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1. 发明申请

US20110065993A1 STEERABLE SEGMENTED ENDOSCOPE AND METHOD OF INSERTION 有权
标题翻译：可切割的内分泌和插入方法
公开(公告)号：US20110065993A1
公开(公告)日：2011-03-17
申请号：US12950921
申请日：2010-11-19
申请人： Amir Belson , Paul DeWitt Frey , Christine Wei Hsien McElhaney , James Craig Milroy , Robert Matthew Ohline , Joseph M. Tartaglia
发明人： Amir Belson , Paul DeWitt Frey , Christine Wei Hsien McElhaney , James Craig Milroy , Robert Matthew Ohline , Joseph M. Tartaglia
IPC分类号： A61B1/01
CPC分类号： A61B1/00004 , A61B1/00055 , A61B1/0016 , A61B1/0053 , A61B1/0055 , A61B1/008 , A61B1/015 , A61B1/018 , A61B1/05 , A61B1/31 , A61B5/065 , A61B2034/301 , A61B2034/741 , A61B2034/742
摘要： A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body allowing it to negotiate tortuous curves along a desired path through or around and between organs within the body.
摘要翻译：可操纵的内窥镜具有细长体，其具有选择性可操纵的远侧部分和自动控制的近端部分。将内窥镜主体插入到患者体内，并且使用选择性操纵的远端部分来选择患者体内所需的路径。当内窥镜体前进时，电子运动控制器操作自动控制的近端部分，以呈现选择性可操纵的远端部分的选定曲线。通过选择性可转向的远端部分选择另一个期望的路径，并且内窥镜主体再次前进。当内窥镜体进一步前进时，所选择的曲线沿内窥镜向近端传播，并且当向内侧取出内窥镜主体时，所选择的曲线沿着内窥镜主体向远端传播。这在内窥镜主体中产生蛇形运动，允许其沿着期望的路径协商通过身体内或身体内部和之间的曲折曲线。

2. 发明授权

US08845524B2 Steerable segmented endoscope and method of insertion 有权
标题翻译：可转向分段内窥镜及插入方法
公开(公告)号：US08845524B2
公开(公告)日：2014-09-30
申请号：US12950921
申请日：2010-11-19
申请人： Amir Belson , Paul DeWitt Frey , Christine Wei Hsien McElhaney , James Craig Milroy , Robert Matthew Ohline , Joseph M. Tartaglia
发明人： Amir Belson , Paul DeWitt Frey , Christine Wei Hsien McElhaney , James Craig Milroy , Robert Matthew Ohline , Joseph M. Tartaglia
IPC分类号： A61B1/008 , A61B1/005 , A61B1/31 , A61B1/00 , A61B5/06 , A61B19/00
CPC分类号： A61B1/00004 , A61B1/00055 , A61B1/0016 , A61B1/0053 , A61B1/0055 , A61B1/008 , A61B1/015 , A61B1/018 , A61B1/05 , A61B1/31 , A61B5/065 , A61B2034/301 , A61B2034/741 , A61B2034/742
摘要： A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body allowing it to negotiate tortuous curves along a desired path through or around and between organs within the body.
摘要翻译：可操纵的内窥镜具有细长体，其具有选择性可操纵的远侧部分和自动控制的近端部分。将内窥镜主体插入到患者体内，并且使用选择性操纵的远端部分来选择患者体内所需的路径。当内窥镜体前进时，电子运动控制器操作自动控制的近端部分，以呈现选择性可操纵的远端部分的选定曲线。通过选择性可转向的远端部分选择另一个期望的路径，并且内窥镜主体再次前进。当内窥镜体进一步前进时，所选择的曲线沿内窥镜向近端传播，并且当向内侧取出内窥镜主体时，所选择的曲线沿着内窥镜主体向远端传播。这在内窥镜主体中产生蛇形运动，允许其沿着期望的路径协商通过身体内或身体内部和之间的曲折曲线。

