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1. 发明申请

WO2008014425A2 SYSTEMS FOR PERFORMING MINIMALLY INVASIVE SURGICAL OPERATIONS 审中-公开
标题翻译：用于进行微创外科手术的系统
公开(公告)号：WO2008014425A2
公开(公告)日：2008-01-31
申请号：PCT/US2007074528
申请日：2007-07-26
申请人： HANSEN MEDICAL INC , MOLL FREDERIC H , WALLACE DANIEL T , STAHLER GREGORY J , CARLSON CHRISTOPHER R , BARBAGLI FEDERICO
发明人： MOLL FREDERIC H , WALLACE DANIEL T , STAHLER GREGORY J , CARLSON CHRISTOPHER R , BARBAGLI FEDERICO
IPC分类号： A61B19/00 , A61B17/225 , A61M25/00
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). An instrument assembly (108) is operatively coupled to the instrument driver (106), the instrument assembly (108) including a guide instrument (424) and a composite instrument carried in a lumen of the guide instrument (424), the composite instrument comprising a light source, an image capture device, and an optical fiber. An operator control station (102) is coupled to the instrument driver (106) over a remote communications link (wired or wireless) for controlling the instrument driver (106) and instrument assembly (108).
摘要翻译：机器人手术系统（100）包括安装在手术台（104）上的器械驱动器（106）。器械组件（108）可操作地连接到器械驱动器（106），器械组件（108）包括引导器械（424）和携带在引导器械（424）的内腔中的复合器械，复合器械包括光源，图像捕获装置和光纤。操作员控制站（102）通过远程通信链路（有线或无线）连接到仪器驱动器（106），用于控制仪器驱动器（106）和仪器组件（108）。

2. 发明申请

WO2008017080A9 SYSTEMS FOR PERFORMING MINIMALLY INVASIVE PROCEDURES 审中-公开
标题翻译：用于执行最小侵入程序的系统
公开(公告)号：WO2008017080A9
公开(公告)日：2008-05-22
申请号：PCT/US2007075225
申请日：2007-08-03
申请人： HANSEN MEDICAL INC , MOLL FREDERIC H , WALLACE DANIEL T , STAHLER GREGORY J , CARLSON CHRISTOPHER R , BARBAGLI FEDERICO
发明人： MOLL FREDERIC H , WALLACE DANIEL T , STAHLER GREGORY J , CARLSON CHRISTOPHER R , BARBAGLI FEDERICO
IPC分类号： A61B19/00 , A61B1/005 , A61B17/00 , A61B17/22 , A61F2/958
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仪器组件，该仪器组件可操作地耦合到仪器驱动器，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，照相机和工作工具被承载在引导仪器的一个或多个内腔中。操作员控制站通过远程通信链路可操作地连接到仪器驱动器。器械组件还包括携带在导向器械的远端部分上的可膨胀的可视气囊，光源和照相机具有位于气囊内部内的远端，气囊包括从导向器械延伸到远端面使得工作器械可以从引导器械的相应腔延伸穿过囊腔以在引导器械的远端定位在体内区域中时接触身体组织。

3. 发明申请

WO2008017080A2 SYSTEMS FOR PERFORMING MINIMALLY INVASIVE PROCEDURES 审中-公开
标题翻译：执行最小的入场程序的系统
公开(公告)号：WO2008017080A2
公开(公告)日：2008-02-07
申请号：PCT/US2007075225
申请日：2007-08-03
申请人： HANSEN MEDICAL INC , MOLL FREDERIC H , WALLACE DANIEL T , STAHLER GREGORY J , CARLSON CHRISTOPHER R , BARBAGLI FEDERICO
发明人： MOLL FREDERIC H , WALLACE DANIEL T , STAHLER GREGORY J , CARLSON CHRISTOPHER R , BARBAGLI FEDERICO
IPC分类号： A61B19/00 , A61F2/958
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。操作员控制站通过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。

4. 发明申请

WO2008031077A2 ROBOTIC SURGICAL SYSTEM WITH FORWARD-ORIENTED FIELD OF VIEW GUIDE INSTRUMENT NAVIGATION 审中-公开
标题翻译：具有前向导航视野导航仪的机器人手术系统
公开(公告)号：WO2008031077A2
公开(公告)日：2008-03-13
申请号：PCT/US2007077944
申请日：2007-09-07
申请人： HANSEN MEDICAL INC , MOLL FREDERIC H , BARBAGLI FEDERICO , CARLSON CHRISTOPHER R
发明人： MOLL FREDERIC H , BARBAGLI FEDERICO , CARLSON CHRISTOPHER R
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仪器组件，该仪器组件可操作地耦合到仪器驱动器，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。器械组件部件包括细长柔性引导器械和图像捕获装置，其中图像捕获装置配置为捕获前向视场的图像。该系统进一步包括控制器，该控制器可操作地连接至器械驱动器并且被配置为以这样的方式操作器械驱动器机构，以便控制器械组件沿着将目标保持在向前取向的视场中的轨迹朝向目标的前进的图像捕获设备。

