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21. 发明授权

US08172747B2 Balloon visualization for traversing a tissue wall 有权
标题翻译：用于穿过组织壁的气球可视化
公开(公告)号：US08172747B2
公开(公告)日：2012-05-08
申请号：US10949032
申请日：2004-09-24
申请人： Daniel T. Wallace , Daniel T. Adams , Frederic H. Moll
发明人： Daniel T. Wallace , Daniel T. Adams , Frederic H. Moll
IPC分类号： A61B6/00
CPC分类号： A61B1/053 , A61B1/00082 , A61B5/0084
摘要： Systems and methods for controllably traversing a tissue wall. In one embodiment, a distal end of a catheter is positioned and/or repositioned utilizing direct visualization out the distal end of the catheter, as facilitated by an imaging element disposed within the distal tip of the catheter. An inflatable balloon may comprise a portion of the distal tip of the catheter for structural and/or visualization media purposes. A tissue traversing element may be forwarded through a working lumen defined by the catheter and controllably pushed through a tissue wall as observed with the imaging element. The tissue traversing element may comprise sensors and the like to facilitate monitoring of changes in pressure, color, oxygen saturation, flow rate, and echo timing, to determine the position of the tissue traversing member relative to the tissue wall.
摘要翻译：用于可控地穿过组织壁的系统和方法。在一个实施例中，通过设置在导管的远端中的成像元件来促进导管的远端，利用从导管的远端直接可视化来定位和/或重新定位导管。可充气气囊可以包括用于结构和/或可视化媒体目的的导管的远侧末端的一部分。组织移动元件可以通过由导管限定的工作腔进入，并且如通过成像元件所观察到的，可控地推动通过组织壁。组织移动元件可以包括传感器等，以便于监测压力，颜色，氧饱和度，流速和回波定时的变化，以确定组织横向构件相对于组织壁的位置。

22. 发明授权

US07963288B2 Robotic catheter system 有权
标题翻译：机器人导管系统
公开(公告)号：US07963288B2
公开(公告)日：2011-06-21
申请号：US11418398
申请日：2006-05-03
申请人： Craig R. Rosenberg , David F. Moore , Randall L. Schlesinger , Frederic H. Moll , Daniel T. Wallace
发明人： Craig R. Rosenberg , David F. Moore , Randall L. Schlesinger , Frederic H. Moll , Daniel T. Wallace
IPC分类号： A61B18/12
CPC分类号： A61B17/00234 , A61B17/0469 , A61B17/29 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B50/13 , A61B2017/00243 , A61B2017/003 , A61B2017/00323 , A61B2017/00477 , A61B2017/0472 , A61B2017/06057 , A61B2017/2905 , A61B2034/301 , A61M25/0113 , B33Y80/00
摘要： A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.
摘要翻译：机器人导管系统包括具有主输入装置的控制器。仪器驱动器与控制器通信，并且具有引导仪器接口，其包括响应于至少部分由主输入设备产生的控制信号的多个引导仪器驱动元件。细长的引导器具具有底座，远端和工作腔，其中导向仪器底座可操作地连接到导向仪器接口。导向仪器包括多个导向仪器控制元件，其可操作地联接到相应的引导驱动元件并固定到引导器械的远端。引导仪器控制元件相对于引导仪器可轴向移动，使得引导器械远端的移动可由主输入装置控制。

