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1. 发明授权

US08805490B2 Method of scaling navigation signals to account for impedance drift in tissue 有权
标题翻译：缩放导航信号以考虑组织中的阻抗漂移的方法
公开(公告)号：US08805490B2
公开(公告)日：2014-08-12
申请号：US12986409
申请日：2011-01-07
申请人： John A. Hauck
发明人： John A. Hauck
IPC分类号： A61B5/05
CPC分类号： A61B5/053 , A61B5/0538 , A61B5/063 , A61B2034/2053 , Y10T29/49004
摘要： A method for scaling the impedance measured during the course of an electrophysiology study accounts for impedance drifts. By scaling the impedance there is greater assurance that previously recorded positional information can be used to accurately relocate an electrode at a prior visited position. The scale factor may be based upon a mean value across several sensing electrodes. Alternatively, the scale factor may be calculated specifically with respect to an orientation of a dipole pair of driven electrodes.
摘要翻译：在电生理学研究过程中测量的阻抗的缩放方法考虑了阻抗漂移。通过缩放阻抗，可以确保先前记录的位置信息可以用于在先前访问位置处精确地重新定位电极。比例因子可以基于跨几个感测电极的平均值。或者，可以相对于驱动电极的偶极子对的取向来具体地计算比例因子。

2. 发明申请

US20140155721A1 CORRECTION OF SHIFT AND DRIFT IN IMPEDANCE-BASED MEDICAL DEVICE NAVIGATION USING MEASURED IMPEDANCES AT EXTERNAL PATCH ELECTRODES 有权
标题翻译：使用外部贴片电极测量的阻抗进行基于阻抗的医疗设备导航中的移位和移位校正
公开(公告)号：US20140155721A1
公开(公告)日：2014-06-05
申请号：US13690737
申请日：2012-11-30
申请人： John A. Hauck , Jeffrey A. Schweitzer , Lev A. Koyrakh
发明人： John A. Hauck , Jeffrey A. Schweitzer , Lev A. Koyrakh
IPC分类号： A61B5/06
CPC分类号： A61B5/063 , A61B5/053 , A61B5/6801 , A61B5/742
摘要： A system and method are provided for determining characteristics of a device electrode disposed on a medical device within a body. A plurality of measurement electrodes are coupled to an external surface of the body and establish transmission paths for current through the body. An electronic control unit (ECU) is configured to cause transmission of current between a pair of active electrodes selected from the measurement electrodes and thereby generate a voltage on the device electrode. The ECU receives impedance signals from a plurality of passive electrodes among the measurement electrodes other than the active electrodes. The ECU establishes a virtual reference electrode at a reference position within the body responsive to the impedance signals and computes a position of the device responsive to the voltage on the device electrode and the reference position of the reference electrode. The ECU may also compute impedances at the device and measurement electrodes.
摘要翻译：提供了一种用于确定设置在身体内的医疗装置上的装置电极的特性的系统和方法。多个测量电极耦合到身体的外表面并建立用于通过身体的电流的传输路径。电子控制单元（ECU）被配置为在从测量电极中选择的一对有源电极之间引起电流的传输，从而在器件电极上产生电压。 ECU从除了有源电极之外的测量电极中的多个无源电极接收阻抗信号。 ECU根据阻抗信号在主体内的参考位置建立虚拟参考电极，并根据器件电极上的电压和参考电极的参考位置计算器件的位置。 ECU还可以计算设备和测量电极处的阻抗。

