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31. 发明申请

US20110015484A1 ENDOSCOPIC ROBOTIC CATHETER SYSTEM 审中-公开
公开(公告)号：US20110015484A1
公开(公告)日：2011-01-20
申请号：US12504569
申请日：2009-07-16
申请人： Jeffrey B. Alvarez , Federico Barbagli , Christopher R. Carlson , Gregory J. Stahler , Neal A. Tanner
发明人： Jeffrey B. Alvarez , Federico Barbagli , Christopher R. Carlson , Gregory J. Stahler , Neal A. Tanner
IPC分类号： A61B1/04 , A61B1/06 , A61M25/00
CPC分类号： A61B1/307 , A61B18/24 , A61B34/30 , A61B2017/00477 , A61B2034/301 , A61B2090/306 , A61B2090/3614 , A61M25/0105
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 elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The 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.

32. 发明申请

US20110015483A1 ENDOSCOPIC ROBOTIC CATHETER SYSTEM 审中-公开
标题翻译：内窥镜机械导管系统
公开(公告)号：US20110015483A1
公开(公告)日：2011-01-20
申请号：US12504564
申请日：2009-07-16
申请人： Federico Barbagli , Gregory J. Stahler , Christopher M. Sewell , Christopher R. Carlson
发明人： Federico Barbagli , Gregory J. Stahler , Christopher M. Sewell , Christopher R. Carlson
IPC分类号： A61B1/00
CPC分类号： A61B1/307 , A61B18/24 , A61B34/30 , A61B2017/00477 , A61B2017/2212 , A61B2034/105 , A61B2034/301 , A61B2090/306 , A61B2090/3614 , A61B2090/374 , A61B2090/376 , A61B2090/378
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 elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The 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，并且具有细长的仪器接口，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仪器驱动元件。细长仪器具有基部，远端和工作腔，其中导向仪器基座可操作地联接到导向仪器接口。细长器械优选地包括和/或限定其他腔体，以适应诸如光学束，光束，激光光纤和冲洗冲洗的仪器。工作管腔优选地构造成容纳用于诸如肾结石干预的过程中的抓握或捕获工具，例如可折叠篮或抓紧器。细长仪器包括多个仪器控制元件，其操作上联接到相应的驱动元件并固定到仪器的远端。仪器控制元件相对于引导仪器可轴向移动，使得导向仪器远端的运动可以由主输入装置控制。

33. 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。

34. 发明申请

US20120071895A1 ANTI-BUCKLING MECHANISMS AND METHODS 有权
标题翻译：抗起球机制及方法
公开(公告)号：US20120071895A1
公开(公告)日：2012-03-22
申请号：US13174563
申请日：2011-06-30
申请人： Gregory J. Stahler , Enrique Romo , Aaron M. Weiss
发明人： Gregory J. Stahler , Enrique Romo , Aaron M. Weiss
IPC分类号： A61B19/00
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： Anti-buckling devices for supporting flexible elongated members are described herein. In one variation, an anti-buckling device includes a first coupler for coupling to a first device, a second coupler for coupling to a second device that is configured to position a catheter member, a first set of support members coupled between the first coupler and the second coupler, and a plurality of holders coupled to the support members, the holders configured for supporting the catheter member, wherein the first set of support members form a support frame that can be extended by moving the first and second couplers away from each other, and can be collapsed by moving the first and second couplers towards each other.
摘要翻译：本文描述了用于支撑柔性细长构件的抗弯曲装置。在一个变型中，抗弯曲装置包括用于联接到第一装置的第一联接器，用于联接到构造成定位导管构件的第二装置的第二联接器，联接在第一联接器和第二联接器之间的第一组支撑构件所述第二联接器以及联接到所述支撑构件的多个保持器，所述保持器被构造成用于支撑所述导管构件，其中所述第一组支撑构件形成支撑框架，所述支撑框架可以通过使所述第一和第二联接器彼此远离地移动而被延伸并且可以通过朝向彼此移动第一和第二耦合器来折叠。

35. 发明申请

US20110015648A1 ENDOSCOPIC ROBOTIC CATHETER SYSTEM 审中-公开
公开(公告)号：US20110015648A1
公开(公告)日：2011-01-20
申请号：US12504559
申请日：2009-07-16
申请人： Jeffery B. Alvarez , Gregory J. Stahler , Federico Barbagli , Christopher R. Carlson
发明人： Jeffery B. Alvarez , Gregory J. Stahler , Federico Barbagli , Christopher R. Carlson
IPC分类号： A61B19/00
CPC分类号： A61B17/221 , A61B17/22031 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/361 , A61B2017/00477 , A61B2017/22035 , A61B2017/2212 , A61B2034/105 , A61B2034/301 , A61B2090/306 , A61B2090/3614 , A61B2090/376
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 elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The 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.

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