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31. 发明授权

US09726476B2 Fiber optic instrument orientation sensing system and method 有权
公开(公告)号：US09726476B2
公开(公告)日：2017-08-08
申请号：US13603048
申请日：2012-09-04
申请人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
发明人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
IPC分类号： A61B5/00 , G01B11/16 , A61B5/06 , A61B6/12 , A61B1/00 , G01L1/24 , A61B8/08 , A61B18/08 , A61B8/00 , A61B90/96 , A61B34/37 , A61B90/98 , A61B34/00 , A61M25/01 , A61B34/20 , A61B34/30 , A61B90/00 , A61B17/00
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an image capture device, an elongate body, an optical fiber and a controller is provided. The elongate body is operatively coupled to the image capture device. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The controller is operatively coupled to the optical fiber and adapted to receive a signal from the strain sensor and to determine a position or orientation of the image capture device based on the signal.

32. 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。

33. 发明申请

US20130085331A1 SYSTEM AND METHOD FOR SELECTIVE MEASUREMENT OF FIBER OPTIC INSTRUMENT SENSORS 审中-公开
标题翻译：光纤仪器传感器的选择性测量系统和方法
公开(公告)号：US20130085331A1
公开(公告)日：2013-04-04
申请号：US13602990
申请日：2012-09-04
申请人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
发明人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
IPC分类号： A61B1/00
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an elongate body, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a plurality of strain sensors provided on the optical fiber. The controller is operatively coupled to the optical fiber and adapted to obtain signals from one of the plurality of strain sensors more frequently than from another of the plurality of strain sensors and to determine a position of the elongate body based on the obtained signals from the one of the plurality of strain sensors.
摘要翻译：提供一种包括细长体，光纤和控制器的仪器系统。光纤可操作地耦合到细长主体并且具有设置在光纤上的多个应变传感器。控制器可操作地耦合到光纤并且适于从多个应变传感器中的另一个应变传感器获得来自多个应变传感器之一的信号，而不是从多个应变传感器中的另一个获得信号，并且基于从所述多个应变传感器获得的信号来确定细长体的位置的多个应变传感器。

34. 发明申请

US20120323115A1 OPTICAL FIBER INSTRUMENT SYSTEM FOR DYNAMIC RECALIBRATION 审中-公开
标题翻译：用于动态调节的光纤仪器系统
公开(公告)号：US20120323115A1
公开(公告)日：2012-12-20
申请号：US13594566
申请日：2012-08-24
申请人： Robert G. Younge , Bhaskar S. Ramamurthy , Randall L. Schlesinger , Neal A. Tanner
发明人： Robert G. Younge , Bhaskar S. Ramamurthy , Randall L. Schlesinger , Neal A. Tanner
IPC分类号： A61B6/00 , A61M25/092
CPC分类号： A61B5/06 , A61B5/065 , A61B34/20 , A61B2017/00243 , A61B2034/2046 , A61B2034/2051 , A61B2034/2072 , A61B2090/0812
摘要： A method for tracking an elongate body is provided. The method includes determining a spatial relationship between an elongate body and an optical fiber, wherein the optical fiber is located in a structure having a substantially constant shape; receiving a signal from a strain sensor provided on the optical fiber; and determining, based on the signal, whether a position of the optical fiber relative to the structure has changed.
摘要翻译：提供了一种跟踪细长体的方法。该方法包括确定细长主体和光纤之间的空间关系，其中光纤位于具有基本恒定形状的结构中; 从设置在光纤上的应变传感器接收信号; 以及基于所述信号确定所述光纤相对于所述结构的位置是否已经改变。

35. 发明申请

US20120321243A1 OPTICAL FIBER INSTRUMENT SYSTEM FOR DETECTING AND DECOUPLING TWIST EFFECTS 有权
标题翻译：用于检测和解除TWIT效应的光纤仪器系统
公开(公告)号：US20120321243A1
公开(公告)日：2012-12-20
申请号：US13594664
申请日：2012-08-24
申请人： Robert G. Younge , Bhaskar S. Ramamurthy , Neal A. Tanner , Randall L. Schlesinger , Eric Udd
发明人： Robert G. Younge , Bhaskar S. Ramamurthy , Neal A. Tanner , Randall L. Schlesinger , Eric Udd
IPC分类号： G01L1/24
CPC分类号： G02B6/022 , A61B5/1076 , A61B5/6852 , A61B2017/00039 , A61B2017/00053 , A61B2034/2061 , A61B2090/067
摘要： An instrument system that includes an elongate body, an optical fiber, and a detector is provided. The elongate body is capable of being twisted. The optical fiber includes a first portion coupled to the elongate body and a second portion having a curved shape adapted to reduce transfer of twisting or bending from the elongate body to the second portion, the second portion having a strain sensor provided thereon. The detector is coupled to the optical fiber and adapted to receive a signal from the strain sensor.
摘要翻译：提供了一种包括细长体，光纤和检测器的仪器系统。伸长的主体能扭曲。光纤包括耦合到细长主体的第一部分和具有弯曲形状的第二部分，该第二部分具有适于减小从细长主体到第二部分的扭转或弯曲的传递，第二部分具有设置在其上的应变传感器。检测器耦合到光纤并且适于接收来自应变传感器的信号。

