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1. 发明申请

US20060293643A1 Robotic catheter system 有权
标题翻译：机器人导管系统
公开(公告)号：US20060293643A1
公开(公告)日：2006-12-28
申请号：US11176957
申请日：2005-07-06
申请人： Daniel Wallace , Robert Younge , Michael Zinn , Federico Barbagli , David Moore , Gregory Stahler , Daniel Adams , Frederic Moll , Kenneth Martin , Gunter Niemeyer
发明人： Daniel Wallace , Robert Younge , Michael Zinn , Federico Barbagli , David Moore , Gregory Stahler , Daniel Adams , Frederic Moll , Kenneth Martin , Gunter Niemeyer
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B5/7285 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B17/00234 , A61B18/00 , A61B34/20 , A61B34/25 , A61B34/37 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00199 , A61B2017/00247 , A61B2017/003 , A61B2017/00477 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2034/742 , A61B2090/035 , A61B2090/065 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , B33Y80/00
摘要： A robotic catheter system includes a controller with a master input device, and an instrument driver in communication with the controller, the instrument driver configured for independently controlling each of number of desired motions of a flexible, elongate guide instrument in a body of a patient in response to control signals generated by the controller, the desired motions selected from the group comprising axial advancement, axial retraction, axial rotation, and radial bending. Integrated haptics capability may be provided, in which one or more motors provide tactile feedback to an operator through 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和与控制器通信的仪器驱动器，该仪器驱动器被配置为独立地控制患者身体中的柔性细长引导器械的期望运动的数量对由控制器产生的控制信号的响应，从包括轴向前进，轴向收缩，轴向旋转和径向弯曲的组中选择的期望运动。可以提供集成的触觉能力，其中一个或多个电动机通过主输入装置向操作者提供触觉反馈。

2. 发明申请

US20060084945A1 Instrument driver for robotic catheter system 有权
标题翻译：机器人导管系统仪器驱动
公开(公告)号：US20060084945A1
公开(公告)日：2006-04-20
申请号：US11176954
申请日：2005-07-06
申请人： Frederic Moll , Daniel Wallace , Robert Younge , Kenneth Martin , Gregory Stahler , David Moore , Daniel Adams , Michael Zinn , Gunter Niemeyer
发明人： Frederic Moll , Daniel Wallace , Robert Younge , Kenneth Martin , Gregory Stahler , David Moore , Daniel Adams , Michael Zinn , Gunter Niemeyer
IPC分类号： A61B17/00
CPC分类号： A61B8/12 , A61B5/7285 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B34/77 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/035 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397
摘要： A robotic medical system comprises an operator control station having a master input device, a catheter instrument, and an instrument driver in communication with the operator control station. The catheter instrument includes an elongate flexible catheter member, a flexible control element, such as, e.g., a cable, extending within the catheter member, and a proximal drivable assembly configured to axially move the control element relative to the catheter member to perform a kinematic function at a distal end of the catheter member, such as a deflection of the distal end of the catheter member. The instrument driver is configured to operate the drivable assembly to axially move the control element in response to control signals generated, at least in part, by the master input device. The drivable assembly is mounted to the instrument driver, thereby providing mechanically close relationship between the drivable assembly and the instrument driver and minimizing the errors between the actual and predicted kinematic functions otherwise introduced into the system via intervening structure between the drivable assembly and instrument driver.
摘要翻译：机器人医疗系统包括具有与操作者控制站通信的主输入装置，导管仪器和仪器驱动器的操作员控制站。导管器械包括细长的柔性导管构件，在导管构件内延伸的柔性控制元件，例如电缆，以及配置成相对于导管构件轴向移动控制元件以执行运动学的近端可驱动组件在导管构件的远端处起作用，例如导管构件的远端的偏转。仪器驱动器被配置为操作可驱动组件以响应于至少部分地由主输入设备产生的控制信号来轴向移动控制元件。可驱动的组件安装到仪器驱动器，从而在可驱动组件和仪器驱动器之间提供机械上的密切关系，并且通过可驱动组件和仪器驱动器之间的中间结构，最小化其它引入系统的实际和预测的运动功能之间的误差。

3. 发明申请

US20050222554A1 Robotic catheter system 有权
标题翻译：机器人导管系统
公开(公告)号：US20050222554A1
公开(公告)日：2005-10-06
申请号：US11073363
申请日：2005-03-04
申请人： Daniel Wallace , Frederic Moll , Robert Younge , Kenneth Martin , Gregory Stahler , David Moore , Daniel Adams , Michael Zinn , Gunter Niemeyer
发明人： Daniel Wallace , Frederic Moll , Robert Younge , Kenneth Martin , Gregory Stahler , David Moore , Daniel Adams , Michael Zinn , Gunter Niemeyer
IPC分类号： A61B8/12 , A61B10/00 , A61B10/06 , A61B17/00 , A61B19/00 , A61M25/01
CPC分类号： A61B34/37 , A61B5/042 , A61B5/066 , A61B5/6852 , A61B5/6885 , A61B5/7285 , A61B5/746 , A61B6/4423 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/035 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , A61M25/0113 , A61M25/09041
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 guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide 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，并且具有引导仪器接口，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引导仪器驱动元件。细长的引导器具具有底座，远端和工作腔，其中导向仪器底座可操作地连接到导向仪器接口。导向仪器包括多个导向仪器控制元件，其可操作地联接到相应的引导驱动元件并固定到引导器械的远端。引导仪器控制元件相对于引导仪器可轴向移动，使得引导器械远端的移动可由主输入装置控制。

