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公开(公告)号：US20120226145A1
公开(公告)日：2012-09-06
申请号：US13407307
申请日：2012-02-28
CPC分类号： A61B34/30 , A61B6/03 , A61B6/5211 , A61B8/0841 , A61B8/481 , A61B18/1477 , A61B34/72 , A61B90/11 , A61B2017/3409 , A61B2018/00577 , A61B2018/1869 , A61B2034/107 , A61B2034/2055 , A61B2090/3925
摘要： A robotic system for overlapping radiofrequency ablation (RFA) in tumor treatment is disclosed. The robot assisted navigation system is formed of a robotic manipulator and a control system designed to execute preoperatively planned needle trajectories. Preoperative imaging and planning is followed by interoperative robot execution of the ablation treatment plan. The navigation system combines mechanical linkage sensory units with an optical registration system. There is no requirement for bulky hardware installation or computationally demanding software modules. Final position of the first needle placement is confirmed for validity with the plan and then is used as a reference for the subsequent needle insertions and ablations.
摘要翻译： 公开了用于在肿瘤治疗中重叠射频消融（RFA）的机器人系统。 机器人辅助导航系统由机器人操纵器和控制系统组成，设计用于执行术前计划的针迹。 手术前成像和规划之后是手术机器人执行消融治疗计划。 导航系统将机械联动感觉单元与光学配准系统结合起来。 不需要庞大的硬件安装或计算要求苛刻的软件模块。 确定第一针位置的最终位置与计划的有效性，然后用作随后的针插入和消融的参考。
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2.发明授权公开(公告)号：US09033979B2
公开(公告)日：2015-05-19
申请号：US13704560
申请日：2011-06-22
CPC分类号： A61B18/082 , A61B17/32 , A61B18/1402 , A61B18/1815 , A61B2017/00106 , A61B2017/00544 , A61B2018/00589 , A61B2018/00642 , A61B2018/00708 , A61B2018/00958 , A61B2018/143 , A61B2018/1455
摘要： A laparoscopic liver resection device is described. The device combines the Radiofrequency Ablation (RFA) technology with a cutting mechanism, a blood-flow sensor and a flexible actuation mechanism to simultaneously coagulate and cut the liver tissue and detect the presence of blood flow to confirm avascularity. The present invention eliminates the risk of excess bleeding due to cutting too deep and reduces recovery time and the time spent on re-coagulation of coagulated areas, thereby shortening duration of surgery. Also embodiments prevent excess ablation by stopping ablation activity on the target tissue as soon as insufficient or no blood flow in the target tissue is detected. Thus a closed loop control for a bloodless tissue/organ division method is provided.
摘要翻译： 描述了腹腔镜肝切除装置。 该装置将射频消融（RFA）技术与切割机构，血流传感器和柔性致动机构结合，以同时凝结和切割肝组织并检测血流的存在以确认血流性。 本发明消除了由于切割过深而导致的过度出血的风险，并且减少了恢复时间和用于凝结区域再凝结的时间，从而缩短了手术的持续时间。 此外，一旦检测到目标组织中的血液不足或没有血液流动，则实施例也可以通过停止靶组织上的消融活性来防止过度消融。 因此，提供了无血液组织/器官分割方法的闭环控制。
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3.发明申请公开(公告)号：US20130085497A1
公开(公告)日：2013-04-04
申请号：US13704560
申请日：2011-06-21
IPC分类号： A61B18/08
CPC分类号： A61B18/082 , A61B17/32 , A61B18/1402 , A61B18/1815 , A61B2017/00106 , A61B2017/00544 , A61B2018/00589 , A61B2018/00642 , A61B2018/00708 , A61B2018/00958 , A61B2018/143 , A61B2018/1455
摘要： A laparoscopic liver resection device is described. The device combines the Radiofrequency Ablation (RFA) technology with a cutting mechanism, a blood-flow sensor and a flexible actuation mechanism to simultaneously coagulate and cut the liver tissue and detect the presence of blood flow to confirm avascularity. The present invention eliminates the risk of excess bleeding due to cutting too deep and reduces recovery time and the time spent on re-coagulation of coagulated areas, thereby shortening duration of surgery. Also embodiments prevent excess ablation by stopping ablation activity on the target tissue as soon as insufficient or no blood flow in the target tissue is detected. Thus a closed loop control for a bloodless tissue/organ division method is provided.
摘要翻译： 描述了腹腔镜肝切除装置。 该装置将射频消融（RFA）技术与切割机构，血流传感器和柔性致动机构结合，以同时凝结和切割肝组织并检测血流的存在以确认血流性。 本发明消除了由于切割过深而导致的过度出血的风险，并且减少了恢复时间和用于凝结区域再凝结的时间，从而缩短了手术的持续时间。 此外，一旦检测到目标组织中的血液不足或没有血液流动，则实施例也可以通过停止靶组织上的消融活性来防止过度消融。 因此，提供了无血液组织/器官分割方法的闭环控制。
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