23. 发明授权

US5836871A Method for lifting a body wall using an inflatable lifting apparatus 失效
标题翻译：使用充气起重装置提升体壁的方法
公开(公告)号：US5836871A
公开(公告)日：1998-11-17
申请号：US660728
申请日：1996-06-10
申请人： Daniel T. Wallace , Jeffery A. Smith , Richard Mueller , Joseph Mandato , Frederic H. Moll
发明人： Daniel T. Wallace , Jeffery A. Smith , Richard Mueller , Joseph Mandato , Frederic H. Moll
IPC分类号： A61B17/00 , A61B17/02 , A61B17/22 , A61B17/30 , A61B17/32 , A61B17/34 , A61B19/00 , A61B19/02 , A61M29/02
CPC分类号： A61B17/3417 , A61B17/0218 , A61B17/0281 , A61B17/22032 , A61B90/50 , A61B17/3462 , A61B2017/00261 , A61B2017/00535 , A61B2017/00557 , A61B2017/306 , A61B2017/320048 , A61B2017/3486 , A61B2090/306
摘要： An apparatus deployed through a laparoscopic incision in a body wall to apply an external lifting force over a large area of the body wall. The apparatus comprises a body wall engaging element and an elongate lifting member. The body wall engaging element is capable of passing in a packaged state through the laparoscopic incision, is inflatable to an inflated state, and includes, in the inflated state, a plane lifting surface. The elongate lifting member includes a distal portion connected to the plane lifting surface, and capable of passing through the laparoscopic incision. A proximal portion receives the external lifting force in a direction that moves the body wall engaging element into contact with the body wall. A method for lifting a body wall by applying an external lifting force to a large area of the body wall through a laparoscopic incision. The lifting device is provided that includes an body wall engaging element capable of passing through the laparoscopic incision in a packaged state. The lifting device also includes a lifting member including a distal portion to which the body wall engaging element is connected. The body wall engaging element and the distal portion of the lifting member are advanced through the laparoscopic incision. The body wall engaging element is inflated to an inflated state to provide a plane lifting surface. Finally, the external lifting force is applied to the proximal portion of the lifting member to move the lifting surface into contact with the body wall.
摘要翻译：通过在体壁中的腹腔镜切口部署的装置，以将外部提升力施加在体壁的大面积上。该装置包括主体壁接合元件和细长提升构件。身体壁接合元件能够通过腹腔镜切口通过包装状态，可充气至充气状态，并且在膨胀状态下包括平面提升表面。细长提升构件包括连接到平面提升表面的远端部分，并且能够穿过腹腔镜切口。近端部分沿着使身体壁接合元件与身体壁接触的方向接收外部提升力。一种用于通过腹腔镜切口将大体积的外部提升力施加到身体壁上的方法。提供装置包括能够以包装状态通过腹腔镜切口的主体壁接合元件。提升装置还包括提升构件，其包括远侧部分，身体壁接合元件连接到该远端部分。提起构件的身体壁接合元件和远端部分通过腹腔镜切口前进。体壁接合元件被充气到充气状态以提供平面提升表面。最后，将外部提升力施加到提升构件的近端部分，以使提升表面与身体壁接触。

24. 发明授权

US5425357A Inflatable retraction devices for use in laparoscopic surgery 失效
标题翻译：用于腹腔镜手术的充气回缩装置
公开(公告)号：US5425357A
公开(公告)日：1995-06-20
申请号：US134573
申请日：1993-10-08
申请人： Frederic H. Moll , Daniel T. Wallace , Jeffrey A. Smith , David C. Forster , Albert K. Chin
发明人： Frederic H. Moll , Daniel T. Wallace , Jeffrey A. Smith , David C. Forster , Albert K. Chin
IPC分类号： A61B1/32 , A61B17/00 , A61B17/02 , A61B17/03 , A61B17/22 , A61B17/30 , A61B17/32 , A61B17/34 , A61B19/00 , A61B19/02
CPC分类号： A61B17/3417 , A61B17/0218 , A61B17/0281 , A61B17/22032 , A61B90/50 , A61B17/3462 , A61B2017/00261 , A61B2017/00535 , A61B2017/00557 , A61B2017/306 , A61B2017/320048 , A61B2017/3486 , A61B2090/306 , Y10T156/1003
摘要： An apparatus for retracting an organ to gain access to treat a tissue. The apparatus has a main envelope, a second envelope, a first inflation device and a second inflation device. The main envelope encloses a main chamber, and includes a window and a removable window. The second envelope covers substantially all the main envelope, except the window and the removable window. The second envelope and the main envelope enclose a second chamber outside the main chamber. The first inflation device passes a fluid into the main chamber to expand the main chamber and the second chamber from a compacted state to retract the organ. The second inflation device passes a fluid into the second chamber to further expand the second chamber to maintain the organ in its retracted state after fluid has been released from the main chamber.
摘要翻译：一种用于收回器官以获得治疗组织的装置。该装置具有主信封，第二信封，第一充气装置和第二充气装置。主信封包围一个主室，并包括一个窗口和一个可拆卸的窗户。除了窗户和可拆卸的窗户之外，第二个信封基本覆盖了所有的主信封。第二信封和主信封包围主室外的第二室。第一充气装置将流体传递到主室中以使主室和第二室从压实状态扩展以收缩器官。第二充气装置将流体传递到第二腔室中以进一步扩张第二腔室，以在液体已经从主腔室释放之后保持器官处于其缩回状态。

