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41. 发明申请

US20080285909A1 OPTICAL FIBER SHAPE SENSING SYSTEMS 有权
标题翻译：光纤形状传感系统
公开(公告)号：US20080285909A1
公开(公告)日：2008-11-20
申请号：US12106254
申请日：2008-04-18
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： G02B6/00
CPC分类号： G02B6/022 , A61B5/1076 , A61B5/6852 , A61B2017/00039 , A61B2017/00053 , A61B2034/2061 , A61B2090/067
摘要： A medical instrument system includes an elongate flexible instrument body with an optical fiber substantially encapsulated in a wall of the instrument body, the optical fiber including one or more fiber gratings. A detector is operatively coupled to the optical fiber and configured to detect respective light signals reflected by the one or more fiber gratings. A controller is operatively coupled to the detector, and configured to determine a twist of at least a portion of the instrument body based on detected reflected light signals. The instrument may be a guide catheter and may be robotically or manually controlled.
摘要翻译：医疗仪器系统包括具有基本上封装在仪器主体的壁中的光纤的细长柔性仪器本体，所述光纤包括一个或多个光纤光栅。检测器可操作地耦合到光纤并且被配置为检测由一个或多个光纤光栅反射的各个光信号。控制器可操作地耦合到检测器，并且被配置为基于检测到的反射光信号来确定仪器主体的至少一部分的扭转。仪器可以是引导导管，并且可以是机器人或手动控制的。

42. 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。

43. 发明授权

US08317746B2 Automated alignment 有权
标题翻译：自动对齐
公开(公告)号：US08317746B2
公开(公告)日：2012-11-27
申请号：US12507777
申请日：2009-07-22
申请人： Christopher M. Sewell , Neal A. Tanner , Teresa Miller
发明人： Christopher M. Sewell , Neal A. Tanner , Teresa Miller
IPC分类号： A61M31/00
CPC分类号： A61B19/201 , A61B18/24 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/11 , A61B2017/003 , A61B2034/102 , A61B2034/2051 , A61B2034/301 , A61B2090/0818 , A61B2090/306 , A61B2090/3614
摘要： Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed.
摘要翻译：公开了系统和方法，其中细长医疗器械可以被注册到相邻的组织结构和其他结构，并且可以以协调的方式导航和操作，以最大化运动范围，易于使用和其他因素。用于相对于附近结构登记器械的方法可以包括将仪器的一部分在两个原位位置之间移动，在运动期间利用运动学模型和基于定位传感器的配置跟踪运动，确定跟踪部分相对对于运动学建模中使用的仪器坐标系以及定位坐标参考系，并且使用运动学模型和定位传感器来调整仪器坐标参考系的方位以最小化确定的方向之间的差异。还公开了用于导航耦合和登记的仪器组的方法和配置。

44. 发明授权

US08190292B2 High frequency feedback in telerobotics 有权
标题翻译：远程机器人的高频反馈
公开(公告)号：US08190292B2
公开(公告)日：2012-05-29
申请号：US11512759
申请日：2006-08-29
申请人： Gunter Niemeyer , Neal A. Tanner
发明人： Gunter Niemeyer , Neal A. Tanner
IPC分类号： G06F19/00 , G05B19/18
CPC分类号： B25J9/1689 , G05B2219/40144 , G05B2219/40407
摘要： Telerobotic systems with integrated high frequency feedback to enhance users' telerobotic experience are provided. The controller of the telerobotic system is characterized by combining high frequency information with low frequency position or velocity information. The controller is useful for teleoperations with delay and no-delay between the communication channels of the master and slave device.
摘要翻译：提供具有集成高频反馈的Telerobotic系统，以提高用户的远程运行经验。远程操作系统的控制器的特征在于将高频信息与低频位置或速度信息相结合。控制器对于主设备和从设备的通信通道之间的延迟和无延迟的远程操作是有用的。