3. 发明授权

US07087013B2 Steerable segmented endoscope and method of insertion 有权
公开(公告)号：US07087013B2
公开(公告)日：2006-08-08
申请号：US10402599
申请日：2003-03-27
申请人： Amir Belson , Paul DeWitt Frey , Christine Wei Hsien McElhaney , James Craig Milroy , Robert Matthew Ohline , Joseph M. Tartaglia
发明人： Amir Belson , Paul DeWitt Frey , Christine Wei Hsien McElhaney , James Craig Milroy , Robert Matthew Ohline , Joseph M. Tartaglia
IPC分类号： A61B1/00
CPC分类号： A61B1/00004 , A61B1/00055 , A61B1/0016 , A61B1/0053 , A61B1/0055 , A61B1/008 , A61B1/015 , A61B1/018 , A61B1/05 , A61B1/31 , A61B5/065 , A61B2034/301 , A61B2034/741 , A61B2034/742
摘要： A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body allowing it to negotiate tortuous curves along a desired path through or around and between organs within the body.

4. 发明授权

US06610007B2 Steerable segmented endoscope and method of insertion 有权
公开(公告)号：US06610007B2
公开(公告)日：2003-08-26
申请号：US09969927
申请日：2001-10-02
申请人： Amir Belson , Paul DeWitt Frey , Christine Wei Hsien Mcelhaney , James Craig Milroy , Robert Matthew Ohline , Joseph M. Tartaglia
发明人： Amir Belson , Paul DeWitt Frey , Christine Wei Hsien Mcelhaney , James Craig Milroy , Robert Matthew Ohline , Joseph M. Tartaglia
IPC分类号： A61B100
CPC分类号： A61B1/00004 , A61B1/00055 , A61B1/0016 , A61B1/0053 , A61B1/0055 , A61B1/008 , A61B1/015 , A61B1/018 , A61B1/05 , A61B1/31 , A61B5/065 , A61B2034/301 , A61B2034/741 , A61B2034/742
摘要： A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body allowing it to negotiate tortuous curves along a desired path through or around and between organs within the body.

5. 发明授权

US06800056B2 Endoscope with guiding apparatus 有权
标题翻译：带引导装置的内窥镜
公开(公告)号：US06800056B2
公开(公告)日：2004-10-05
申请号：US10087100
申请日：2002-03-01
申请人： Joseph M. Tartaglia , Amir Belson , Robert Matthew Ohline
发明人： Joseph M. Tartaglia , Amir Belson , Robert Matthew Ohline
IPC分类号： A61B100
CPC分类号： A61B1/31 , A61B1/00078 , A61B1/00082 , A61B1/0053 , A61B1/0055 , A61B1/01 , A61B1/07 , A61B5/065 , A61B2034/301
摘要： An endoscope with guiding apparatus is described herein. A steerable endoscope is described having an elongate body with a manually or selectively steerable distal portion, an automatically controlled portion, a flexible and passively manipulated proximal portion, and an externally controlled and manipulatable tracking rod or guide. The tracking rod or guide is positioned within a guide channel within the endoscope and slides relative to the endoscope. When the guide is in a flexible state, it can conform to a curve or path defined by the steerable distal portion and the automatically controlled portion. The guide can then be selectively rigidized to assume that curve or path. Once set, the endoscope can be advanced over the rigidized guide in a monorail or “piggy-back” fashion so that the flexible proximal portion follows the curve held by the guide until the endoscope reaches a next point of curvature within a body lumen.
摘要翻译：本文描述了具有引导装置的内窥镜。描述了一种可操纵的内窥镜，其具有带有手动或选择性可操纵的远端部分的细长主体，自动控制部分，柔性和被动操纵的近端部分以及外部控制和可操纵的跟踪杆或引导件。跟踪杆或引导件位于内窥镜内的引导通道内并相对于内窥镜滑动。当引导件处于柔性状态时，其可以符合由可转向远端部分和自动控制部分限定的曲线或路径。然后，引导件可以选择性地刚性化以假定该曲线或路径。一旦设定，内窥镜可以以单轨或“背部”的方式前进在刚性引导件上，使得柔性近端部分遵循由引导件保持的曲线，直到内窥镜到达体腔内的下一个曲率点。