25. 发明授权

US08005537B2 Robotically controlled intravascular tissue injection system 有权
标题翻译：机器人控制的血管内组织注射系统
公开(公告)号：US08005537B2
公开(公告)日：2011-08-23
申请号：US11202925
申请日：2005-08-12
申请人： Edwin J. Hlavka , Daniel T. Wallace , Frederic H. Moll
发明人： Edwin J. Hlavka , Daniel T. Wallace , Frederic H. Moll
IPC分类号： A61N1/30
CPC分类号： A61B18/1492 , A61B17/00234 , A61B17/3478 , A61B18/1477 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B2017/00199 , A61B2017/00243 , A61B2017/00292 , A61B2018/1425 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2034/742 , A61B2090/065 , A61B2090/378
摘要： A robotic catheter system includes a controller including a master input device and instrument driver in communication with the controller. An elongate flexible guide instrument is operatively coupled to the instrument driver. A fluid injection needle may be advanced from, or retracted into, a distal portion of the guide instrument.
摘要翻译：机器人导管系统包括控制器，其包括与控制器通信的主输入装置和仪器驱动器。细长的柔性引导仪器可操作地耦合到仪器驱动器。流体注射针可以从导向器械的远端部分前进或缩进。

26. 发明授权

US07125403B2 In vivo accessories for minimally invasive robotic surgery 有权
公开(公告)号：US07125403B2
公开(公告)日：2006-10-24
申请号：US10116504
申请日：2002-04-03
申请人： Christopher A. Julian , Daniel T. Wallace , Frederic H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
发明人： Christopher A. Julian , Daniel T. Wallace , Frederic H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B18/18 , A61B1/00149 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/06061 , A61B17/062 , A61B17/064 , A61B17/068 , A61B17/11 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B17/32053 , A61B17/54 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B90/36 , A61B90/361 , A61B2017/00252 , A61B2017/00287 , A61B2017/00362 , A61B2017/00473 , A61B2017/00477 , A61B2017/0243 , A61B2017/1107 , A61B2017/1135 , A61B2017/2825 , A61B2017/2829 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929 , A61B2017/2931 , A61B2017/2937 , A61B2017/294 , A61B2017/2946 , A61B2034/305 , B66C23/48
摘要： Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical clips for use with a clip applier, single working member accessories such as a blade which can be grasped and manipulated by a grasping tool for cutting, sheath accessories that fit over working members of a tool, flow tubes for providing suction or introducing a fluid into the surgical site, and a retraction member resiliently biased to retract a tissue to expose an area in the surgical site for treatment. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.

27. 发明授权

US06309397B1 Accessories for minimally invasive robotic surgery and methods 有权
标题翻译：用于微创机器人手术和方法的附件
公开(公告)号：US06309397B1
公开(公告)日：2001-10-30
申请号：US09453978
申请日：1999-12-02
申请人： Christopher A. Julian , Daniel T. Wallace , Frederic H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
发明人： Christopher A. Julian , Daniel T. Wallace , Frederic H. Moll , Dean F. Hoornaert , David J. Rosa , John G. Freund , John W. Hill
IPC分类号： A61B1900
CPC分类号： A61B17/062 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/064 , A61B17/068 , A61B17/1285 , A61B17/29 , A61B17/320016 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B2017/00265 , A61B2017/00349 , A61B2017/00362 , A61B2017/00477 , A61B2017/2825 , A61B2017/2829 , A61B2017/2931 , A61B2034/305
摘要： Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical clips for use with a clip applier, single working member accessories such as a blade which can be grasped and manipulated by a grasping tool for cutting, sheath accessories that fit over working members of a tool, flow tubes for providing suction or introducing a fluid into the surgical site, and a retraction member resiliently biased to retract a tissue to expose an area in the surgical site for treatment. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.
摘要翻译：手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。体内附件的实例包括紧固附件，例如用于夹子施放器的手术夹子，单个工作构件附件，例如可被抓取工具抓握并操纵的刀片，用于切割，护套附件适合工具的工作构件用于提供抽吸或将流体引入手术部位的流动管，以及弹性偏压以缩回组织以露出外科手术部位中用于治疗的区域的缩回构件。附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。

