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1. 发明授权

US06858003B2 Performing cardiac surgery without cardioplegia 有权
公开(公告)号：US06858003B2
公开(公告)日：2005-02-22
申请号：US10214286
申请日：2002-08-06
申请人： Philip C. Evans , Frederic H. Moll , Gary S. Guthart , William C. Nowlin , Rand P. Pendleton , Christopher P. Wilson , Andris D. Ramans , David J. Rosa , Volkmar Falk , Robert G. Younge
发明人： Philip C. Evans , Frederic H. Moll , Gary S. Guthart , William C. Nowlin , Rand P. Pendleton , Christopher P. Wilson , Andris D. Ramans , David J. Rosa , Volkmar Falk , Robert G. Younge
IPC分类号： A61B17/00 , A61B17/04 , A61B19/00
CPC分类号： A61B34/32 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/77 , A61B90/361 , A61B2017/00243 , A61B2017/00703 , A61B2034/2065 , A61B2034/305 , A61B2034/742 , A61B2090/064
摘要： A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant. A video monitor is coupled to the control computer; and an input system is coupled to the servo-mechanical system and to the control computer for providing a movement of the surgical instrument. The video monitor displays movement of the surgical instrument while the resultant surgical cardiac worksite appears substantially stationary, and while a relative position of the surgical instrument moving in unison with the resultant surgical cardiac worksite, as a result from the movement information gathered by the motion tracking system, remains generally constant. A method of performing cardiac surgery without cardioplegia comprising removing at least one degree of movement freedom from a moving surgical cardiac worksite to produce at least a partially stationary surgical cardiac worksite while allowing a residual heart section, generally separate from the at least partially stationary surgical cardiac worksite, to move as a residual moving heart part. Cardiac surgery is performed on the at least partially stationary cardiac worksite with a surgical instrument such as needle drivers, forceps, blades and scissors.

2. 发明授权

US06468265B1 Performing cardiac surgery without cardioplegia 有权
公开(公告)号：US06468265B1
公开(公告)日：2002-10-22
申请号：US09436982
申请日：1999-11-09
申请人： Philip C. Evans , Frederic H. Moll , Gary S. Guthart , William C. Nowlin , Rand P. Pendleton , Christopher P. Wilson , Andris D. Ramans , David J. Rosa , Volkmar Falk , Robert G. Younge
发明人： Philip C. Evans , Frederic H. Moll , Gary S. Guthart , William C. Nowlin , Rand P. Pendleton , Christopher P. Wilson , Andris D. Ramans , David J. Rosa , Volkmar Falk , Robert G. Younge
IPC分类号： A61B1700
CPC分类号： A61B34/32 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/77 , A61B90/361 , A61B2017/00243 , A61B2017/00703 , A61B2034/2065 , A61B2034/305 , A61B2034/742 , A61B2090/064
摘要： A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant. A video monitor is coupled to the control computer; and an input system is coupled to the servo-mechanical system and to the control computer for providing a movement of the surgical instrument. The video monitor displays movement of the surgical instrument while the resultant surgical cardiac worksite appears substantially stationary, and while a relative position of the surgical instrument moving in unison with the resultant surgical cardiac worksite, as a result from the movement information gathered by the motion tracking system, remains generally constant. A method of performing cardiac surgery without cardioplegia comprising removing at least one degree of movement freedom from a moving surgical cardiac worksite to produce at least a partially stationary surgical cardiac worksite while allowing a residual heart section, generally separate from the at least partially stationary surgical cardiac worksite, to move as a residual moving heart part. Cardiac surgery is performed on the at least partially stationary cardiac worksite with a surgical instrument such as needle drivers, forceps, blades and scissors.