4. 发明申请

US20070043338A1 Robotic catheter system and methods 有权
标题翻译：机器人导管系统及方法
公开(公告)号：US20070043338A1
公开(公告)日：2007-02-22
申请号：US11481433
申请日：2006-07-03
申请人： Frederic Moll , Daniel Wallace , Gregory Stahler , David Moore , Daniel Adams , Kenneth Martin , Robert Younge , Michael Zinn , Gunter Niemeyer , David Lundmark
发明人： Frederic Moll , Daniel Wallace , Gregory Stahler , David Moore , Daniel Adams , Kenneth Martin , Robert Younge , Michael Zinn , Gunter Niemeyer , David Lundmark
IPC分类号： A61B17/00
CPC分类号： A61B17/062 , A61B17/0469 , A61B17/1114 , A61B17/42 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/77 , A61B46/10 , A61B50/13 , A61B50/15 , A61B2017/00238 , A61B2017/00243 , A61B2017/003 , A61B2017/00336 , A61B2017/00477 , A61B2017/00743 , A61B2017/00805 , A61B2017/00827 , A61B2034/301 , A61B2034/715 , B33Y80/00
摘要： The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.
摘要翻译：本发明的一个实施例的装置包括柔性护套仪器，柔性引导器械和工具。柔性护套仪器包括可移除地耦合到仪器驱动器并且限定护套仪器工作腔的第一仪器基座。柔性引导仪器包括可移除地联接到仪器驱动器并且穿过护套仪器工作腔的第二仪器基座。引导仪器还定义了工具内腔的导向仪器。该工具穿过导向仪工作腔。对于该装置的该实施例，护套仪器和引导器具可以彼此独立地控制。

5. 发明申请

US20060095022A1 Methods using a robotic catheter system 有权
标题翻译：使用机器人导管系统的方法
公开(公告)号：US20060095022A1
公开(公告)日：2006-05-04
申请号：US11179007
申请日：2005-07-06
申请人： Frederic Moll , Daniel Wallace , Robert Younge , David Moore , Michael Zinn , Kenneth Martin , Gunter Niemeyer
发明人： Frederic Moll , Daniel Wallace , Robert Younge , David Moore , Michael Zinn , Kenneth Martin , Gunter Niemeyer
IPC分类号： A61B17/00 , A61B18/14
CPC分类号： A61B34/30 , A61B5/7285 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B17/00234 , A61B18/00 , A61B34/20 , A61B34/25 , A61B34/37 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00199 , A61B2017/00247 , A61B2017/003 , A61B2017/00477 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2034/742 , A61B2090/035 , A61B2090/065 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , B33Y80/00
摘要： A methods using a robotic catheter system to perform a procedure on a patient includes generating a control signal corresponding to movement of a master input device, and moving a plurality of drive elements of an instrument driver in response to the control signal, the drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument distal end.
摘要翻译：使用机器人导管系统对患者执行程序的方法包括产生对应于主输入装置的运动的控制信号，以及响应于控制信号移动仪器驱动器的多个驱动元件，操作地驱动驱动元件耦合到细长引导器具的对应的多个控制元件，所述控制元件固定到所述引导器械的远端并且相对于所述引导器具可轴向移动，使得所述驱动元件的运动导致所述引导器械远端的相应运动结束。

6. 发明申请

US20060178559A1 Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures 有权
公开(公告)号：US20060178559A1
公开(公告)日：2006-08-10
申请号：US11319012
申请日：2005-12-27
申请人： Rajesh Kumar , Brian Hoffman , Giuseppe Prisco , David Larkin , William Nowlin , Frederic Moll , Stephen Blumenkranz , Gunter Niemeyer , J. Salisbury , Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
发明人： Rajesh Kumar , Brian Hoffman , Giuseppe Prisco , David Larkin , William Nowlin , Frederic Moll , Stephen Blumenkranz , Gunter Niemeyer , J. Salisbury , Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
IPC分类号： A61B1/04
CPC分类号： G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
摘要： A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