6. 发明授权

US08517923B2 Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities 有权
标题翻译：用于通过改进的基于能量和非能量的方式的递送来促进组织治疗的装置和方法
公开(公告)号：US08517923B2
公开(公告)日：2013-08-27
申请号：US10850360
申请日：2004-05-19
申请人： Amir Belson , Robert Matthew Ohline
发明人： Amir Belson , Robert Matthew Ohline
IPC分类号： A61B1/00
CPC分类号： A61B1/0055 , A61B1/0051 , A61B1/0052 , A61B1/0053 , A61B1/0058 , A61B1/0125 , A61B1/018 , A61B1/05 , A61B1/31 , A61B18/02 , A61B18/1492 , A61B18/22 , A61B2017/00296 , A61B2017/003 , A61B2018/00351 , A61B2018/00446 , A61B2018/0212 , A61B2034/301 , G02B23/2469 , G02B23/2476 , G02B23/2484
摘要： Methods and apparatus for accessing and treating regions of the body are disclosed herein. Using an endoscopic device having an automatically controllable proximal portion and a selectively steerable distal portion, the device generally may be advanced into the body through an opening. The distal portion is selectively steered to assume a selected curve along a desired path within the body which avoids contact with tissue while the proximal portion is automatically controlled to assume the selected curve of the distal portion. The endoscopic device can then be used for accessing various regions of the body which are typically difficult to access and treat through conventional surgical techniques because the device is unconstrained by “straight-line” requirements. Various applications can include accessing regions of the brain, thoracic cavity, including regions within the heart, peritoneal cavity, etc., which are difficult to reach using conventional surgical procedures.
摘要翻译：本文公开了用于进入和处理身体区域的方法和装置。使用具有自动控制的近端部分和选择性可操纵的远端部分的内窥镜装置，该装置通常可以通过开口进入身体。远侧部分被选择性地转向以沿着主体内的期望路径呈现出选择的曲线，其避免与组织的接触，而近端部分被自动控制以呈现远端部分的选定曲线。然后，内窥镜装置可用于通过常规手术技术访问身体的各个区域，这些区域通常难以进入和治疗，因为该装置不受“直线”要求的约束。各种应用可以包括进入脑，胸腔的区域，包括心脏内的区域，腹膜腔等，这些区域难以用常规外科手术达到。

7. 发明申请

US20050020901A1 Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities 有权
标题翻译：用于通过改进的基于能量和非能量的方式的递送来促进组织治疗的装置和方法
公开(公告)号：US20050020901A1
公开(公告)日：2005-01-27
申请号：US10850360
申请日：2004-05-19
申请人： Amir Belson , Robert Matthew Ohline
发明人： Amir Belson , Robert Matthew Ohline
IPC分类号： A61B1/005 , A61B1/05 , A61B1/31 , A61B17/00 , A61B18/02 , A61B18/14 , A61B18/22 , G02B23/24 , A61B5/05 , A61B1/00
CPC分类号： A61B1/0055 , A61B1/0051 , A61B1/0052 , A61B1/0053 , A61B1/0058 , A61B1/0125 , A61B1/018 , A61B1/05 , A61B1/31 , A61B18/02 , A61B18/1492 , A61B18/22 , A61B2017/00296 , A61B2017/003 , A61B2018/00351 , A61B2018/00446 , A61B2018/0212 , A61B2034/301 , G02B23/2469 , G02B23/2476 , G02B23/2484
摘要： Methods and apparatus for accessing and treating regions of the body are disclosed herein. Using an endoscopic device having an automatically controllable proximal portion and a selectively steerable distal portion, the device generally may be advanced into the body through an opening. The distal portion is selectively steered to assume a selected curve along a desired path within the body which avoids contact with tissue while the proximal portion is automatically controlled to assume the selected curve of the distal portion. The endoscopic device can then be used for accessing various regions of the body which are typically difficult to access and treat through conventional surgical techniques because the device is unconstrained by “straight-line” requirements. Various applications can include accessing regions of the brain, thoracic cavity, including regions within the heart, peritoneal cavity, etc., which are difficult to reach using conventional surgical procedures.
摘要翻译：本文公开了用于进入和处理身体区域的方法和装置。使用具有自动控制的近端部分和选择性可操纵的远端部分的内窥镜装置，该装置通常可以通过开口进入身体。远侧部分被选择性地转向以沿着主体内的期望路径呈现出选择的曲线，其避免与组织的接触，而近端部分被自动控制以呈现远端部分的选定曲线。然后，内窥镜装置可用于通过常规手术技术访问身体的各个区域，这些区域通常难以进入和治疗，因为该装置不受“直线”要求的约束。各种应用可以包括进入脑，胸腔的区域，包括心脏内的区域，腹膜腔等，这些区域难以用常规外科手术达到。