3. 发明授权

US06764445B2 Stabilizer for robotic beating-heart surgery 有权
标题翻译：用于机器人跳动心脏手术的稳定器
公开(公告)号：US06764445B2
公开(公告)日：2004-07-20
申请号：US10017641
申请日：2001-12-14
申请人： Andris D. Ramans , David J. Rosa , Volkmar Falk
发明人： Andris D. Ramans , David J. Rosa , Volkmar Falk
IPC分类号： A61B132
CPC分类号： A61B19/2203 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00243 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2034/742
摘要： Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficiently to treat the target tissues with robotic surgical tools which move in response to inputs of a robotic system operator. A stabilizing surface of the stabilizer is coupled to a drive system to position the surface from outside the patient, preferably by actuators of the robotic servomechanism. Exemplary stabilizers includes a suture or other flexible tension member spanning between a pair of jointed bodies, allowing the member to occlude a coronary blood vessel and/or help stabilize the target region between the stabilizing surfaces.
摘要翻译：手术方法和装置允许在心脏跳动时对患者的心脏进行闭胸手术。通过使心脏的表面与稳定剂接合而不必停止心脏来稳定心脏的区域。目标组织的运动受到充分的抑制，用机器人手术工具治疗目标组织，这些手术工具响应于机器人系统操作者的输入而移动。稳定器的稳定表面联接到驱动系统以将表面从患者外部优选地通过机器人伺服机构的致动器定位。示例性稳定器包括横跨在一对接合体之间的缝合线或其它柔性张紧构件，允许构件闭塞冠状血管和/或帮助稳定稳定表面之间的目标区域。

4. 发明授权

US08105235B2 Stabilizer for robotic beating-heart surgery 有权
标题翻译：用于机器人跳动心脏手术的稳定器
公开(公告)号：US08105235B2
公开(公告)日：2012-01-31
申请号：US10864899
申请日：2004-06-08
申请人： Andris D. Ramans , David J. Rosa , Volkmar Falk
发明人： Andris D. Ramans , David J. Rosa , Volkmar Falk
IPC分类号： A61B1/32
CPC分类号： A61B19/2203 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00243 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2034/742
摘要： Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficiently to treat the target tissues with robotic surgical tools which move in response to inputs of a robotic system operator. A stabilizing surface of the stabilizer is coupled to a drive system to position the surface from outside the patient, preferably by actuators of the robotic servomechanism. Exemplary stabilizers includes a suture or other flexible tension member spanning between a pair of jointed bodies, allowing the member to occlude a coronary blood vessel and/or help stabilize the target region between the stabilizing surfaces.
摘要翻译：手术方法和装置允许在心脏跳动时对患者的心脏进行闭胸手术。通过使心脏的表面与稳定剂接合而不必停止心脏来稳定心脏的区域。目标组织的运动受到充分的抑制，用机器人手术工具治疗目标组织，这些手术工具响应于机器人系统操作者的输入而移动。稳定器的稳定表面联接到驱动系统以将表面从患者外部优选地通过机器人伺服机构的致动器定位。示例性稳定器包括横跨在一对接合体之间的缝合线或其它柔性张紧构件，允许构件闭塞冠状血管和/或帮助稳定稳定表面之间的目标区域。

5. 发明授权

US09119654B2 Stabilizer for robotic beating-heart surgery 有权
公开(公告)号：US09119654B2
公开(公告)日：2015-09-01
申请号：US13350459
申请日：2012-01-13
申请人： Andris D. Ramans , David J. Rosa , Volkmar Falk
发明人： Andris D. Ramans , David J. Rosa , Volkmar Falk
IPC分类号： A61B1/32 , A61B19/00 , A61B17/04 , A61B17/00
CPC分类号： A61B19/2203 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00243 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2034/742
摘要： Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficiently to treat the target tissues with robotic surgical tools which move in response to inputs of a robotic system operator. A stabilizing surface of the stabilizer is coupled to a drive system to position the surface from outside the patient, preferably by actuators of the robotic servomechanism. Exemplary stabilizers includes a suture or other flexible tension member spanning between a pair of jointed bodies, allowing the member to occlude a coronary blood vessel and/or help stabilize the target region between the stabilizing surfaces.

