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1. 发明申请

US20080082109A1 ROBOTIC SURGICAL SYSTEM WITH FORWARD-ORIENTED FIELD OF VIEW GUIDE INSTRUMENT NAVIGATION 审中-公开
标题翻译：具有向前导向视野导向仪器导航的机器人外科系统
公开(公告)号：US20080082109A1
公开(公告)日：2008-04-03
申请号：US11852255
申请日：2007-09-07
申请人： Frederic Moll , Federico Barbagli , Christopher Carlson
发明人： Frederic Moll , Federico Barbagli , Christopher Carlson
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B17/29 , A61B18/24 , A61B34/10 , A61B34/37 , A61B90/361 , A61B2017/003 , A61B2034/301
摘要： A robotic surgical system includes an instrument driver and an instrument assembly operatively coupled to the instrument driver such that mechanisms of the instrument driver operate or control movement, operation, or both, of components of the instrument assembly. The instrument assembly components include an elongate flexible guide instrument and an image capture device, wherein the image capture device is configured to capture images of a forward-oriented field of view. The system further comprises a controller operatively coupled to the instrument driver and configured to operate the instrument driver mechanisms in a manner so as to control advancement of the instrument assembly toward a target along a trajectory that maintains the target in the forward-oriented field of view of the image capture device.
摘要翻译：机器人手术系统包括仪器驱动器和可操作地耦合到仪器驱动器的仪器组件，使得仪器驱动器的机构操作或控制仪器组件的部件的运动，操作或两者。仪器组件部件包括细长的柔性引导装置和图像捕获装置，其中图像捕获装置配置成捕获面向前向视场的图像。该系统还包括操作地耦合到仪器驱动器并被配置为以这样的方式操作仪器驱动器机构的控制器，以便沿着将目标维持在前向定向视野中的轨迹来控制仪器组件向目标的前进的图像捕获设备。

2. 发明申请

US20080058836A1 SYSTEMS AND METHODS FOR PERFORMING MINIMALLY INVASIVE PROCEDURES 有权
标题翻译：执行最小入场程序的系统和方法
公开(公告)号：US20080058836A1
公开(公告)日：2008-03-06
申请号：US11833969
申请日：2007-08-03
申请人： Frederic Moll , Daniel Wallace , Gregory Stahler , Christopher Carlson , Federico Barbagli
发明人： Frederic Moll , Daniel Wallace , Gregory Stahler , Christopher Carlson , Federico Barbagli
IPC分类号： A61B17/00
CPC分类号： A61B19/2203 , A61B1/00082 , A61B1/018 , A61B1/307 , A61B17/0057 , A61B17/12122 , A61B17/12172 , A61B17/221 , A61B17/29 , A61B17/32056 , A61B18/1492 , A61B18/22 , A61B18/26 , A61B34/30 , A61B34/32 , A61B34/37 , A61B2017/00243 , A61B2017/00247 , A61B2017/00274 , A61B2017/003 , A61B2017/00575 , A61B2017/00632 , A61B2017/22034 , A61B2017/22059 , A61B2017/22069 , A61B2017/22072 , A61B2017/2212 , A61B2017/2215 , A61B2018/00392 , A61B2018/00547 , A61B2034/301 , A61B2034/741 , A61B2090/3614 , A61B2090/3782 , A61M25/0127 , A61M25/1002 , A61M2025/1072 , A61M2025/1086
摘要： A robotic surgical system includes an instrument driver and an instrument assembly operatively coupled to the instrument driver such that mechanisms of the instrument driver operate or control movement, operation, or both, of components of the instrument assembly. The instrument assembly components include an elongate flexible guide instrument, an optical light source, a camera and a working tool, wherein the light source, camera, and working tool are carried in one or more lumens of the guide instrument. An operator control station is operatively coupled to the instrument driver via a remote communication link. The instrument assembly further includes an inflatable visualization balloon carried on a distal end portion of the guide instrument, the light source and camera having distal ends located within an interior of the balloon, the balloon comprising a lumen extending from the guide instrument to a distal facing wall of the balloon, such that the working instrument may extend from a respective lumen of the guide instrument through the balloon lumen to contact body tissue when the distal end of the guide instrument is positioned in an interior body region.
摘要翻译：机器人手术系统包括仪器驱动器和可操作地耦合到仪器驱动器的仪器组件，使得仪器驱动器的机构操作或控制仪器组件的部件的运动，操作或两者。仪器组件部件包括细长的柔性引导仪器，光学光源，照相机和工作工具，其中光源，照相机和工作工具承载在导向仪器的一个或多个腔中。操作员控制站经由远程通信链路可操作地耦合到仪器驱动器。所述仪器组件还包括承载在所述导向仪器的远端部分上的充气可视化气囊，所述光源和所述照相机具有位于所述气囊内部的远端，所述球囊包括从所述引导器延伸到远侧面使得当导向器械的远端定位在内部身体区域中时，工作器械可以从引导器具的相应内腔延伸穿过气囊内腔而接触身体组织。

