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1. 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。

2. 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。

3. 发明申请

US20100331856A1 MULTIPLE FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS FOR MINIMALLY INVASIVE OPERATIONS 审中-公开
标题翻译：多个灵活和可操纵的ELENATE仪器用于最小的入侵操作
公开(公告)号：US20100331856A1
公开(公告)日：2010-12-30
申请号：US12637622
申请日：2009-12-14
申请人： Christopher R. Carlson , Neal A. Tanner , Gregory J. Stahler , Gene Reis , Enrique Romo , Federico Barbagli
发明人： Christopher R. Carlson , Neal A. Tanner , Gregory J. Stahler , Gene Reis , Enrique Romo , Federico Barbagli
IPC分类号： A61B19/00
CPC分类号： A61B1/00147 , A61B1/0051 , A61B1/01 , A61B1/018 , A61B1/313 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/361 , A61B2017/00314 , A61B2017/00327 , A61B2017/00464 , A61B2017/00477 , A61B2017/2906 , A61B2017/2927 , A61B2034/102 , A61B2034/2059 , A61B2034/301 , A61B2034/306 , A61B2034/742 , A61B2090/306 , A61B2090/3614
摘要： Configurations are described for conducting minimally invasive medical interventions utilizing elongate robotically controlled instruments and assemblies thereof. In one embodiment, a junction sheath may be utilized to facilitate surgical triangulation of two interventional instrument assemblies, while also directing them to the surgical theater through a minimal single wound or surgical port. One or more instrument drivers, and one or more master input devices comprising an operator workstation, may be utilized to independently and simultaneously control multiple degrees of freedom pertinent to each instrument comprising one or more instrument assembly.
摘要翻译：描述了使用细长的机器人控制的仪器及其组件进行微创医疗干预的配置。在一个实施例中，可以使用连接护套来促进两个介入器械组件的手术三角测量，同时还通过最小的单个伤口或手术端口将它们引导到外科手术室。可以使用一个或多个仪器驱动器和包括操作员工作站的一个或多个主输入装置来独立地并且同时地控制与包括一个或多个仪器组件的每个仪器相关的多个自由度。

4. 发明申请

US20130090552A1 SYSTEM AND METHOD FOR SENSING SHAPE OF ELONGATED INSTRUMENT 有权
标题翻译：用于感应仪器的形状的系统和方法
公开(公告)号：US20130090552A1
公开(公告)日：2013-04-11
申请号：US13602893
申请日：2012-09-04
申请人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
发明人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
IPC分类号： A61B1/00 , A61B19/00 , A61B5/00 , A61B6/12 , A61B8/00
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes a first optical fiber, a second optical fiber and a controller is provided. The first optical fiber is operatively coupled to an elongate body that is adapted to be placed inside a patient. The second optical fiber is operatively coupled to the patient, to an actuating element adapted to actuate the elongate body, or to a portion of an imaging system adapted to identify a location of the portion relative to the elongate body. The controller is operatively coupled to the first optical fiber and the second optical fiber and is adapted to receive a first signal from the strain sensor provided on the first optical fiber, receive a second signal from the strain sensor provided on the second optical fiber; and determine a position or orientation of the elongate body based on the first signal and based on the second signal.
摘要翻译：提供一种包括第一光纤，第二光纤和控制器的仪器系统。第一光纤可操作地耦合到适于放置在患者体内的细长主体。第二光纤可操作地耦合到患者，适用于致动细长主体的致动元件，或适于识别该部分相对于细长主体的位置的成像系统的一部分。控制器可操作地耦合到第一光纤和第二光纤，并且适于从设置在第一光纤上的应变传感器接收第一信号，从设置在第二光纤上的应变传感器接收第二信号; 并且基于第一信号并且基于第二信号来确定细长体的位置或取向。

5. 发明申请

US20130085382A1 SYSTEM AND METHOD FOR SENSING SHAPE OF ELONGATED INSTRUMENT 有权
标题翻译：用于感应仪器的形状的系统和方法
公开(公告)号：US20130085382A1
公开(公告)日：2013-04-04
申请号：US13603068
申请日：2012-09-04
申请人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
发明人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
IPC分类号： A61B1/00 , A61B8/08 , A61B5/00
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an elongate body, an optical fiber, a localization sensor and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The localization sensor is operatively coupled to the elongate body. The controller is operatively coupled to the optical fiber and to the localization sensor and is adapted to receive a first signal from the strain sensor, receive a second signal from the localization sensor, and determine a position or orientation of the elongate body based on the first signal and the second signal.
摘要翻译：提供了一种包括细长体，光纤，定位传感器和控制器的仪器系统。光纤可操作地耦合到细长主体并且具有设置在光纤上的应变传感器。定位传感器可操作地连接到细长主体。控制器可操作地耦合到光纤和定位传感器，并且适于从应变传感器接收第一信号，从定位传感器接收第二信号，并且基于第一信号确定细长体的位置或取向信号和第二信号。

6. 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。

7. 发明申请

US20120323075A1 OPTICAL FIBER SHAPE SENSING SYSTEMS 有权
标题翻译：光纤形状传感系统
公开(公告)号：US20120323075A1
公开(公告)日：2012-12-20
申请号：US13594629
申请日：2012-08-24
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： A61B1/01 , G02B6/00
CPC分类号： G02B6/022 , A61B5/1076 , A61B5/6852 , A61B2017/00039 , A61B2017/00053 , A61B2034/2061 , A61B2090/067
摘要： A method for measuring bending is provided. The method includes receiving a reflected signal from a strain sensor provided on an optical fiber; determining a spectral profile of the reflected signal; and determining bending of the optical fiber based on a comparison of the spectral profile of the reflected signal with a predetermined spectral profile.
摘要翻译：提供了一种测量弯曲的方法。该方法包括从设置在光纤上的应变传感器接收反射信号; 确定反射信号的光谱分布; 以及基于所述反射信号的光谱轮廓与预定光谱轮廓的比较来确定所述光纤的弯曲。

8. 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。

9. 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。

10. 发明授权

US09500473B2 Optical fiber instrument system and method with motion-based adjustment 有权
标题翻译：光纤仪器系统及运动调节方法
公开(公告)号：US09500473B2
公开(公告)日：2016-11-22
申请号：US13603015
申请日：2012-09-04
申请人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
发明人： Bhaskar S. Ramamurthy , Neal A. Tanner , Robert G. Younge , Randall L. Schlesinger
IPC分类号： A61B1/04 , G01B11/16 , A61B5/06 , A61B6/12 , A61B1/00 , G01L1/24 , A61B8/08 , A61B18/08 , A61B8/00 , A61B5/00 , A61M25/01
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an optical fiber and a controller is provided. The optical fiber is coupled to an external structure of a patient and has a strain sensor provided thereon. The controller is operatively coupled to the optical fiber and adapted to receive a signal from the strain sensor and to determine a property of respiration of the patient based on the signal.
摘要翻译：提供了包括光纤和控制器的仪器系统。光纤耦合到患者的外部结构，并具有设置在其上的应变传感器。控制器可操作地耦合到光纤并且适于从应变传感器接收信号并且基于该信号来确定患者的呼吸的特性。

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