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1. 发明申请

US20070185485A1 Robotic surgical system and method for automated creation of ablation lesions 审中-公开
标题翻译：机器人手术系统和自动创建消融病变的方法
公开(公告)号：US20070185485A1
公开(公告)日：2007-08-09
申请号：US11647296
申请日：2006-12-29
申请人： John Hauck , Jeffrey Schweitzer , Kedar Belhe , Jeff Burrell
发明人： John Hauck , Jeffrey Schweitzer , Kedar Belhe , Jeff Burrell
IPC分类号： A61B18/14
CPC分类号： A61B5/6885 , A61B34/20 , A61B34/30 , A61B34/71 , A61B2017/00026 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/742 , A61B2090/064 , A61B2090/3784 , A61M25/0105
摘要： A system for ablating tissue includes an ablation catheter for insertion into the body of a patient and a robotic controller for moving the catheter within the body. The robotic controller advances the catheter until the catheter contacts the tissue surface, maintains contact between the catheter and the tissue surface, and moves the catheter along a predetermined path to create a substantially continuous lesion of ablated tissue. A display device may be used to present a graphical representation of an area of tissue to be ablated. A user interface permits selection of a plurality of treatment points on the graphical representation. The interface is preferably coupled to the controller and catheter such that the controller may cause the catheter to automatically ablate tissue at and between the plurality of treatment points in response to the received user input.
摘要翻译：用于消融组织的系统包括用于插入患者体内的消融导管和用于在体内移动导管的机器人控制器。机器人控制器前进导管，直到导管接触组织表面，保持导管和组织表面之间的接触，并且沿着预定的路径移动导管以产生消融组织的基本上连续的损伤。显示装置可以用于呈现要消融的组织区域的图形表示。用户界面允许在图形表示上选择多个治疗点。接口优选地耦合到控制器和导管，使得控制器可以响应于接收到的用户输入而导致导管自动地在多个治疗点之间和之间消融组织。

2. 发明申请

US20070185486A1 Robotic surgical system 有权
标题翻译：机器人手术系统
公开(公告)号：US20070185486A1
公开(公告)日：2007-08-09
申请号：US11647300
申请日：2006-12-29
申请人： John Hauck , Jeffrey Schweitzer , Troy Tegg , James Essington , Mark Johnson , Kedar Belhe
发明人： John Hauck , Jeffrey Schweitzer , Troy Tegg , James Essington , Mark Johnson , Kedar Belhe
IPC分类号： A61B18/18
CPC分类号： A61B5/6885 , A61B34/20 , A61B34/30 , A61B34/70 , A61B34/71 , A61B2017/00026 , A61B2034/2051 , A61B2034/301 , A61B2034/742 , A61B2090/064 , A61B2090/3784 , A61M25/0105
摘要： A robotic surgical system includes a track, a catheter holding device including a catheter receiving portion translatably associated with the track, a translation servo mechanism to control translation of the catheter holding device relative to the track, a catheter deflection control mechanism, a deflection servo mechanism to control the catheter deflection control mechanism, and a controller to control at least one of the servo mechanisms. The catheter receiving portion is adapted for quick installation and removal of a catheter. The catheter receiving portion may be rotatable, with a rotation servo mechanism to control the rotatable catheter receiving portion. The controller controls at least one of the deflection and rotation servo mechanisms to maintain a substantially constant catheter deflection as the catheter rotates. An introducer, which may be steerable, and an expandable, collapsible sterile tube may also be provided.
摘要翻译：机器人手术系统包括轨道，导管保持装置，其包括可与轨道平行移动的导管接收部分，平移伺服机构，用于控制导管保持装置相对于轨道的平移，导管偏转控制机构，偏转伺服机构以控制导管偏转控制机构，以及控制器来控制至少一个伺服机构。导管接收部分适于快速安装和移除导管。导管接收部分可以是可旋转的，具有旋转伺服机构以控制可旋转的导管接收部分。控制器控制至少一个偏转和旋转伺服机构，以在导管旋转时保持基本恒定的导管偏转。还可以提供可引导的导引器和可扩张的可收缩的无菌管。

