laszlo Farkas , David Johnson , Eli Gang
IPC分类号： A61B5/055
CPC分类号： A61B5/06 , A61B5/062 , A61B5/068 , A61B34/30 , A61B34/76 , A61B2034/2051 , A61B2034/301 , A61B2090/065
摘要： A tissue-contact seeking method and apparatus is described that enhances catheter position detection and control systems in making and maintaining continuous tissue contact in a highly dynamic frame, such as under the rigors of cardiac motion. Tissue-seeking logical routines use a tissue contact sensing system to advance a catheter to relatively continuous tissue contact, or detect obstacles, in cooperation with the catheter position detection and control systems. Additional logical routines are capable of optimizing the contact direction of the catheter tip by controlling the rotation angle and chamber position of the introducer.
摘要翻译：描述了组织接触寻求方法和装置，其增强了导管位置检测和控制系统，以在高度动态的框架（例如心脏运动的严格性）下制造和维持连续组织接触。组织寻求逻辑例程使用组织接触感测系统将导管推进到与导管位置检测和控制系统协作的相对连续的组织接触或检测障碍物。附加的逻辑程序能够通过控制导引器的旋转角度和腔室位置来优化导管尖端的接触方向。

16. 发明申请

US20140018792A1 METHOD AND APPARATUS FOR MAGNETICALLY GUIDED CATHETER FOR RENAL DENERVATION EMPLOYING MOSFET SENSOR ARRAY 审中-公开
标题翻译：用于使用MOSFET传感器阵列进行肾衰竭的磁导引导管的方法和装置
公开(公告)号：US20140018792A1
公开(公告)日：2014-01-16
申请号：US13549341
申请日：2012-07-13
申请人： Eli Gang , Yehoshua Josh Shachar
发明人： Eli Gang , Yehoshua Josh Shachar
IPC分类号： A61B18/14
CPC分类号： A61B18/1492 , A61B5/05 , A61B18/04 , A61B34/30 , A61B34/73 , A61B2018/00404 , A61B2018/00434 , A61B2018/00511 , A61B2018/00577 , A61B2018/00839
摘要： A system for a mapping and ablation catheter. The catheter includes a MOSFET sensor array that provides better fidelity of the signal measurements as well as data collection and reduces the error generated by spatial distribution of the isotropic and anisotropic wave fronts and error associated with near and far field's signal averages. The system maps the change in bioelectric potential in the vicinity of an activation wave front. During measurement, the manifold carrying the sensor array translates and rotates so as to achieve a measure of high potential employing an impedance value. The system of guiding and controlling the movement of the catheter distal end is able to deliver energy for ablating the renal artery nerve and thereby providing a safe and efficient method and apparatus for neuromodulation.
摘要翻译：一种映射和消融导管的系统。该导管包括MOSFET传感器阵列，其提供信号测量的更好的保真度以及数据收集，并且减少由各向同性和各向异性波阵面的空间分布产生的误差以及与近场和远场信号平均值相关的误差。该系统映射激活波前附近的生物电位变化。在测量期间，承载传感器阵列的歧管平移和旋转，以便采用阻抗值实现高电位的测量。引导和控制导管远端运动的系统能够输送用于消融肾动脉神经的能量，从而提供用于神经调节的安全有效的方法和装置。

17. 发明申请

US20130006100A1 METHOD AND APPARATUS FOR CONTROLLING CATHETER POSITIONING AND ORIENTATION 审中-公开
标题翻译：用于控制导管定位和定向的方法和装置
公开(公告)号：US20130006100A1
公开(公告)日：2013-01-03
申请号：US13440188
申请日：2012-04-05
申请人： Yehoshua Shachar , Bruce Marx , Leslie Farkas
发明人： Yehoshua Shachar , Bruce Marx , Leslie Farkas
IPC分类号： A61M25/095
CPC分类号： A61B5/06 , A61B5/062 , A61B5/7285 , A61B34/20 , A61B34/25 , A61B34/76 , A61B90/36 , A61B2017/00703 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051
摘要： A method and apparatus for detecting position and orientation of catheter distal magnetic element end while moving in a patient's heart is described. The apparatus comprising of four sensors, detecting the magnetic field of a generated by the catheter tip. Each sensor transmits the field magnitude and direction to a detection unit, which filters the signals and removes other field sources, such, as generated by CGCI coils and external medical hardware. The method allows the measurements of magnitude corresponding to the catheter tip distance from the sensor and the orientation of the field showing the magnetic tip orientation. Since the tip's magnetic field is not symmetric, the position and orientation computation technique are not independent of each other. Hence, an iterative calculation is used to converge to a solution.
摘要翻译：描述了一种用于在患者心脏中移动时检测导管远侧磁性元件端部的位置和方向的方法和装置。该装置包括四个传感器，用于检测由导管尖端产生的磁场。每个传感器将场强和方向传输到检测单元，该检测单元对信号进行滤波并去除其它场源，如由CGCI线圈和外部医疗硬件产生的。该方法允许测量对应于来自传感器的导管尖端距离的大小以及示出磁性尖端取向的场的取向。由于尖端的磁场不对称，位置和方向计算技术不是彼此独立的。因此，迭代计算用于收敛到解。