3. 发明申请

US20060200026A1 Robotic catheter system 审中-公开
标题翻译：机器人导管系统
公开(公告)号：US20060200026A1
公开(公告)日：2006-09-07
申请号：US11331576
申请日：2006-01-13
申请人： Daniel Wallace , Robert Younge , Frederic Moll , Federico Barbagli
发明人： Daniel Wallace , Robert Younge , Frederic Moll , Federico Barbagli
IPC分类号： A61B5/05
CPC分类号： A61B8/0833 , A61B6/12 , A61B6/541 , A61B34/25 , A61B34/30 , A61B34/37 , A61B2034/301 , A61B2090/376 , A61B2090/3782
摘要： A method comprises inserting a flexible instrument in a body; maneuvering the instrument using a robotically controlled system; predicting a location of the instrument in the body using kinematic analysis; generating a graphical reconstruction of the catheter at the predicted location; obtaining an image of the catheter in the body; and comparing the image of the catheter with the graphical reconstruction to determine an error in the predicted location.
摘要翻译：一种方法包括将柔性仪器插入体内; 使用机器人控制系统操纵仪器; 使用运动学分析预测仪器在身体中的位置; 在预测位置产生导管的图形重建; 获取体内导管的图像; 并将导管的图像与图形重建进行比较，以确定预测位置的误差。

4. 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。

5. 发明申请

US20060100610A1 Methods using a robotic catheter system 审中-公开
标题翻译：使用机器人导管系统的方法
公开(公告)号：US20060100610A1
公开(公告)日：2006-05-11
申请号：US11176598
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
发明人： Daniel Wallace , Robert Younge , Michael Zinn , Federico Barbagli , David Moore , Gregory Stahler , Daniel Adams , Frederic Moll , Kenneth Martin
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 method using a robotic system to perform a procedure on a patient, includes moving a control interface provided on a master input device, generating control signals corresponding, at least in part, to movement of the interface, moving one or more drive elements of an instrument driver in response to the control signal, the one or more 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. The method may further comprise providing tactile feedback through the interface.
摘要翻译：一种使用机器人系统对患者执行过程的方法包括移动设在主输入设备上的控制界面，产生至少部分地对应于接口移动的控制信号，移动一个或多个驱动元件响应于控制信号的仪器驱动器，所述一个或多个驱动元件可操作地联接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导向器具可轴向移动使得驱动元件的移动导致引导器械的相应移动。该方法还可以包括通过界面提供触觉反馈。