8. 发明授权

US08721530B2 Tendon-driven endoscope and methods of use 有权
标题翻译：肌腱驱动内窥镜及使用方法
公开(公告)号：US08721530B2
公开(公告)日：2014-05-13
申请号：US13180501
申请日：2011-07-11
申请人： Robert M. Ohline , Joseph M. Tartaglia , Amir Belson , Alex T. Roth , Wade A. Keller , Scott C. Anderson , Christopher A. Julian
发明人： Robert M. Ohline , Joseph M. Tartaglia , Amir Belson , Alex T. Roth , Wade A. Keller , Scott C. Anderson , Christopher A. Julian
IPC分类号： A61B1/00
CPC分类号： A61B1/00128 , A61B1/00006 , A61B1/00057 , A61B1/0016 , A61B1/0053 , A61B1/0057 , A61B1/0058 , A61B1/01 , A61B1/31 , A61B5/065 , A61B2034/301 , A61B2034/741 , A61B2034/742
摘要： A steerable, tendon-driven endoscope is described herein. The endoscope has an elongated body with a manually or selectively steerable distal portion and an automatically controlled, segmented proximal portion. The steerable distal portion and the segment of the controllable portion are actuated by at least two tendons. As the endoscope is advanced, the user maneuvers the distal portion, and a motion controller actuates tendons in the segmented proximal portion so that the proximal portion assumes the selected curve of the selectively steerable distal portion. By this method the selected curves are propagated along the endoscope body so that the endoscope largely conforms to the pathway selected. When the endoscope is withdrawn proximally, the selected curves can propagate distally along the endoscope body. This allows the endoscope to negotiate tortuous curves along a desired path through or around and between organs within the body.
摘要翻译：这里描述了可操纵的肌腱驱动的内窥镜。内窥镜具有细长主体，其具有手动或选择性可操纵的远侧部分和自动控制的分段近端部分。可操纵的远端部分和可控部分的段由至少两个腱致动。当内窥镜前进时，使用者操纵远侧部分，并且运动控制器致动分段近端部分中的腱，使得近端部分呈现选择性可操纵的远侧部分的选定曲线。通过该方法，所选择的曲线沿着内窥镜主体传播，使得内窥镜大体上符合所选择的路径。当内窥镜向近侧收回时，所选择的曲线可沿内窥镜体向远端传播。这允许内窥镜沿着穿过体内器官之间或之间的所需途径协商曲折曲线。