18. 发明申请

US20110091853A1 METHOD FOR SIMULATING A CATHETER GUIDANCE SYSTEM FOR CONTROL, DEVELOPMENT AND TRAINING APPLICATIONS 审中-公开
标题翻译：用于模拟控制，开发和培训应用的导管指导系统的方法
公开(公告)号：US20110091853A1
公开(公告)日：2011-04-21
申请号：US12582621
申请日：2009-10-20
申请人： Yehoshua Shachar , Bruce Mark , David Johnson , Leslie Farkas , Steven Kim
发明人： Yehoshua Shachar , Bruce Mark , David Johnson , Leslie Farkas , Steven Kim
IPC分类号： G09B23/28 , A61B5/00 , G09B9/00 , G05B13/04
CPC分类号： G09B23/285 , A61B5/061 , A61B34/20 , A61B34/35 , A61B2034/2051 , G05B13/048
摘要： A system is disclosed for incorporating a realistic simulated catheter or catheters within a catheter guidance and control system that operate from the same closed-loop position control feedback and geometric mapping data as the real position control system and are able to make contact with real and simulated datasets. These catheters may be operated in a pure simulation mode without interacting with real catheters and position control hardware, or may be used as control cursors to enhance the placement of catheter positioning targets. The catheter tip, which is focus of magnetic control, is realistically guided by the control system parameters, while the remainder of the catheter line is realistically constrained by the mapped chamber geometry and introducer sheath.
摘要翻译：公开了一种用于将真实的模拟导管或导管结合在导管引导和控制系统内的系统，其从与实际位置控制系统相同的闭环位置控制反馈和几何映射数据操作并且能够与实际和模拟的数据集。这些导管可以以纯仿真模式操作，而不与实际导管和位置控制硬件相互作用，或者可以用作控制光标以增强导管定位目标的放置。作为磁控制焦点的导管尖端由控制系统参数实际引导，而导管线的其余部分实际上受到映射室几何形状和引导器护套的约束。