6. 发明申请

US20070197896A1 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：US20070197896A1
公开(公告)日：2007-08-23
申请号：US11637951
申请日：2006-12-11
申请人： Frederic Moll , Christopher Carlson , Frederico Barbagli , Daniel Wallace , David Lundmark
发明人： Frederic Moll , Christopher Carlson , Frederico Barbagli , Daniel Wallace , David Lundmark
IPC分类号： A61B5/05
CPC分类号： A61B1/00039 , A61B6/503 , A61B8/0808 , A61B8/0883 , A61B17/11 , A61B17/1114 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B50/10 , A61B50/13 , A61B90/361 , A61B2017/003 , A61B2017/00477 , A61B2017/00703 , A61B2017/1135 , A61B2017/4216 , A61B2017/4233 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2034/301 , A61B2034/715 , A61B2090/364 , A61B2090/376 , A61B2090/378 , B33Y80/00
摘要： A method for performing an interventional procedure using a robotically controlled guide instrument coupled to an instrument drive assembly, includes manipulating a user interface of a master controller to actuate the drive assembly and thereby position a distal portion of the guide instrument at an interventional procedure site in a patient's body; and providing on a first display a graphically rendered image of the distal portion of the guide instrument overlaying an image of the interventional procedure site, wherein manipulation of the user interface causes a corresponding movement of the instrument model relative to the image in the first display.
摘要翻译：一种用于使用耦合到仪器驱动组件的机器人控制的引导器进行介入过程的方法，包括操纵主控制器的用户界面以致动驱动组件，从而将引导器的远端部分定位在介入过程现场病人的身体并且在第一显示器上提供重叠所述介入程序位置的图像的所述导向仪器的远端部分的图形渲染图像，其中所述用户界面的操纵导致所述乐器模型相对于所述第一显示器中的图像的相应移动。

7. 发明申请

US20080027464A1 SYSTEMS AND METHODS FOR PERFORMING MINIMALLY INVASIVE SURGICAL OPERATIONS 审中-公开
标题翻译：用于执行最小的入侵手术操作的系统和方法
公开(公告)号：US20080027464A1
公开(公告)日：2008-01-31
申请号：US11829076
申请日：2007-07-26
申请人： Frederic Moll , Daniel Wallace , Gregory Stahler , Christopher Carlson , Frederico Barbagli
发明人： Frederic Moll , Daniel Wallace , Gregory Stahler , Christopher Carlson , Frederico Barbagli
IPC分类号： A61B19/00
CPC分类号： A61B1/307 , A61B8/12 , A61B17/0218 , A61B17/22004 , A61B17/22031 , A61B17/221 , A61B17/29 , A61B18/1445 , A61B18/26 , A61B34/30 , A61B34/35 , A61B34/37 , A61B2017/00557 , A61B2017/22051 , A61B2017/22069 , A61B2018/00577 , A61B2034/301 , A61B2090/306 , A61B2090/373 , A61M25/0105 , A61M25/10 , A61M2025/1081
摘要： A robotic surgical system (100) includes an instrument driver (106) that is mounted on an operation table (104), and an instrument assembly (108) is operatively coupled to the instrument driver (106), wherein the instrument assembly (108) includes a flexible guide instrument and a component instrument carried in a lumen of the guide instrument, the component instrument including a light source, camera and laser energy fiber.
摘要翻译：机器人手术系统（100）包括安装在操作台（104）上的仪器驱动器（106），并且仪器组件（108）可操作地联接到仪器驱动器（106），其中仪器组件（108）包括灵活的引导仪器和携带在引导仪器的内腔中的组件仪器，该组件仪器包括光源，照相机和激光能量纤维。