3. 发明授权

US08663133B2 Portable system for assisting body movement 有权
标题翻译：用于协助身体运动的便携式系统
公开(公告)号：US08663133B2
公开(公告)日：2014-03-04
申请号：US12456196
申请日：2009-06-12
申请人： Douglas E. Johnson , John A. Hauck , Odd Osland , Mark T. Johnson
发明人： Douglas E. Johnson , John A. Hauck , Odd Osland , Mark T. Johnson
IPC分类号： A61G99/00
CPC分类号： A61D3/00 , A61F5/24 , A61H3/00 , A61H3/008 , A61H3/04 , A61H9/0057 , A61H9/0078 , A61H2201/1616 , A61H2201/1621 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/5071 , A61H2203/03 , A61H2205/08 , A61H2205/10 , A61H2209/00 , A63B21/00181 , A63B22/02 , A63B22/20 , A63B69/0064 , A63B71/0009 , A63B2022/0094 , A63B2208/05 , A63B2208/14
摘要： The present invention provides a differential pressure body suit with external support against body suit migration. In its preferred embodiment, such body suit may comprise a close-fitting, multi-layered suit sealed against a mammal's skin to contain the differential pressure, or a looser-fitting suit that bends at the mammal's joints with minimal force. External support means include either fixed or movable mechanical supports attached to the body suit, extraordinary air pressure levels for making the body suit rigid, or exoskeletons attached to the body suit. A cyclic control system can turn the differential pressure condition within the body suit on and off on a selective basis to accommodate the movement of the legs of the mammal.
摘要翻译：本发明提供了一种具有抵抗身体护套迁移的外部支撑的差压身体套装。在其优选实施例中，这种身体套装可以包括紧密配合的多层衣服，其密封抵抗哺乳动物的皮肤以容纳压差，或者以最小的力在哺乳动物的关节处弯曲的较松散的衣服。外部支撑装置包括固定或可移动的机械支撑件，其附接到身体套装，用于使身体适合刚性的非凡空气压力水平或附着于身体套装的外骨骼。循环控制系统可以选择性地转动身体套装内的压差状态，以适应哺乳动物腿部的运动。

4. 发明授权

US08528565B2 Robotic surgical system and method for automated therapy delivery 有权
公开(公告)号：US08528565B2
公开(公告)日：2013-09-10
申请号：US11647297
申请日：2006-12-29
申请人： John A. Hauck , Jeffrey A. Schweitzer , Kedar Ravindra Belhe
发明人： John A. Hauck , Jeffrey A. Schweitzer , Kedar Ravindra Belhe
IPC分类号： A61B19/00
CPC分类号： A61B34/71 , A61B5/6885 , A61B34/20 , A61B34/30 , A61B2017/00026 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/742 , A61B2090/064 , A61B2090/3784 , A61M25/0105
摘要： A method of navigating a medical device through a body of a patient includes providing a topography of at least a portion of the body, accepting user input defining a navigation path, robotically navigating the medical device to a starting point on the path, and robotically navigating the medical device along the navigation path to an endpoint. Waypoints defining the navigation path may be input on a graphical representation of the topography using a user interface such as a pointing device or touchscreen. The navigation path may also be defined by tracing a substantially continuous path on the graphical representation. A therapy may be administered while robotically navigating the medical device along the navigation path, either forward or in reverse, or while navigating the medical device along a return path defined by a plurality of virtual breadcrumbs generated as the medical device traverses the navigation path.

5. 发明授权

US08517031B2 System for determining the position of a medical device within a body 有权
标题翻译：用于确定身体内的医疗装置的位置的系统
公开(公告)号：US08517031B2
公开(公告)日：2013-08-27
申请号：US12981150
申请日：2010-12-29
申请人： Mark A. MacGregor , John A. Hauck , Graydon E. Beatty , Kevin Dillon
发明人： Mark A. MacGregor , John A. Hauck , Graydon E. Beatty , Kevin Dillon
IPC分类号： A61B19/00
CPC分类号： A61B5/065 , A61B5/04085 , A61B5/0422 , A61B5/063 , A61B5/6833 , A61B5/6869 , A61B34/20 , A61B2034/2053
摘要： A system for determining a position of a medical device within a body is provided that reduces positional error by establishing a reference origin closer to the device and/or simplifies the system by integrating components and functions. In one embodiment, a pair of drive electrodes are affixed to opposed surfaces of the body and create a pathway for transmission of current through a position sensor related to the medical device. A pair of reference electrodes proximate the drive electrodes are coupled to a common reference node outputting a reference signal establishing the reference origin. An electronic control unit determines the position of the medical device responsive to the position signal and the reference signal. In another embodiment, a patch affixed to an external surface of the body has a base layer and multiple devices supported on the base layer, electrically isolated from one another, and configured to perform different functions.
摘要翻译：提供了一种用于确定身体内的医疗装置的位置的系统，其通过建立靠近装置的参考原点和/或通过集成部件和功能来简化系统来减少位置误差。在一个实施例中，一对驱动电极固定在主体的相对表面上，并且产生用于通过与医疗装置相关的位置传感器传输电流的路径。靠近驱动电极的一对参考电极被耦合到公共参考节点，该公共参考节点输出建立参考原点的参考信号。电子控制单元响应于位置信号和参考信号确定医疗设备的位置。在另一个实施例中，固定到主体的外表面的贴片具有基底层和支撑在基底层上的多个器件，彼此电隔离并且被配置为执行不同的功能。