28. 发明授权

US5575759A Methods of using inflatable retraction devices in laparoscopic surgery 失效
标题翻译：腹腔镜手术中使用充气回缩装置的方法
公开(公告)号：US5575759A
公开(公告)日：1996-11-19
申请号：US457396
申请日：1995-06-01
申请人： Frederic H. Moll , Daniel T. Wallace , Jeffrey A. Smith , David C. Forster , Albert K. Chin
发明人： Frederic H. Moll , Daniel T. Wallace , Jeffrey A. Smith , David C. Forster , Albert K. Chin
IPC分类号： A61B1/32 , A61B17/00 , A61B17/02 , A61B17/03 , A61B17/22 , A61B17/30 , A61B17/32 , A61B17/34 , A61B19/00 , A61B19/02
CPC分类号： A61B17/3417 , A61B17/0218 , A61B17/0281 , A61B17/22032 , A61B90/50 , A61B17/3462 , A61B2017/00261 , A61B2017/00535 , A61B2017/00557 , A61B2017/306 , A61B2017/320048 , A61B2017/3486 , A61B2090/306 , Y10T156/1003
摘要： Apparatus for retracting an organ to gain access to treat a tissue. The apparatus has a main envelope, a second envelope, a first inflation device and a second inflation device. The main envelope encloses a main chamber, and includes a window and a removable window. The second envelope covers substantially all the main envelope, except the window and the removable window. The second envelope and the main envelope enclose a second chamber outside the main chamber. The first inflation device passes a fluid into the main chamber to expand the main chamber and the second chamber from a compacted state to retract the organ. The second inflation device passes a fluid into the second chamber to further expand the second chamber to maintain the organ in its retracted state after fluid has been released from the main chamber.
摘要翻译：用于收回器官以获得治疗组织的装置。该装置具有主信封，第二信封，第一充气装置和第二充气装置。主信封包围一个主室，并包括一个窗口和一个可拆卸的窗户。除了窗户和可拆卸的窗户之外，第二个信封基本覆盖了所有的主信封。第二信封和主信封包围主室外的第二室。第一充气装置将流体传递到主室中以使主室和第二室从压实状态扩展以收缩器官。第二充气装置将流体传递到第二腔室中以进一步扩张第二腔室，以在液体已经从主腔室释放之后保持器官处于其缩回状态。

29. 发明授权

US08311626B2 Robotically controlled intravascular tissue injection system 有权
标题翻译：机器人控制的血管内组织注射系统
公开(公告)号：US08311626B2
公开(公告)日：2012-11-13
申请号：US13188312
申请日：2011-07-21
申请人： Edwin J. Hlavka , Daniel T. Wallace , Frederic H. Moll
发明人： Edwin J. Hlavka , Daniel T. Wallace , Frederic H. Moll
IPC分类号： A61N1/30
CPC分类号： A61B18/1492 , A61B17/00234 , A61B17/3478 , A61B18/1477 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B2017/00199 , A61B2017/00243 , A61B2017/00292 , A61B2018/1425 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2034/742 , A61B2090/065 , A61B2090/378
摘要： A robotic catheter system includes a controller including a master input device and instrument driver in communication with the controller. An elongate flexible guide instrument is operatively coupled to the instrument driver. A fluid injection needle may be advanced from, or retracted into, a distal portion of the guide instrument.
摘要翻译：机器人导管系统包括控制器，其包括与控制器通信的主输入装置和仪器驱动器。细长的柔性引导仪器可操作地耦合到仪器驱动器。流体注射针可以从导向器械的远端部分前进或缩进。

30. 发明申请

US20120016291A1 ROBOTICALLY CONTROLLED INTRAVASCULAR TISSUE INJECTION SYSTEM 有权
标题翻译：机器人控制的体内组织注射系统
公开(公告)号：US20120016291A1
公开(公告)日：2012-01-19
申请号：US13188312
申请日：2011-07-21
申请人： Edwin J. Hlavka , Daniel T. Wallace , Frederic H. Moll
发明人： Edwin J. Hlavka , Daniel T. Wallace , Frederic H. Moll
IPC分类号： A61M25/092 , A61M37/00
CPC分类号： A61B18/1492 , A61B17/00234 , A61B17/3478 , A61B18/1477 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B2017/00199 , A61B2017/00243 , A61B2017/00292 , A61B2018/1425 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2034/742 , A61B2090/065 , A61B2090/378
摘要： A robotic catheter system includes a controller including a master input device and instrument driver in communication with the controller. An elongate flexible guide instrument is operatively coupled to the instrument driver. A fluid injection needle may be advanced from, or retracted into, a distal portion of the guide instrument.
摘要翻译：机器人导管系统包括控制器，其包括与控制器通信的主输入装置和仪器驱动器。细长的柔性引导仪器可操作地耦合到仪器驱动器。流体注射针可以从导向器械的远端部分前进或缩进。

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