19. 发明授权

US07873402B2 System and method for radar-assisted catheter guidance and control 失效
标题翻译：雷达辅助导管引导和控制的系统和方法
公开(公告)号：US07873402B2
公开(公告)日：2011-01-18
申请号：US11869668
申请日：2007-10-09
申请人： Yehoshua Shachar
发明人： Yehoshua Shachar
IPC分类号： A61B5/05
CPC分类号： A61B5/06 , A61B1/00158 , A61B5/064 , A61B5/7455 , A61B2034/732
摘要： A Catheter Guidance Control and Imaging (CGCI) system whereby a magnetic tip attached to a surgical tool is detected, displayed and influenced positionally so as to allow diagnostic and therapeutic procedures to be performed is described. The tools that can be so equipped include catheters, guidewires, and secondary tools such as lasers and balloons. The magnetic tip performs two functions. First, it allows the position and orientation of the tip to be determined by using a radar system such as, for example, a radar range finder or radar imaging system. Incorporating the radar system allows the CGCI apparatus to detect accurately the position, orientation and rotation of the surgical tool embedded in a patient during surgery. In one embodiment, the image generated by the radar is displayed with the operating room imagery equipment such as, for example, X-ray, Fluoroscopy, Ultrasound, MRI, CAT-Scan, PET-Scan, etc. In one embodiment, the image is synchronized with the aid of fiduciary markers located by a 6-Degrees of Freedom (6-DOF) sensor. The CGCI apparatus combined with the radar and the 6-DOF sensor allows the tool tip to be pulled, pushed, turned, and forcefully held in the desired position by applying an appropriate magnetic field external to the patient's body. A virtual representation of the magnetic tip serves as an operator control. This control possesses a one-to-one positional relationship with the magnetic tip inside the patient's body. Additionally, this control provides tactile feedback to the operator's hands in the appropriate axis or axes if the magnetic tip encounters an obstacle. The output of this control combined with the magnetic tip position and orientation feedback allows a servo system to control the external magnetic field.
摘要翻译：导管引导控制和成像（CGCI）系统，其中检测，显示和影响位置的附着于外科手术工具的磁尖以便允许执行诊断和治疗程序。可以配备的工具包括导管，导线和辅助工具，如激光和气球。磁头提供两个功能。首先，它允许通过使用诸如雷达测距仪或雷达成像系统的雷达系统确定尖端的位置和取向。结合雷达系统允许CGCI装置精确地检测手术中嵌入患者的手术工具的位置，方向和旋转。在一个实施例中，由诸如例如X射线，荧光透视，超声，MRI，CAT扫描，PET扫描等的手术室图像设备显示由雷达产生的图像。在一个实施例中，图像与通过6自由度（6自由度）传感器定位的受信标记的帮助同步。与雷达和6自由度传感器相结合的CGCI设备允许通过在患者身体外部施加适当的磁场来将工具尖端拉动，推动，转动并强制地保持在所需位置。磁尖端的虚拟表示作为操作者控制。该控制与患者体内的磁尖具有一对一的位置关系。此外，如果磁头遇到障碍物，该控制可以在适当的轴或轴上向驾驶员的手提供触觉反馈。该控制的输出结合磁头位置和方向反馈允许伺服系统控制外部磁场。

20. 发明授权

US07869854B2 Apparatus for magnetically deployable catheter with MOSFET sensor and method for mapping and ablation 有权
标题翻译：用于具有MOSFET传感器的磁性可展开导管的装置和用于映射和消融的方法
公开(公告)号：US07869854B2
公开(公告)日：2011-01-11
申请号：US11362542
申请日：2006-02-23
申请人： Yehoshua Shachar , Laszlo Farkas , Eli Gang
发明人： Yehoshua Shachar , Laszlo Farkas , Eli Gang
IPC分类号： A61B5/04
CPC分类号： A61B18/1492 , A61B5/0402 , A61B5/7285 , A61B6/541 , A61B8/543 , A61B34/20 , A61B34/73 , A61B2017/00026 , A61B2017/0011 , A61B2018/00214 , A61B2018/00839 , A61B2018/1467 , A61B2018/183 , A61B2034/2051 , A61B2034/301 , A61B2034/742
摘要： A mapping and ablation catheter is described. In one embodiment, the catheter includes a MOSFET sensor array that provides better fidelity of the signal measurements as well as data collection and reduces the error generated by spatial distribution of the isotropic and anisotropic wavefronts. In one embodiment, the system maps the change in potential in the vicinity of an activation wavefront. In one embodiment, the mapping system tracks the spread of excitation in the heart, with properties such as propagation velocity changes. In one embodiment, during measurement, the manifold carrying the sensor array expands from a closed position state to a deployable open state. Spatial variation of the electrical potential is captured by the system's ability to occupy the same three-dimensional coordinate set for repeated measurements of the desired site. In one embodiment, an interpolation algorithm tracks the electrogram data points to produce a map relative to the electrocardiogram data.
摘要翻译：描述了一种映射和消融导管。在一个实施例中，导管包括MOSFET传感器阵列，其提供信号测量的更好的保真度以及数据收集，并且减少由各向同性和各向异性波前面的空间分布产生的误差。在一个实施例中，系统映射激活波前附近的电位变化。在一个实施例中，映射系统利用诸如传播速度变化的特性跟踪心脏中激发的扩展。在一个实施例中，在测量期间，承载传感器阵列的歧管从关闭位置状态扩展到可展开状态。电位的空间变化由系统占据相同三维坐标组的能力来捕获，以重复测量所需位置。在一个实施例中，插值算法跟踪电描记图数据点以产生相对于心电图数据的图。

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