6. 发明授权

US06398726B1 Stabilizer for robotic beating-heart surgery 有权
公开(公告)号：US06398726B1
公开(公告)日：2002-06-04
申请号：US09436524
申请日：1999-11-09
申请人： Andris D. Ramans , David J. Rosa , Volkmar Falk
发明人： Andris D. Ramans , David J. Rosa , Volkmar Falk
IPC分类号： A61B132
CPC分类号： A61B19/2203 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00243 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2034/742
摘要： Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficiently to treat the target tissues with robotic surgical tools which move in response to inputs of a robotic system operator. A stabilizing surface of the stabilizer is coupled to a drive system to position the surface from outside the patient, preferably by actuators of the robotic servomechanism. Exemplary stabilizers includes a suture or other flexible tension member spanning between a pair of jointed bodies, allowing the member to occlude a coronary blood vessel and/or help stabilize the target region between the stabilizing surfaces.

7. 发明申请

US20120123217A1 STABILIZER FOR ROBOTIC BEATING-HEART SURGERY 审中-公开
标题翻译：用于机器人心脏手术的稳定器
公开(公告)号：US20120123217A1
公开(公告)日：2012-05-17
申请号：US13350459
申请日：2012-01-13
申请人： Andris D. Ramans , David J. Rosa , Volkmar Falk
发明人： Andris D. Ramans , David J. Rosa , Volkmar Falk
IPC分类号： A61B1/32
CPC分类号： A61B19/2203 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00243 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2034/742
摘要： Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficiently to treat the target tissues with robotic surgical tools which move in response to inputs of a robotic system operator. A stabilizing surface of the stabilizer is coupled to a drive system to position the surface from outside the patient, preferably by actuators of the robotic servomechanism. Exemplary stabilizers includes a suture or other flexible tension member spanning between a pair of jointed bodies, allowing the member to occlude a coronary blood vessel and/or help stabilize the target region between the stabilizing surfaces.
摘要翻译：手术方法和装置允许在心脏跳动时对患者的心脏进行闭胸手术。通过使心脏的表面与稳定剂接合而不必停止心脏来稳定心脏的区域。目标组织的运动受到充分的抑制，用机器人手术工具治疗目标组织，这些手术工具响应于机器人系统操作者的输入而移动。稳定器的稳定表面联接到驱动系统以将表面从患者外部优选地通过机器人伺服机构的致动器定位。示例性稳定器包括横跨在一对接合体之间的缝合线或其它柔性张紧构件，允许构件闭塞冠状血管和/或帮助稳定稳定表面之间的目标区域。

8. 发明授权

US08177835B2 Method of imaging for heart valve implant procedure 失效
标题翻译：心脏瓣膜植入术成像方法
公开(公告)号：US08177835B2
公开(公告)日：2012-05-15
申请号：US12545435
申请日：2009-08-21
申请人： Alois Noettling , Jan Boese , Matthias John , Volkmar Falk , Thomas Walther
发明人： Alois Noettling , Jan Boese , Matthias John , Volkmar Falk , Thomas Walther
IPC分类号： A61F2/24 , A61B5/05
CPC分类号： A61B6/032 , A61B6/503 , A61B8/0883 , A61F2/24
摘要： A method as a workflow for imaging for a heart valve implant procedure includes positioning the patient and an articulated imaging apparatus relative to one another, inducing rapid ventricular pacing in the patient, and imaging a region of the patient's heart to obtain image date for a three-dimensional image. The three-dimensional data is used to construct a three-dimensional image of the region of the patient's heart an the three-dimensional image is displayed for use in the implanting of the replacement heart valve. Optional steps may include obtaining a real time two-dimensional image of the patient's heart and superimposing the real time two-dimensional image with the constructed three dimensional image. The replacement valve is moved into position in the patient's heart during rapid ventricular pacing and breath hold using the superimposed two-dimensional and three-dimensional image information.
摘要翻译：作为用于心脏瓣膜植入程序的成像工作流程的方法包括相对于彼此定位患者和关节成像装置，在患者体内引起快速心室起搏，以及对患者心脏的区域进行成像以获得三维图像的图像日期维度图像。三维数据用于构建患者心脏区域的三维图像，显示三维图像以用于置换心脏瓣膜的植入。可选步骤可以包括获得患者心脏的实时二维图像，并且用构建的三维图像叠加实时二维图像。使用重叠的二维和三维图像信息，在快速心室起搏和呼吸保持期间将置换瓣膜移动到患者心脏中的位置。