36. 发明申请

US20120316432A1 OPTICAL FIBER INSTRUMENT SYSTEM FOR DETECTING TWIST OF ELONGATED INSTRUMENTS 有权
标题翻译：用于检测伸长的仪器的光纤的光纤仪器系统
公开(公告)号：US20120316432A1
公开(公告)日：2012-12-13
申请号：US13594646
申请日：2012-08-24
申请人： Robert G. Younge , Bhaskar S. Ramamurthy , Neal A. Tanner , Randall L. Schlesinger , Eric Udd
发明人： Robert G. Younge , Bhaskar S. Ramamurthy , Neal A. Tanner , Randall L. Schlesinger , Eric Udd
IPC分类号： A61B6/00 , G02B6/00
CPC分类号： G02B6/022 , A61B5/1076 , A61B5/6852 , A61B2017/00039 , A61B2017/00053 , A61B2034/2061 , A61B2090/067
摘要： An instrument system that includes an elongate body and an optical fiber is provided. The elongate body has a longitudinal axis and capable of being twisted about the longitudinal axis. The optical fiber is operatively coupled with the elongate body and having a strain sensor provided thereon. The strain sensor is configured to indicate twist of the elongate body.
摘要翻译：提供了一种包括细长体和光纤的仪器系统。细长主体具有纵向轴线并且能够围绕纵向轴线扭曲。光纤与细长主体可操作地耦合并且具有设置在其上的应变传感器。应变传感器构造成指示细长体的扭转。

37. 发明授权

US08290571B2 Auxiliary cavity localization 有权
标题翻译：辅助腔定位
公开(公告)号：US08290571B2
公开(公告)日：2012-10-16
申请号：US12507706
申请日：2009-07-22
申请人： Robert G. Younge , Bhaskar S. Ramamurthy , Randall L. Schlesinger , Neal A. Tanner
发明人： Robert G. Younge , Bhaskar S. Ramamurthy , Randall L. Schlesinger , Neal A. Tanner
IPC分类号： A61B5/00
CPC分类号： A61B5/06 , A61B5/065 , A61B34/20 , A61B2017/00243 , A61B2034/2046 , A61B2034/2051 , A61B2034/2072 , A61B2090/0812
摘要： A method and system for maintaining calibration of a distributed localization system are presented. After a baseline calibration of sensors distributed on a working instrument and reference instrument, if movement of the reference instrument is detected, shape sensing data from a Bragg shape sensing fiber also coupled to the reference instrument may be utilized to recalibrate the localization system. The reference instrument preferably is located intraoperatively in a relatively constrained anatomical environment, such as in the coronary sinus of the heart, to prevent significant movement.
摘要翻译：提出了一种用于维护分布式定位系统校准的方法和系统。在分布在工作仪器和参考仪器上的传感器进行基线校准后，如果检测到参考仪器的移动，则可以利用来自参考仪器的布拉格形状传感光纤的形状感测数据来重新校准定位系统。参考仪器优选地在手术中位于相对受限的解剖环境中，例如在心脏的冠状窦中，以防止显着的运动。