9. 发明授权

US06858005B2 Tendon-driven endoscope and methods of insertion 有权
公开(公告)号：US06858005B2
公开(公告)日：2005-02-22
申请号：US10229577
申请日：2002-08-27
申请人： Robert M. Ohline , Joseph M. Tartaglia , Amir Belson , Alex T. Roth , Wade A. Keller , Scott C. Anderson , Chris A. Julian
发明人： Robert M. Ohline , Joseph M. Tartaglia , Amir Belson , Alex T. Roth , Wade A. Keller , Scott C. Anderson , Chris A. Julian
IPC分类号： G02B23/24 , A61B1/00 , A61B1/005 , A61B1/008 , A61B1/01 , A61B1/04 , A61B1/31 , G02B23/26
CPC分类号： A61B1/00128 , A61B1/00006 , A61B1/00057 , A61B1/0016 , A61B1/0053 , A61B1/0057 , A61B1/0058 , A61B1/01 , A61B1/31 , A61B5/065 , A61B2034/301 , A61B2034/741 , A61B2034/742
摘要： A steerable, tendon-driven endoscope is described herein. The endoscope has an elongated body with a manually or selectively steerable distal portion and an automatically controlled, segmented proximal portion. The steerable distal portion and the segment of the controllable portion are actuated by at least two tendons. As the endoscope is advanced, the user maneuvers the distal portion, and a motion controller actuates tendons in the segmented proximal portion so that the proximal portion assumes the selected curve of the selectively steerable distal portion. By this method the selected curves are propagated along the endoscope body so that the endoscope largely conforms to the pathway selected. When the endoscope is withdrawn proximally, the selected curves can propagate distally along the endoscope body. This allows the endoscope to negotiate tortuous curves along a desired path through or around and between organs within the body.

10. 发明申请

US20110306836A1 TENDON-DRIVEN ENDOSCOPE AND METHODS OF USE 有权
标题翻译： TENDON驱动内窥镜及其使用方法
公开(公告)号：US20110306836A1
公开(公告)日：2011-12-15
申请号：US13180501
申请日：2011-07-11
申请人： Robert M. Ohline , Joseph M. Tartaglia , Amir Belson , Alex T. Roth , Wade A. Keller , Scott C. Anderson , Christopher A. Julian
发明人： Robert M. Ohline , Joseph M. Tartaglia , Amir Belson , Alex T. Roth , Wade A. Keller , Scott C. Anderson , Christopher A. Julian
IPC分类号： A61B1/00
CPC分类号： A61B1/00128 , A61B1/00006 , A61B1/00057 , A61B1/0016 , A61B1/0053 , A61B1/0057 , A61B1/0058 , A61B1/01 , A61B1/31 , A61B5/065 , A61B2034/301 , A61B2034/741 , A61B2034/742
摘要： A steerable, tendon-driven endoscope is described herein. The endoscope has an elongated body with a manually or selectively steerable distal portion and an automatically controlled, segmented proximal portion. The steerable distal portion and the segment of the controllable portion are actuated by at least two tendons. As the endoscope is advanced, the user maneuvers the distal portion, and a motion controller actuates tendons in the segmented proximal portion so that the proximal portion assumes the selected curve of the selectively steerable distal portion. By this method the selected curves are propagated along the endoscope body so that the endoscope largely conforms to the pathway selected. When the endoscope is withdrawn proximally, the selected curves can propagate distally along the endoscope body. This allows the endoscope to negotiate tortuous curves along a desired path through or around and between organs within the body.
摘要翻译：这里描述了可操纵的肌腱驱动的内窥镜。内窥镜具有细长主体，其具有手动或选择性可操纵的远侧部分和自动控制的分段近端部分。可操纵的远端部分和可控部分的段由至少两个腱致动。当内窥镜前进时，使用者操纵远侧部分，并且运动控制器致动分段近端部分中的肌腱，使得近端部分呈现选择性可操纵的远侧部分的选定曲线。通过该方法，所选择的曲线沿着内窥镜主体传播，使得内窥镜大体上符合所选择的路径。当内窥镜向近侧收回时，所选择的曲线可沿内窥镜体向远端传播。这允许内窥镜沿着穿过体内器官之间或之间的所需途径协商曲折曲线。

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