3. 发明申请

US20070198008A1 Robotic surgical system and method for automated therapy delivery 有权
标题翻译：机器人手术系统及自动化治疗方法
公开(公告)号：US20070198008A1
公开(公告)日：2007-08-23
申请号：US11647297
申请日：2006-12-29
申请人： John Hauck , Jeffrey Schweitzer , Kedar Belhe
发明人： John Hauck , Jeffrey Schweitzer , Kedar Belhe
IPC分类号： A61B18/18
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.
摘要翻译：通过患者身体导航医疗装置的方法包括提供身体的至少一部分的形貌，接受定义导航路径的用户输入，将医疗装置机器人导航到路径上的起点，以及机器人导航沿导航路径的医疗设备到端点。定义导航路径的航点可以使用诸如指点设备或触摸屏的用户界面在地形的图形表示上输入。还可以通过在图形表示上跟踪基本连续的路径来定义导航路径。可以沿着导航路径机器人地导航医疗装置，无论是前进还是反向地，或者沿着由医疗装置穿过导航路径生成的多个虚拟面包屑所定义的返回路径导航医疗装置时，可以进行治疗。

4. 发明申请

US20070185404A1 Robotic surgical system and method for diagnostic data mapping 有权
标题翻译：机器人手术系统和诊断数据映射方法
公开(公告)号：US20070185404A1
公开(公告)日：2007-08-09
申请号：US11647298
申请日：2006-12-29
申请人： John Hauck , Jeffrey Schweitzer , Kedar Belhe
发明人： John Hauck , Jeffrey Schweitzer , Kedar Belhe
IPC分类号： A61B5/04 , A61B18/18
CPC分类号： A61B19/2203 , A61B5/04011 , A61B5/06 , A61B5/6885 , A61B5/7425 , A61B5/7475 , A61B34/20 , A61B34/30 , A61B34/71 , A61B2017/00026 , A61B2034/105 , A61B2034/2051 , A61B2034/2053 , A61B2034/2072 , A61B2034/301 , A61B2034/303 , A61B2034/742 , A61B2090/064 , A61B2090/3784 , A61M25/0105
摘要： A method of generating a diagnosis map of at least a portion of the heart includes inserting an electrode within the portion of a heart, robotically moving the electrode therein, measuring electrophysiology information at a point on the surface of the heart, associating the measured electrophysiology information with position information for the point on the surface of the heart, repeating the measuring and associating steps for a plurality of points on the surface of the heart, thereby generating a plurality of surface diagnostic data points, and generating the diagnosis map therefrom. The electrode may be moved within the heart randomly, pseudo-randomly, or according to one or more predetermined patterns. A three-dimensional model of the portion of the heart may be provided and presented as a graphical representation, either with or without information indicative of the measured electrophysiology information superimposed thereon.
摘要翻译：产生心脏的至少一部分的诊断图的方法包括：在心脏的部分内插入电极，在其中机械地移动电极，测量心脏表面上的点处的电生理学信息，将测量的电生理学信息对于心脏表面上的点的位置信息，重复心脏表面上的多个点的测量和关联步骤，由此产生多个表面诊断数据点，并从中生成诊断图。电极可以随机，伪随机地移动，或根据一个或多个预定模式移动。可以提供心脏部分的三维模型并将其呈现为图形表示，或者具有或不具有指示叠加在其上的测量的电生理学信息的信息。