38. 发明申请

US20110295268A1 SYSTEM AND METHOD FOR AUTOMATED MASTER INPUT SCALING 审中-公开
标题翻译：自动主输入放大系统与方法
公开(公告)号：US20110295268A1
公开(公告)日：2011-12-01
申请号：US12833935
申请日：2010-07-09
申请人： Matthew J. Roelle , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Neal A. Tanner , Daniel T. Wallace
发明人： Matthew J. Roelle , Federico Barbagli , Christopher R. Carlson , Alex Goldenberg , Neal A. Tanner , Daniel T. Wallace
IPC分类号： A61B19/00
CPC分类号： B25J9/1689 , A61B18/1492 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/76 , A61B34/77 , A61B2017/00057 , A61B2017/0007 , A61B2017/00084 , A61B2017/00123 , A61B2017/00477 , A61B2018/00678 , A61B2018/00702 , A61B2018/00708 , A61B2018/00779 , A61B2018/00791 , A61B2018/00839 , A61B2034/301 , A61B2090/062 , A61B2090/064 , A61B2090/065
摘要： Embodiments are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic medical instrument system, comprising an elongate instrument having proximal and distal ends; a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move the instrument; a master input device in communication with the controller and configured to generate input commands in response to a directional movement of the master input device; and a load sensor operatively coupled to the elongate instrument and configured to sense magnitude and direction of loads applied to the distal end of the elongate instrument; wherein the controller is configured to compute an instrument movement command to selectively move the instrument based upon the input commands and an input command scaling factor applied to the input commands, the input command scaling factor being variable with the magnitude of sensed loads.
摘要翻译：描述了用于自动化患者的微创治疗治疗方面的实施例。一种机器人医疗器械系统，包括具有近端和远端的细长器械; 控制器，被配置为选择性地致动一个或多个可操作地耦合到所述仪器的电机，从而选择性地移动所述仪器; 与所述控制器通信并被配置为响应于主输入设备的定向移动而产生输入命令的主输入设备; 以及负载传感器，其操作地耦合到所述细长仪器并且被配置为感测施加到所述细长仪器的远端的负载的大小和方向; 其中所述控制器被配置为基于所述输入命令和施加到所述输入命令的输入命令缩放因子来计算仪器移动命令以选择性地移动所述仪器，所述输入命令缩放因子随所感测负载的大小而变化。

39. 发明申请

US20100228191A1 LOCKABLE SUPPORT ASSEMBLY AND METHOD 审中-公开
标题翻译：可靠的支持组件和方法
公开(公告)号：US20100228191A1
公开(公告)日：2010-09-09
申请号：US12398763
申请日：2009-03-05
申请人： Jeffery B. Alvarez , Enrique Romo , Neal A. Tanner
发明人： Jeffery B. Alvarez , Enrique Romo , Neal A. Tanner
IPC分类号： A61M37/00 , A61M25/00
CPC分类号： A61M25/0105 , A61B1/0055 , A61B1/0057 , A61B1/01 , A61M25/0138 , A61M25/0147 , A61M2025/0161
摘要： Assemblies and methods related to controllably lockable support structures are described. An assembly may comprise an interface defined by two adjacent tubular structures whereby the adjacent structures may be spatially locked and unlocked relative to each other with application of a load. The tubular structures may comprise one or more spring members configured to deflect with application of a load greater than a preconfigured threshold, thereby causing a locking state of the interface to change from a first locking state to a second locking state. Embodiments are described wherein such load may be a tensile and/or compressive load. Various embodiments are described wherein an interface may be locked without application of a load and unlocked upon application of the requisite load, or locked only after application of a load.
摘要翻译：描述了与可控制的可锁定支撑结构相关的组件和方法。组件可以包括由两个相邻的管状结构限定的接口，由此相邻结构可以通过施加负载而相对于彼此在空间上锁定和解锁。管状结构可以包括一个或多个弹簧构件，所述弹簧构件配置成在施加大于预配置阈值的载荷时偏转，从而导致界面的锁定状态从第一锁定状态改变到第二锁定状态。描述了实施例，其中这种负载可以是拉伸和/或压缩载荷。描述了各种实施例，其中可以在不施加负载的情况下锁定接口并且在施加必需的负载时被解锁，或者仅在施加负载之后被锁定。

40. 发明授权

US09441954B2 System and method for calibration of optical fiber instrument 有权
标题翻译：光纤仪器校准系统及方法
公开(公告)号：US09441954B2
公开(公告)日：2016-09-13
申请号：US13603095
申请日：2012-09-04
申请人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
发明人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
IPC分类号： A61B8/00 , A61B5/06 , G01B11/16 , A61B6/12 , A61B1/00 , G01L1/24 , A61B8/08 , A61B18/08 , A61B5/00 , A61M25/01
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an elongate body in a geometric configuration, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber, wherein at least a portion of the optical fiber is in the geometric configuration. The controller is operatively coupled to the optical fiber and adapted to receive, from a source other than the optical fiber, information indicative of the geometric configuration, receive a signal from the strain sensor, and associate the signal with the geometric configuration.
摘要翻译：提供一种包括几何配置的细长主体，光纤和控制器的仪器系统。光纤可操作地耦合到细长主体并且具有设置在光纤上的应变传感器，其中光纤的至少一部分处于几何构型。控制器可操作地耦合到光纤并且适于从除光纤之外的源接收指示几何配置的信息，从应变传感器接收信号，并将信号与几何配置相关联。

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