6. 发明申请

US20130123803A1 Robotic catheter rotatable device cartridge 有权
标题翻译：机器人导管可旋转装置筒
公开(公告)号：US20130123803A1
公开(公告)日：2013-05-16
申请号：US13681694
申请日：2012-11-20
申请人： Mark B. Kirschenman , Troy T. Tegg , John A. Hauck
发明人： Mark B. Kirschenman , Troy T. Tegg , John A. Hauck
IPC分类号： A61B19/00
CPC分类号： A61B19/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/10 , A61B2017/003 , A61B2017/00477 , A61B2017/00876 , A61B2034/301 , A61B2090/372 , A61M25/0097 , A61M25/0105
摘要： A robotic catheter rotatable device cartridge may include a housing member attachable to a drive mechanism for rotating the cartridge and a catheter attached to the cartridge along an axial direction of the catheter. A slider block may be generally slidable relative to the housing and engaged with one or more steering wires for controlling movement of the catheter in a transverse direction relative to the axial direction. The catheter may include the steering wire(s) engaged therewith and movable in the transverse direction when the slider block is linearly driven in a predetermined direction.
摘要翻译：机器人导管可旋转装置筒可以包括可附接到驱动机构的壳体构件，用于使筒旋转，以及沿着导管的轴向连接到筒的导管。滑动块通常可相对于壳体滑动并与一个或多个操纵线接合，用于控制导管相对于轴向方向的横向移动。导管可以包括与其接合的操纵线，并且当滑动块沿预定方向被线性驱动时可以在横向上移动。

7. 发明申请

US20110218491A1 CATHETER WITH PULL WIRE MEASUREMENT FEATURE 有权
标题翻译：带导线测量功能的导管
公开(公告)号：US20110218491A1
公开(公告)日：2011-09-08
申请号：US12716056
申请日：2010-03-02
申请人： John A. Hauck , Mark T. Johnson
发明人： John A. Hauck , Mark T. Johnson
IPC分类号： A61M25/08
摘要： An apparatus for determining a length of a portion of a steering wire disposed within a bendable medical device includes an electrical contact slidably coupled with a steering wire, an electrical source configured to transmit an electrical signal through a portion of the steering wire, and a processor configured to monitor a parameter of the electrical signal at or about the electrical contact and configured to determine a length of a portion of the steering wire using the monitored parameter.
摘要翻译：一种用于确定设置在可弯曲医疗装置内的操纵线的一部分的长度的装置包括可滑动地与操纵线耦合的电触头，被配置为通过一部分转向导线传输电信号的电源，以及处理器被配置为在电触点处或周围监测电信号的参数，并被配置为使用所监视的参数来确定转向线的一部分的长度。