8. 发明申请

US20070156123A1 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：US20070156123A1
公开(公告)日：2007-07-05
申请号：US11640099
申请日：2006-12-14
申请人： Frederic Moll , Christopher Carlson , Frederico Barbagli , Daniel Wallace , David Lundmark
发明人： Frederic Moll , Christopher Carlson , Frederico Barbagli , Daniel Wallace , David Lundmark
IPC分类号： A61B17/00
CPC分类号： A61B17/0057 , A61B17/0643 , A61B17/0644 , A61B17/068 , A61B17/12022 , A61B17/12122 , A61B17/12172 , A61B34/30 , A61B34/37 , A61B34/70 , A61B50/10 , A61B50/13 , A61B50/15 , A61B2017/00575 , A61B2017/00632 , A61B2017/00867 , A61B2017/0649 , A61B2017/1205 , A61B2034/301
摘要： A robotically controlled guide instrument system, comprising an elongate flexible guide instrument; a drive assembly coupled to a proximal portion of the guide instrument and configured to maneuver a distal portion of the guide instrument; a master controller including a user interface that may be manipulated to actuate the drive assembly and thereby maneuver the distal portion the guide instrument; and a closure device detachably coupled to a delivery member carried by the guide instrument, the guide instrument maneuverable to position the closure device proximate an opening of a left atrial appendage of a person's heart such that the prosthesis may be detached from the delivery member and implanted to substantially close off the left atrial appendage.
摘要翻译：一种机器人控制的导向仪器系统，包括细长的柔性引导器械; 驱动组件，其联接到所述引导仪器的近端部分并且构造成操纵所述引导器械的远端部分; 主控制器，其包括用户界面，其可以被操纵以致动所述驱动组件，从而操纵所述远端部分所述引导仪器; 以及可拆卸地联接到由引导器械承载的输送构件的闭合装置，所述引导器械可操作地将所述闭合装置定位在靠近人心脏的左心耳的开口处，使得所述假体可以与所述输送构件分离并植入大致关闭左心耳。

9. 发明申请

US20060057560A1 System and method for denaturing and fixing collagenous tissue 有权
公开(公告)号：US20060057560A1
公开(公告)日：2006-03-16
申请号：US11185432
申请日：2005-07-19
申请人： Edwin Hlavka , Frederic Moll , Robert Younge , Daniel Wallace
发明人： Edwin Hlavka , Frederic Moll , Robert Younge , Daniel Wallace
IPC分类号： A61B17/00 , C12Q1/00
CPC分类号： A61B18/1492 , A61B17/00234 , A61B17/3478 , A61B18/1477 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B2017/00199 , A61B2017/00243 , A61B2018/1425 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2034/742 , A61B2090/065 , A61B2090/378
摘要： A method for modifying a geometry of a collagenous tissue mass includes heating the collagenous tissue mass to a temperature sufficient to cause denaturation, and introducing a biocompatible fixative, such as genepin, into the collagenous tissue mass.

10. 发明申请

US20050197530A1 Balloon visualization for traversing a tissue wall 有权
标题翻译：用于穿过组织壁的气球可视化
公开(公告)号：US20050197530A1
公开(公告)日：2005-09-08
申请号：US10949032
申请日：2004-09-24
申请人： Daniel Wallace , Daniel Adams , Frederic Moll
发明人： Daniel Wallace , Daniel Adams , Frederic Moll
IPC分类号： A61B1/00 , A61B1/018
CPC分类号： A61B1/053 , A61B1/00082 , A61B5/0084
摘要： Systems and methods for controllably traversing a tissue wall. In one embodiment, a distal end of a catheter is positioned and/or repositioned utilizing direct visualization out the distal end of the catheter, as facilitated by an imaging element disposed within the distal tip of the catheter. An inflatable balloon may comprise a portion of the distal tip of the catheter for structural and/or visualization media purposes. A tissue traversing element may be forwarded through a working lumen defined by the catheter and controllably pushed through a tissue wall as observed with the imaging element. The tissue traversing element may comprise sensors and the like to facilitate monitoring of changes in pressure, color, oxygen saturation, flow rate, and echo timing, to determine the position of the tissue traversing member relative to the tissue wall.
摘要翻译：用于可控地穿过组织壁的系统和方法。在一个实施例中，通过设置在导管的远端中的成像元件来促进导管的远端，利用从导管的远端直接可视化来定位和/或重新定位导管。可充气气囊可以包括用于结构和/或可视化媒体目的的导管的远侧末端的一部分。组织移动元件可以通过由导管限定的工作腔进入，并且如通过成像元件所观察到的，可控地推动通过组织壁。组织移动元件可以包括传感器等，以便于监测压力，颜色，氧饱和度，流速和回波定时的变化，以确定组织横向构件相对于组织壁的位置。

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