5. 发明申请

WO2008031077A9 ROBOTIC SURGICAL SYSTEM WITH FORWARD-ORIENTED FIELD OF VIEW GUIDE INSTRUMENT NAVIGATION 审中-公开
标题翻译：具有向前导向的视野指南仪器导航的机械手术系统
公开(公告)号：WO2008031077A9
公开(公告)日：2008-09-12
申请号：PCT/US2007077944
申请日：2007-09-07
申请人： HANSEN MEDICAL INC , MOLL FREDERIC H , BARBAGLI FEDERICO , CARLSON CHRISTOPHER R
发明人： MOLL FREDERIC H , BARBAGLI FEDERICO , CARLSON CHRISTOPHER R
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。

6. 发明申请

WO2007070693A2 ROBOTIC CATHETHER SYSTEM AND METHODS 审中-公开
标题翻译：机器人导管系统及方法
公开(公告)号：WO2007070693A2
公开(公告)日：2007-06-21
申请号：PCT/US2006048058
申请日：2006-12-14
申请人： HANSEN MEDICAL INC , MOLL FREDERIC H , CARLSON CHRISTOPHER R , BARBAGLI FEDERICO , WALLACE DANIEL T , LUNDMARK DAVID
发明人： MOLL FREDERIC H , CARLSON CHRISTOPHER R , BARBAGLI FEDERICO , WALLACE DANIEL T , LUNDMARK DAVID
IPC分类号： A61B19/00
CPC分类号： A61B17/12172 , A61B17/0644 , A61B17/0682 , A61B17/12022 , A61B17/12122 , A61B34/30 , A61B34/37 , A61B2017/00243 , A61B2017/0649 , 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，所述引导器械可操纵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。

7. 发明申请

WO2008097540A3 ROBOTIC SURGICAL INSTRUMENT AND METHODS USING BRAGG FIBER SENSORS 审中-公开
标题翻译：机器人手术仪器和使用BRAGG光纤传感器的方法
公开(公告)号：WO2008097540A3
公开(公告)日：2009-01-15
申请号：PCT/US2008001505
申请日：2008-02-01
申请人： HANSEN MEDICAL INC , MOLL FREDERIC H , GOLDENBERG ALEX
发明人： MOLL FREDERIC H , GOLDENBERG ALEX
IPC分类号： A61B19/00
CPC分类号： A61G7/0503 , A61B34/20 , A61B34/30 , A61B34/71 , A61B90/361 , A61B90/50 , A61B2017/00261 , A61B2034/102 , A61B2034/2051 , A61B2034/2061 , A61G13/10 , A61G13/101
摘要： A positionable medical instrument assembly, e.g., a robotic instrument driver configured to maneuver an elongate medical instrument, includes a first member coupled to a second member by a movable joint, with a Bragg fiber sensor coupled to the first and second members, such that relative movement of the first and second members about the movable joint causes a bending of at least a portion of the Bragg fiber sensor. The Bragg fiber sensor has a proximal end operatively coupled to a controller configured to receive signals from the Bragg fiber sensor indicative of a bending thereof, the controller configured to analyze the signals to determine a relative position of the first and second members about the movable joint.
摘要翻译：可定位的医疗器械组件，例如被配置为操纵细长医疗器械的机器人仪器驱动器，包括通过可移动接头联接到第二构件的第一构件，布拉格光纤传感器联接到第一和第二构件，使得相对第一和第二构件围绕可动接头的移动导致布拉格光纤传感器的至少一部分的弯曲。布拉格光纤传感器具有可操作地耦合到控制器的近端，控制器被配置为从布拉格光纤传感器接收指示其弯曲的信号，该控制器被配置为分析信号以确定第一和第二构件围绕可动接头的相对位置。

8. 发明申请

WO2008086493A3 ROBOTIC CATHETER SYSTEM 审中-公开
标题翻译：机器人导管系统
公开(公告)号：WO2008086493A3
公开(公告)日：2008-09-04
申请号：PCT/US2008050797
申请日：2008-01-10
申请人： HANSEN MEDICAL INC , STAHLER GREGORY J , MOLL FREDERIC H
发明人： STAHLER GREGORY J , MOLL FREDERIC H
IPC分类号： A61B19/00
CPC分类号： A61B17/12172 , A61B17/12022 , A61B17/12122 , A61B17/1285 , A61B34/30 , A61B34/37 , A61B2017/00243 , A61B2017/00247 , A61B2017/003 , A61B2017/00477 , A61B2017/00575 , A61B2017/00632 , A61B2018/00392 , A61B2034/301 , A61M25/0105
摘要： A robotic instrument system (10), comprising at least two instrument drive assemblies (16a, 16b) each detachably coupled to a respective instrument assembly. Each instrument assembly comprising an elongate, flexible guide instrument configured to be inserted into a patient's body. The instrument drive assemblies comprise one or more motors configure to operate a respective instrument assembly. One or more controllers (15) are operatively coupled to the instrument drive assemblies.
摘要翻译：一种机器人仪器系统（10），包括至少两个仪器驱动组件（16a，16b），每个仪器驱动组件可拆卸地联接到相应的仪器组件。每个器械组件包括构造成插入到患者体内的细长的柔性引导器械。仪器驱动组件包括一个或多个配置成操作各个仪器组件的电动机。一个或多个控制器（15）可操作地联接到仪器驱动组件。