5. 发明申请

US20070073179A1 System and Method for Three Dimensional Mapping of Electrophysiology Information 有权
标题翻译：电生理信息三维映射的系统与方法
公开(公告)号：US20070073179A1
公开(公告)日：2007-03-29
申请号：US11227006
申请日：2005-09-15
申请人： Valtino Afonso , Kedar Belhe , Jeffrey Schweitzer
发明人： Valtino Afonso , Kedar Belhe , Jeffrey Schweitzer
IPC分类号： A61B5/04
CPC分类号： A61B5/0422 , A61B5/04012 , A61B5/044 , A61B5/0452
摘要： An electrophysiology apparatus is used to measure electrical activity occurring in a heart of a patient and to visualize the electrical activity and/or information related to the electrical activity. A three-dimensional map of the electrical activity and/or the information related to the electrical activity is created. Exemplary maps include a time difference between action potentials at a roving electrode and a reference electrode, the peak-to-peak timing of action potentials at the roving electrode, the peak negative voltage of action potentials at the roving electrode, complex fractionated electrogram information, a dominant frequency of an electrogram signal, a maximum peak amplitude at the dominant frequency, a ratio of energy in one band of the frequency-domain to the energy in a second band of the frequency-domain, a low-frequency or high-frequency passband of interest, a frequency with the maximum energy in a passband, a number of peaks within a passband, an energy, power, and/or area in each peak, a ratio of energy and/or area in each peak to that in another passband, and a width of each peak in a spectrum. Colors, shades of colors, and/or grayscales are assigned to values of the parameters and colors corresponding to the parameters for the electrograms sampled by the electrodes are updated on the three-dimensional model.
摘要翻译：电生理学装置用于测量在患者心脏中发生的电活动并且可视化与电活动有关的电活动和/或信息。创建电活动的三维图和/或与电活动相关的信息。示例性地图包括粗纱电极上的动作电位和参考电极之间的时间差，粗纱动作电位的峰 - 峰定时，粗纱动作电位的峰值负电压，复分数电描记图信息，电描记信号的主要频率，主频率的最大峰值幅度，频域的一个频带中的能量与频域的第二频带中的能量的比率，低频或高频通带的通带，通带中的最大能量的频率，通带内的峰值数，每个峰中的能量，功率和/或面积，每个峰中的能量和/或面积与另一峰中的峰的比率通带和频谱中每个峰的宽度。将颜色，色调和/或灰度等级分配给参数的值，并且对应于由电极采集的电描记图的参数对应的颜色在三维模型上更新。

6. 发明申请

US20080091192A1 Brush electrode and method for ablation 审中-公开
标题翻译：刷电极和消融方法
公开(公告)号：US20080091192A1
公开(公告)日：2008-04-17
申请号：US11953151
申请日：2007-12-10
申请人： Saurav Paul , Kedar Belhe , Hong Cao , Chou Thao
发明人： Saurav Paul , Kedar Belhe , Hong Cao , Chou Thao
IPC分类号： A61B18/14
CPC分类号： A61B18/1402 , A61B2018/143 , A61B2018/1472
摘要： A brush electrode and a method for using the brush electrode for tissue ablation are disclosed. The brush electrode comprises a plurality of flexible filaments or bristles for applying ablative energy (e.g., RF energy) to target tissue during the formation of spot or continuous linear lesions. Interstitial spaces are defined among the filaments of the brush electrode, and the interstitial spaces are adapted to direct conductive or nonconductive fluid, when present, toward the distal ends of the brush filaments. The brush electrode facilitates electrode-tissue contact in target tissue having flat or contoured surfaces. The flexible filaments may be selectively trimmed to give a desired tip configuration or a desired standoff distance between the tissue and the conductive filaments in the brush electrode. Also, the filaments may be grouped into clusters. A shielded-tip brush electrode, including a flexible boot, is also disclosed.
摘要翻译：公开了一种刷电极和使用刷电极进行组织消融的方法。刷电极包括多个柔性细丝或刷毛，用于在形成斑点或连续线性损伤期间向靶组织施加消融能量（例如RF能量）。间隙空间被限定在刷电极的细丝之间，并且间隙空间适于将导电或非导电流体（当存在时）引向刷丝的远端。刷电极促进具有平坦或轮廓表面的靶组织中的电极组织接触。可以选择性地修剪柔性细丝以给出组织和刷电极中的导电细丝之间的期望的尖端构型或期望的间隔距离。此外，丝可以分组成簇。还公开了一种包括柔性护罩的屏蔽尖刷电极。

7. 发明申请

US20070293856A1 Side-port sheath for catheter placement and translation 有权
公开(公告)号：US20070293856A1
公开(公告)日：2007-12-20
申请号：US11892817
申请日：2007-08-27
申请人： Saurav Paul , Kedar Belhe , Hong Cao , John Roop , Chou Thao
发明人： Saurav Paul , Kedar Belhe , Hong Cao , John Roop , Chou Thao
IPC分类号： A61B18/08
CPC分类号： A61B18/1492 , A61B5/042 , A61B2018/143 , A61B2018/1475 , A61B2018/1497
摘要： Side-port sheaths for catheter placement and translation are disclosed. The sheaths include a side-port opening through which a gliding catheter may be deployed during diagnosis or treatment of tissue. The side-port sheath may include a suspension ribbon used to deploy, or that aids in the deployment of, the embedded gliding catheter. The suspension ribbon may be slideably or fixably engaged with an outer surface of the sheath of the gliding catheter.