8. 发明授权

US07974674B2 Robotic surgical system and method for surface modeling 有权
标题翻译：机器人手术系统和表面建模方法
公开(公告)号：US07974674B2
公开(公告)日：2011-07-05
申请号：US11647304
申请日：2006-12-29
申请人： John A. Hauck , Jeffrey A. Schweitzer , Eric S. Olson , Eric J. Voth
发明人： John A. Hauck , Jeffrey A. Schweitzer , Eric S. Olson , Eric J. Voth
IPC分类号： A61B5/04
CPC分类号： A61B5/6885 , A61B34/20 , A61B34/30 , A61B34/71 , A61B2017/00026 , A61B2034/105 , A61B2034/2051 , A61B2034/301 , A61B2034/742 , A61B2090/064 , A61B2090/3784 , A61M25/0105
摘要： A method of generating a three-dimensional model of at least a portion of a heart includes inserting an electrode within the portion of a heart, robotically moving the electrode therein, periodically detecting position information of the electrode to generate a plurality of location points defining a space occupied by the portion of the heart, and generating a three-dimensional model of the portion of the heart including position information for at least some of the plurality of location points within the portion of the heart. The plurality of location points includes at least some location points on the surface of the heart and at least some location points interior thereto. The model is generated by utilizing a surface construction algorithm such as a shrink-wrap algorithm to identify the surface points and isolate or eliminate the interior points.
摘要翻译：产生心脏的至少一部分的三维模型的方法包括将电极插入心脏的部分内，使电极在其中自动移动，周期性地检测电极的位置信息，以产生多个定位点由心脏部分占据的空间，以及生成心脏部分的三维模型，包括心脏部分内的多个位置点中的至少一些位置信息。多个位置点包括心脏表面上的至少一些位置点和其内部的至少一些位置点。该模型通过利用诸如收缩包裹算法的表面构造算法来生成，以识别表面点并隔离或消除内部点。

9. 发明授权

US07894871B2 Filtering method for surface modeling 有权
标题翻译：表面建模过滤方法
公开(公告)号：US07894871B2
公开(公告)日：2011-02-22
申请号：US11647591
申请日：2006-12-29
申请人： Frederik H. Wittkampf , John A. Hauck
发明人： Frederik H. Wittkampf , John A. Hauck
IPC分类号： A61B5/04
CPC分类号： A61B5/065 , A61B5/066 , A61B5/1076 , A61B5/6885 , A61B5/7246 , A61B5/743 , A61B34/20 , A61B2034/105 , G01B7/008 , G01B21/04
摘要： A system for mapping a tissue surface includes a probe for mapping a tissue surface, a localization system to measure a location data point indicative of the probe's location, a memory in which to store the location data point, a servo mechanism to move the probe along at least a portion of the tissue surface, a controller to move the probe to a plurality of locations and to record in the memory a plurality of location data points, and a contact-sensing processor to analyze the plurality of location data points and to identify a subset thereof on the tissue surface. A modeling processor generates a model of the tissue surface using the subset of location data points. The contact-sensing processor utilizes probe velocity, or a rate of change in the distance moved by the probe, to determine contact between the probe and the tissue surface.
摘要翻译：用于映射组织表面的系统包括用于映射组织表面的探针，定位系统以测量指示探针位置的位置数据点，存储位置数据点的存储器，用于移动探头的伺服机构组织表面的至少一部分，将探针移动到多个位置并在存储器中记录多个位置数据点的控制器，以及接触感应处理器，用于分析多个位置数据点并识别其子集在组织表面上。建模处理器使用位置数据点的子集生成组织表面的模型。接触检测处理器利用探针速度或由探针移动的距离的变化率来确定探针和组织表面之间的接触。

10. 发明授权

US07885707B2 Method of scaling navigation signals to account for impedance drift in tissue 有权
标题翻译：缩放导航信号以考虑组织中的阻抗漂移的方法
公开(公告)号：US07885707B2
公开(公告)日：2011-02-08
申请号：US11227580
申请日：2005-09-15
申请人： John A. Hauck
发明人： John A. Hauck
IPC分类号： A61B5/05
CPC分类号： A61B5/053 , A61B5/0538 , A61B5/063 , A61B2034/2053 , Y10T29/49004
摘要： A method for scaling the impedance measured during the course of an electrophysiology study accounts for impedance drifts. By scaling the impedance there is greater assurance that previously recorded positional information can be used to accurately relocate an electrode at a prior visited position. The scale factor may be based upon a mean value across several sensing electrodes. Alternatively, the scale factor may be calculated specifically with respect to an orientation of a dipole pair of driven electrodes.
摘要翻译：在电生理学研究过程中测量的阻抗的缩放方法考虑了阻抗漂移。通过缩放阻抗，可以确保先前记录的位置信息可以用于在先前访问位置处精确地重新定位电极。比例因子可以基于跨几个感测电极的平均值。或者，可以相对于驱动电极的偶极子对的取向来具体地计算比例因子。

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