9. 发明申请

WO2012100211A3 SYSTEM AND METHOD FOR ENDOLUMINAL AND TRANSLUMINAL THERAPY 审中-公开
标题翻译：系统和方法用于内膜和透皮治疗
公开(公告)号：WO2012100211A3
公开(公告)日：2013-04-04
申请号：PCT/US2012022097
申请日：2012-01-20
申请人： HANSEN MEDICAL INC , MOLL FREDERIC H , SCHLESINGER RANDALL L , SOLEIMANI FARZAD , LUNDMARK DAVID
发明人： MOLL FREDERIC H , SCHLESINGER RANDALL L , SOLEIMANI FARZAD , LUNDMARK DAVID
IPC分类号： A61B1/307 , A61B18/14 , A61B19/00
CPC分类号： A61M25/10 , A61B1/307 , A61B5/0066 , A61B5/0084 , A61B5/02007 , A61B5/062 , A61B5/065 , A61B5/14546 , A61B5/201 , A61B18/1492 , A61B18/24 , A61B34/10 , A61B34/20 , A61B34/30 , A61B2017/00053 , A61B2017/00256 , A61B2017/00292 , A61B2018/00267 , A61B2018/00285 , A61B2018/00404 , A61B2018/00434 , A61B2018/00511 , A61B2018/00517 , A61B2018/00577 , A61B2018/00839 , A61B2018/0212 , A61B2018/1405 , A61B2018/1475 , A61B2018/1861 , A61B2034/105 , A61B2034/2046 , A61B2034/2061 , A61B2034/301 , A61B2034/302 , A61B2034/303 , A61B2090/364
摘要： A robotic instrument system comprises a controller (212) configured to control actuation of at least one servo motor and an elongate instrument (166) configured to move in response to actuation of the at least one servo motor, wherein the controller controls positioning of the instrument based at least in part upon an electroanatomic model of the neural plexus adjacent the renal artery.
摘要翻译：机器人仪器系统包括被配置为控制至少一个伺服电动机的致动的控制器（212）和被配置为响应于所述至少一个伺服电动机的致动而移动的细长仪器（166），其中所述控制器控制所述仪器的定位至少部分地基于邻近肾动脉的神经丛的电解剖模型。

10. 发明申请

WO2007005757A3 SUPPORT ASSEMBLY FOR ROBOTIC CATHETER SYSTEM 审中-公开
标题翻译：机载导管系统支持总成
公开(公告)号：WO2007005757A3
公开(公告)日：2007-05-18
申请号：PCT/US2006025854
申请日：2006-06-30
申请人： HANSEN MEDICAL INC , YU ALAN LAU , ADAMS DANIEL T , MOLL FREDERIC H
发明人： YU ALAN LAU , ADAMS DANIEL T , MOLL FREDERIC H
IPC分类号： A61B19/00
CPC分类号： A61B19/26 , A61B90/50 , A61B2090/506 , A61B2090/508 , B33Y80/00
摘要： A support assembly for supporting a remotely controlled instrument driver in a selectable orientation relative to an operating table, the assembly comprising including a base (1) removably attachable to the operating table, an actuator assembly coupled to the base (3), the actuator assembly including an actuator and a brake that is electronically activated to allow rotation of a first extension member (11) about a first axis substantially orthogonal to the operating table. A second extension member (15) is coupled to the first extension member via an interface assembly (13) operatively controlled by the actuator to selectively allow rotation of the second extension member about a second axis substantially parallel to the first axis, and about a third axis substantially orthogonal to the first axis.
摘要翻译：一种支撑组件，其用于相对于操作台以可选择的方向支撑远程控制的仪器驱动器，所述组件包括：可移除地附接到所述操作台的基座（1），联接到所述基座（3）的致动器组件，所述致动器组件包括致动器和制动器，其被电子地启动以允许第一延伸构件（11）围绕基本上与操作台正交的第一轴线旋转。第二延伸构件（15）经由由致动器可操作地控制的接口组件（13）联接到第一延伸构件，以选择性地允许第二延伸构件围绕基本上平行于第一轴线的第二轴线旋转，并且约三分之一基本上垂直于第一轴线。

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