45. 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。

46. 发明授权

US09254123B2 Flexible and steerable elongate instruments with shape control and support elements 有权
标题翻译：灵活和可操纵的细长仪器，具有形状控制和支撑元件
公开(公告)号：US09254123B2
公开(公告)日：2016-02-09
申请号：US12432683
申请日：2009-04-29
申请人： Jeffery B. Alvarez , Casey Lewis , Francis MacNamara , Enrique Romo , Neal A. Tanner , William K. Yee
发明人： Jeffery B. Alvarez , Casey Lewis , Francis MacNamara , Enrique Romo , Neal A. Tanner , William K. Yee
IPC分类号： A61B1/00 , A61M25/01 , A61B17/00 , A61B1/005 , A61B19/00
CPC分类号： A61B34/30 , A61B1/00078 , A61B1/0055 , A61B1/0057 , A61B17/00234 , A61B34/71 , A61B2017/00318 , A61B2017/00327 , A61B2034/301 , A61B2034/303 , A61M25/0136 , A61M25/0138 , A61M25/0144 , A61M25/0147 , A61M2025/015 , A61M2025/0161
摘要： An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member. Furthermore, the flex member may be configured to selectively decouple articulation or steering forces of a first portion of the elongate body away from a second portion of the elongate body; thereby, preventing compression of the second portion of the elongate body while maintaining elasticity or flexibility of the second portion of the elongate body.
摘要翻译：具有柔性和细长主体的器械包括至少一个内腔和设置在内腔内的柔性构件。柔性构件可以能够向细长主体的第一部分提供转向控制，同时向细长主体的第二部分提供承载支撑。拉线可以设置在柔性构件内，并且牵引线的至少远端部分可以联接到细长主体，并且拉线的近侧部分可以可操作地联接到控制单元。控制单元可以联接到细长主体的近端部分。此外，控制构件可以可操作地联接到控制单元，使得控制构件的远侧部分可以定位在柔性构件的近侧部分附近。控制构件可以被配置为支撑柔性构件并且控制柔性构件的运动或位移。此外，柔性构件可以被构造成选择性地将细长体的第一部分的铰接或转向力分离离开细长体的第二部分; 从而防止细长主体的第二部分的压缩，同时保持细长主体的第二部分的弹性或柔性。

47. 发明申请

US20120071752A1 USER INTERFACE AND METHOD FOR OPERATING A ROBOTIC MEDICAL SYSTEM 审中-公开
标题翻译：用户界面和操作机器人系统的方法
公开(公告)号：US20120071752A1
公开(公告)日：2012-03-22
申请号：US13174638
申请日：2011-06-30
申请人： Christopher M. Sewell , Neal A. Tanner , Sean P. Walker
发明人： Christopher M. Sewell , Neal A. Tanner , Sean P. Walker
IPC分类号： A61B6/00 , G06T3/60 , A61M25/092
CPC分类号： A61B34/20 , 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 , A61B2034/303 , A61B2034/715 , A61B2034/742 , G06T19/00 , G06T2210/41
摘要： System and methods for interfacing user in the control of elongated flexible members for use inside a patient's body is described herein. In one embodiment, a system includes a processor configured for generating a virtual representation of a catheter on a viewing screen, a first control for allowing a user to rotate the virtual representation of the catheter about a first axis, until a heading direction of the virtual representation of the catheter aligns with a heading direction of the catheter as it appears in a first fluoroscopic image, and a second control for allowing the user to rotate the virtual representation of the catheter about a second axis, until a tilt angle of the virtual representation of the catheter aligns with a tilt angle of the catheter as it appears in the first fluoroscopic image or in a second fluoroscopic image.
摘要翻译：这里描述了用于在用于控制在患者体内使用的细长柔性构件的用户中的接口的系统和方法。在一个实施例中，系统包括被配置为在观察屏幕上生成导管的虚拟表示的处理器，第一控制器，用于允许用户围绕第一轴线旋转导管的虚拟表示，直到虚拟的方向导管的表示与导管的朝向方向对齐，因为其出现在第一透视图像中，并且第二控制用于允许使用者围绕第二轴旋转导管的虚拟表示，直到虚拟表示的倾斜角的导管与第一透视图像中或第二透视图像中出现的导管的倾斜角对齐。

48. 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。

49. 发明申请

US20120191107A1 SYSTEMS AND METHODS FOR POSITIONING AN ELONGATE MEMBER INSIDE A BODY 审中-公开
标题翻译：用于定位身体内部的直立成员的系统和方法
公开(公告)号：US20120191107A1
公开(公告)日：2012-07-26
申请号：US13174536
申请日：2011-06-30
申请人： Neal A. Tanner , Teresa Miller , Christopher M. Sewell , Sean P. Walker
发明人： Neal A. Tanner , Teresa Miller , Christopher M. Sewell , Sean P. Walker
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , 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 , A61B2034/303 , A61B2034/715 , A61B2034/742 , G06T19/00 , G06T2210/41
摘要： Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.
摘要翻译：本文描述了用于在患者体内引入和驱动柔性构件的系统和方法。在一个实施例中，机器人方法包括定位具有预成形构型的柔性细长构件，其中柔性细长构件的至少一部分具有围绕其设置的第一构件，并且其中第一构件包括用于弯曲第一构件或用于将第一构件保持在弯曲构型中，释放第一线中的至少一些张力以松弛第一构件，并且在第一构件处于松弛构型的同时使第一构件相对于柔性细长构件向远侧前进。

50. 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。

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