7. 发明申请

US20070038080A1 Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure 审中-公开
公开(公告)号：US20070038080A1
公开(公告)日：2007-02-15
申请号：US11496958
申请日：2006-08-01
申请人： J. Salisbury , Gunter Niemeyer , Robert Younge , Gary Guthart , David Mintz , Thomas Cooper
发明人： J. Salisbury , Gunter Niemeyer , Robert Younge , Gary Guthart , David Mintz , Thomas Cooper
IPC分类号： A61B5/05
CPC分类号： A61B8/5238 , A61B1/00 , A61B1/0005 , A61B1/00149 , A61B1/313 , A61B8/12 , A61B8/483 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506
摘要： A method of performing a surgical procedure on a patient is provided. The method typically comprises positioning a surgical work station of a robotically controlled surgical system and a patient on which a surgical procedure is to be performed in close proximity relative to each other, directing a field of view of an image capture device of the surgical work station at a surgical site on the patient, at which site the surgical procedure is to be performed, and introducing at least one robotically controlled surgical instrument on the surgical work station to the surgical site so that an end effector of the surgical instrument is within the field of view of the image capture device. The method typically further comprises displaying an image of the surgical site and the end effector on a display area of an image display at an operator control station of the surgical system. The image display is typically operatively connected to the image capture device so as to display, on the display area, the image of the surgical site and the end effector captured by the image capture device. The method can further include permitting an operator of the surgical system to manipulate a master control at the operator control station whilst viewing the image of the surgical site on the image display, the master control being operatively associated with the surgical instrument thereby to cause the end effector to move in response to manipulation of the master control so as to perform at least part of the surgical procedure on the patient at the surgical site. The method yet further typically comprises operatively linking the image display to a source of selectively accessible auxiliary information related to the surgical procedure to be performed, enabling the operator selectively to access the source of auxiliary information from the operator control station so as to forward the auxiliary information to the image display, causing the auxiliary information to be displayed across the display area of the image display in response to the operator selectively accessing the source of auxiliary information at the operator control station and enabling the operator selectively to move the auxiliary information when displayed on the image display relative to the image of the surgical site displayed on the image display. The master control is typically operatively linked with the source of auxiliary information, enabling the operator selectively to access the source of auxiliary information then including permitting the operator selectively to disassociate the master control from the surgical instrument and to use the master control to access the source of auxiliary information so as to enable the auxiliary information to be displayed on the display area of the image display.

8. 发明申请

US20060106493A1 Camera referenced control in a minimally invasive surgical apparatus 有权
公开(公告)号：US20060106493A1
公开(公告)日：2006-05-18
申请号：US11299393
申请日：2005-12-12
申请人： Gunter Niemeyer , Gary Guthart , William Nowlin , Nitish Swarup , Gregory Toth , Robert Younge
发明人： Gunter Niemeyer , Gary Guthart , William Nowlin , Nitish Swarup , Gregory Toth , Robert Younge
IPC分类号： G06F19/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/77 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , A61B2090/506
摘要： Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.

9. 发明申请

US20070083098A1 Autofocus and/or autoscaling in telesurgery 有权
标题翻译：远程外科手术中的自动对焦和/或自动缩放
公开(公告)号：US20070083098A1
公开(公告)日：2007-04-12
申请号：US11239661
申请日：2005-09-29
申请人： John Stern , Robert Younge , David Gere , Gunter Niemeyer
发明人： John Stern , Robert Younge , David Gere , Gunter Niemeyer
IPC分类号： A61B5/05
CPC分类号： A61B1/00188 , A61B1/00149 , A61B1/0016 , A61B1/00193 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/77 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/301 , A61B2034/305
摘要： Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.
摘要翻译：机器人，远程实验和/或远程手术设备，系统和方法利用机器人结构和数据来响应于图像捕获设备，机器人末端执行器等的运动来计算图像捕获设备的焦点的变化。随着显示装置中所示的对象的图像的尺寸随着该对象与用于捕捉图像的图像捕获装置之间的间隔距离的变化而变化，可以响应于移动而改变移动指令输入之间的比例因子系统的输入设备或相应的主/从机器人移动命令。这可以增强输入命令和机器人运动之间的感知相关性，因为它们出现在呈现给系统操作者的图像中。

10. 发明申请

US20060241414A1 Repositioning and reorientation of master/slave relationship in minimally invasive telesuregery 有权
标题翻译：在微创远程办公室中重新定位主/从关系
公开(公告)号：US20060241414A1
公开(公告)日：2006-10-26
申请号：US11377225
申请日：2006-03-15
申请人： William Nowlin , Gary Guthart , J. Salisbury , Gunter Niemeyer
发明人： William Nowlin , Gary Guthart , J. Salisbury , Gunter Niemeyer
IPC分类号： A61B6/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , A61B2034/742
摘要： The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.
摘要翻译：本发明提供了一种机器人手术系统，其允许主控制器和/或手术末端执行器的输入手柄的可选择的独立重新定位而不需要另一个的相应移动。在一些实施例中，独立重新定位限于平移自由度。在其他实施例中，系统提供邻近支撑手术器械的操纵器的输入装置，使得助手可以在患者侧重新定位器械。

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