8. 发明申请

US20060264975A1 Suture loop closure device 有权
标题翻译：缝合环闭合装置
公开(公告)号：US20060264975A1
公开(公告)日：2006-11-23
申请号：US11130916
申请日：2005-05-17
申请人： Catherine Pipenhagen , John Roop , Kedar Belhe
发明人： Catherine Pipenhagen , John Roop , Kedar Belhe
IPC分类号： A61B17/04
CPC分类号： A61B17/0057 , A61B2017/00637 , A61B2017/00663 , A61B2017/0477 , A61B2017/06052
摘要： The present invention describes apparatus and methods for tying a filament across subcutaneous punctures. According to some embodiments, the apparatus and methods provide pre-tied knots that are inserted into a bodily lumen. Needles flanking the subcutaneous puncture are inserted into the lumen and grab the pre-tied knots. The pre-tied knots are pulled through tiny holes flanking the subcutaneous puncture by the needles, leaving an internal length of the filament across the subcutaneous puncture. The filament is then externally tied, closing the subcutaneous puncture.
摘要翻译：本发明描述了将丝穿过皮下穿刺的装置和方法。根据一些实施例，该装置和方法提供插入到体腔内的预先束缚的结。将皮下穿刺侧面的针插入内腔并抓住预先束缚的结。预先束缚的结被针穿过皮下穿刺侧面的小孔，通过皮下穿刺留下细丝的内部长度。然后将细丝从外部捆扎起来，关闭皮下穿刺。

9. 发明申请

US20050267460A1 Ablation catheter with suspension system incorporating rigid and flexible components 失效
标题翻译：消融导管与悬挂系统结合刚性和柔性组件
公开(公告)号：US20050267460A1
公开(公告)日：2005-12-01
申请号：US10856544
申请日：2004-05-27
申请人： John Roop , Kedar Belhe , Hong Cao , Saurav Paul
发明人： John Roop , Kedar Belhe , Hong Cao , Saurav Paul
IPC分类号： A61B18/14
CPC分类号： A61B18/1492 , A61B2017/00867 , A61B2018/00351 , A61B2018/143 , C08L2201/12
摘要： A curved ablation catheter imparts ablative energy to target tissue, for example, along a trabecular slope, e.g., in the right atrium along the isthmus between the ostium of the inferior vena cava and the tricuspid valve. The catheter is formed with a preset curvature that, when deployed, both translates linearly and increases in radius to aid in the formation of spot or continuous linear lesions. A method of treating atrial flutter employs the curved ablation catheter.
摘要翻译：弯曲的消融导管向靶组织提供消融能量，例如沿着小梁斜面，例如沿着下腔静脉的口和三尖瓣之间的峡谷的右心房。导管形成有预设曲率，当展开时，两者均线性地平移并且半径增加以帮助形成斑点或连续的线性损伤。治疗心房扑动的方法采用弯曲消融导管。

10. 发明申请

US20070073345A1 Vascular sealing device with high surface area sealing plug 有权
标题翻译：具有高表面积密封塞的血管密封装置
公开(公告)号：US20070073345A1
公开(公告)日：2007-03-29
申请号：US11605603
申请日：2006-11-29
申请人： Catherine Pipenhagen , Kedar Belhe , John Roop
发明人： Catherine Pipenhagen , Kedar Belhe , John Roop
IPC分类号： A61B17/04
CPC分类号： A61B17/0057 , A61B17/00234 , A61B17/0401 , A61B2017/00592 , A61B2017/00615 , A61B2017/00637 , A61B2017/00654 , A61B2017/00659 , A61B2017/00663 , A61B2017/00668
摘要： An internal tissue puncture closure method and apparatus. The method and apparatus provide a folded sealing plug that provides more surface area than conventional plugs to more fully cover and seal an external situs of an internal tissue puncture. The folded sealing plug may have a weave pattern that tends to cause the sealing plug to corkscrew into the internal tissue puncture as it is compressed toward an anchor placed inside of the tissue puncture.
摘要翻译：内部组织穿刺闭合方法和装置。该方法和装置提供折叠的密封塞，其提供比常规塞子更多的表面积，以更完全地覆盖和密封内部组织穿刺的外部部位。折叠的密封塞可以具有编织图案，其趋向于使得当密封塞被压缩到放置在组织穿刺内部的锚定处时，密封塞开始开启到内部组织穿刺中。

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