| Patent application number | Description | Published |
|---|
| 20090012533 | Robotic instrument control system - A robotic instrument system includes a controller configured to control actuation of at least one servo motor, and an elongate bendable guide instrument defining a lumen and operatively coupled to, and configured to move in response to actuation of, the at least one servo motor. The controller controls movement of the guide instrument via actuation of the at least one servo motor based at least in part upon a control model, wherein the control model takes into account an attribute of an elongate working instrument positioned in the guide instrument lumen. | 01-08-2009 |
| 20090076476 | SYSTEMS AND METHODS EMPLOYING FORCE SENSING FOR MAPPING INTRA-BODY TISSUE - A medical instrument system includes a controller and a guide instrument coupled to an instrument driver, the instrument driver configured to manipulate a distal end portion of the guide instrument in response to control signals generated by the controller. A force sensor is associated with the guide instrument or with a working instrument carried by the guide instrument, and generates force signals responsive to a force applied to a respective distal end portion of the guide instrument or working instrument. A position determining system generates position data indicative of a position of the respective guide or working instrument distal end portion associated with the force sensor, and a processor operatively coupled to the force sensor and position determining system processes respective force signals and position data to generate and display a geometric rendering of an internal body tissue surface based on sensed forces applied to the respective instrument distal end portion as the guide instrument is maneuvered within an interior region of a body containing the body surface. | 03-19-2009 |
| 20090268955 | Systems, Methods and Devices for Correlating Reference Locations Using Image Data - A variety of embodiments relate to systems, methods, circuits and devices are implemented to perform location-based correlations. One such embodiment relates to a circuit-implemented method for use with an actual probe within an anatomical structure. For a virtual probe at a virtual location within a model of the anatomical structure, virtual image data captured by the virtual probe is generated. The virtual image data is assessed through a probabilistic comparison of the virtual image data to actual image data captured by the actual probe at an actual location. Based upon the assessment, a correlation is updated between the actual location of the actual probe and a sensed location of the actual probe to provide synchronicity between the sensed location and actual location. For maintaining the synchronicity between a subsequently sensed location and subsequent actual location, the assessment is used to select a new virtual location for the virtual probe. | 10-29-2009 |
| 20100331856 | MULTIPLE FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS FOR MINIMALLY INVASIVE OPERATIONS - 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. | 12-30-2010 |
| 20110015483 | ENDOSCOPIC ROBOTIC CATHETER SYSTEM - A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device. | 01-20-2011 |
| 20110015484 | ENDOSCOPIC ROBOTIC CATHETER SYSTEM - A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device. | 01-20-2011 |
| 20110015648 | ENDOSCOPIC ROBOTIC CATHETER SYSTEM - A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device. | 01-20-2011 |
| 20110270273 | SYSTEMS AND METHODS FOR PERFORMING MINIMALLY INVASIVE SURGICAL OPERATIONS - A robotic surgical system ( | 11-03-2011 |
| 20110295247 | SYSTEM AND METHOD FOR AUTOMATED MINIMALLY INVASIVE THERAPY USING RADIOMETRY - Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. In one embodiment a robotic catheter system may comprise a controller including a master input device; and an electromechanically steerable elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion being configured to be interactively navigated adjacent internal tissue structures of a patient's body in response to signals from the controller; wherein the distal portion of the elongate instrument comprises an antenna operatively coupled to the controller, and wherein the controller is configured to determine the temperature of structures adjacent to the distal portion of the elongate instrument utilizing radiometry analysis. | 12-01-2011 |
| 20110295248 | SYSTEM AND METHOD FOR AUTOMATED MINIMALLY INVASIVE INSTRUMENT COMMAND - In one embodiment a system may comprise a controller including a master input device; and an electromechanically steerable elongate instrument having proximal interface and portions, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion being configured to be interactively navigated adjacent internal tissue structures of a patient's body in response to signals from the controller; wherein the controller is operatively coupled to a treatment interactivity variable sensor selected from the group consisting of: a cardiac electrogram electrode, an RF generator power output sensor, an instrument distal portion impedance sensor, and an instrument distal portion force sensor; and wherein the controller is configured to affect the operation of the electromechanically steerable elongate catheter by automatically executing an instrument movement or treatment command based upon changes in information received from the treatment interactivity variable sensor. | 12-01-2011 |
| 20110295267 | SYSTEM AND METHOD FOR AUTOMATED TISSUE STRUCTURE TRAVERSAL - Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic tissue structure traversal system may comprise a controller including a master input device, an electromechanically controlled elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion comprising a traversing tip and being configured to be interactively navigated about internal structures of a patient's body in response to signals from the controller; and a load sensor operatively coupled between the distal portion of the elongate instrument and the controller; wherein the controller is configured to automatically advance the traversing tip through a thickness of an internal structure by observing loads from the load sensor. | 12-01-2011 |
| 20110295268 | SYSTEM AND METHOD FOR AUTOMATED MASTER INPUT SCALING - Embodiments are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic medical instrument system, comprising an elongate instrument having proximal and distal ends; a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move the instrument; a master input device in communication with the controller and configured to generate input commands in response to a directional movement of the master input device; and a load sensor operatively coupled to the elongate instrument and configured to sense magnitude and direction of loads applied to the distal end of the elongate instrument; wherein the controller is configured to compute an instrument movement command to selectively move the instrument based upon the input commands and an input command scaling factor applied to the input commands, the input command scaling factor being variable with the magnitude of sensed loads. | 12-01-2011 |
| 20110319714 | METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE MEDICAL DEVICE - Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region. | 12-29-2011 |
| 20110319815 | FIBER OPTIC INSTRUMENT SENSING SYSTEM - Systems are described herein that improve control of a shapeable or steerable instrument using shape data. Additional systems use such shape data for improved mapping or adjusting models of the instrument. Such systems include robotic medical systems for controlling a shapeable instrument within an anatomical region having a controller, one or more actuators, and a localization system for guiding one or more shapeable instruments. | 12-29-2011 |
| 20110319910 | METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE INSTRUMENT - Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include of controlling a shapeable instrument within an anatomical region using a robotic medical system. | 12-29-2011 |
| 20120209293 | Robotic catheter systems and methods - A robotic instrument system having an elongate sheath instrument and an elongate catheter instrument positioned within a working lumen of the sheath instrument is controlled by selectively operating an instrument driver coupled to the catheter instrument to place a control element extending through the catheter instrument in tension, and thereby articulate at least a distal end portion the catheter instrument, while automatically compensating for a torsional force exerted on the sheath instrument in a first direction due to articulation of the distal end portion of the catheter, by urging the sheath instrument to twist in a second direction opposite of the first direction. | 08-16-2012 |
| 20130165945 | METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE INSTRUMENT - Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include of controlling a shapeable instrument within an anatomical region using a robotic medical system. | 06-27-2013 |
| 20130190741 | SYSTEMS AND METHODS FOR PERFORMING MINIMALLY INVASIVE PROCEDURES - A robotic medical surgical system configured for performing prostate procedures includes a controller including a master input device, an instrument driver in communication with the controller, an instrument assembly operatively coupled to the instrument driver, and a surgical tool operatively coupled to the controller and carried on the distal end portion of the instrument assembly, wherein the controller and master input device are configured to allow a system operator to position the surgical tool proximate a prostate abnormality without entering a restricted zone, at least partially automatically controlled based on an images obtained of the surgical zone. | 07-25-2013 |
| 20140357953 | METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE MEDICAL DEVICE - Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region. | 12-04-2014 |