9. 发明申请

US20050107808A1 Performing cardiac surgery without cardioplegia 审中-公开
标题翻译：进行心脏手术无心脏停搏
公开(公告)号：US20050107808A1
公开(公告)日：2005-05-19
申请号：US11025766
申请日：2004-12-28
申请人： Philip Evans , Frederic Moll , Gary Guthart , William Nowlin , Rand Pendleton , Christopher Wilson , Andris Ramans , David Rosa , Volkmar Falk , Robert Younge
发明人： Philip Evans , Frederic Moll , Gary Guthart , William Nowlin , Rand Pendleton , Christopher Wilson , Andris Ramans , David Rosa , Volkmar Falk , Robert Younge
IPC分类号： A61B17/00 , A61B17/04 , A61B19/00 , A61B17/10
CPC分类号： A61B34/32 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/77 , A61B90/361 , A61B2017/00243 , A61B2017/00703 , A61B2034/2065 , A61B2034/305 , A61B2034/742 , A61B2090/064
摘要： Systems and methods are provided for performing a surgical procedure on a beating heart of a patient. Methods are provided which include positioning an end effector in close proximity to a surgical site on the heart, the end effector being mounted on a robotically controlled arm. The motion of the surgical site is monitored and end effector tracking command signals computed in response to the monitored motion of the surgical site. The tracking command signals are forwarded to actuators operatively associated with the robotically controlled arm to cause the arm to move the end effector generally to track motion of the surgical site. The method further includes inputting an end effector movement command signal, and forwarding the end effector movement command signal to the actuators to cause the end effector to move relative to the surgical site so as to perform at least part of the surgical procedure.
摘要翻译：提供了用于在患者的跳动心脏上执行外科手术的系统和方法。提供了包括将末端执行器定位在心脏附近的外科手术部位的方法，末端执行器安装在机器人控制的臂上。监测手术部位的运动，并根据手术部位的监视运动计算末端执行器跟踪指令信号。跟踪命令信号被转发到与机器人控制的臂可操作地相关联的致动器，以使臂通常移动末端执行器来跟踪手术部位的运动。该方法还包括输入末端执行器运动指令信号，以及将末端执行器运动指令信号转发到致动器，使末端执行器相对于外科手术部位移动，以便执行外科手术的至少一部分。

10. 发明申请

US20050033270A1 Stabilizer for robotic beating-heart surgery 有权
标题翻译：用于机器人跳动心脏手术的稳定器
公开(公告)号：US20050033270A1
公开(公告)日：2005-02-10
申请号：US10864899
申请日：2004-06-08
申请人： Andris Ramans , David Rosa , Volkmar Falk
发明人： Andris Ramans , David Rosa , Volkmar Falk
IPC分类号： A61B17/00 , A61B17/04 , A61B19/00
CPC分类号： A61B19/2203 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00243 , A61B2017/00477 , A61B2034/305 , A61B2034/715 , A61B2034/742
摘要： Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficiently to treat the target tissues with robotic surgical tools which move in response to inputs of a robotic system operator. A stabilizing surface of the stabilizer is coupled to a drive system to position the surface from outside the patient, preferably by actuators of the robotic servomechanism. Exemplary stabilizers includes a suture or other flexible tension member spanning between a pair of jointed bodies, allowing the member to occlude a coronary blood vessel and/or help stabilize the target region between the stabilizing surfaces.
摘要翻译：手术方法和装置允许在心脏跳动时对患者的心脏进行闭胸手术。通过使心脏的表面与稳定剂接合而不必停止心脏来稳定心脏的区域。目标组织的运动受到充分的抑制，用机器人手术工具治疗目标组织，这些手术工具响应于机器人系统操作者的输入而移动。稳定器的稳定表面联接到驱动系统以将表面从患者外部优选地通过机器人伺服机构的致动器定位。示例性稳定器包括横跨在一对接合体之间的缝合线或其它柔性张紧构件，允许构件闭塞冠状血管和/或帮助稳定稳定表面之间的目标区域。

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