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公开(公告)号：US09289578B2
公开(公告)日：2016-03-22
申请号：US14712587
申请日：2015-05-14
Applicant: Hansen Medical, Inc.
Inventor： Sean P. Walker , Serena H. Wong , June Park , Neal A. Tanner
CPC classification number: A61B6/12 , A61B5/0066 , A61B6/032 , A61B6/485 , A61B6/586 , A61B8/12 , A61B90/39 , A61B2090/3966 , A61M25/0108 , A61M2025/0166 , A61M2205/702 , G01B11/14 , G01B11/24 , G01B21/045
Abstract: For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.
Abstract translation: 对于位置传感器，例如基于纤维的系统，其使用小的取向测量序列来构建诸如导管的细长构件的形状，传感器近端处的定向误差将导致较大的误差 位于纤维的远端。 公开了示例性方法和系统，其可以沿着传感器的长度提供全部或部分对准，以减少测量误差的影响。 另外的实例涉及在细长构件的近端处应用选择性过滤以为远端测量提供更稳定的基底，从而减少测量误差的影响。
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公开(公告)号：US20160007881A1
公开(公告)日：2016-01-14
申请号：US14860291
申请日：2015-09-21
Applicant: HANSEN MEDICAL, INC.
Inventor： Serena H. Wong , Jason J. Hsu , Francis Macnamara , Gene Reis , Randall L. Schlesinger , Neal A. Tanner
IPC: A61B5/06
CPC classification number: A61B5/065 , A61B1/0051 , A61B34/20 , A61B2017/00292 , A61B2034/2061 , A61B2562/12 , A61M25/0147 , A61M2025/0166 , G01B11/24 , G01L1/242
Abstract: Systems and methods for integrating and/or registering a shape sensing fiber in or to various instruments are described herein. Registration fixtures and registration techniques for matching the coordinate system of a fiber to the coordinate system of an elongate instrument or other device are provided. Various systems and methods for integrating a shape sensing fiber into an elongate instrument or other device are also described herein.
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公开(公告)号：US09844353B2
公开(公告)日：2017-12-19
申请号：US15387347
申请日：2016-12-21
Applicant: Hansen Medical, Inc.
Inventor： Sean P. Walker , Serena H. Wong , June Park , Neal A. Tanner
IPC: A61B6/12 , A61B6/03 , A61B6/00 , A61B8/12 , A61B5/00 , A61B90/00 , A61M25/01 , G01B11/24 , G01B11/14
CPC classification number: A61B6/12 , A61B5/0066 , A61B6/032 , A61B6/485 , A61B6/586 , A61B8/12 , A61B90/39 , A61B2090/3966 , A61M25/0108 , A61M2025/0166 , A61M2205/702 , G01B11/14 , G01B11/24 , G01B21/045
Abstract: For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.
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公开(公告)号：US20160202053A1
公开(公告)日：2016-07-14
申请号：US15076232
申请日：2016-03-21
Applicant: Hansen Medical, Inc.
Inventor： Sean P. Walker , Serena H. Wong , June Park , Neal A. Tanner
CPC classification number: A61B6/12 , A61B5/0066 , A61B6/032 , A61B6/485 , A61B6/586 , A61B8/12 , A61B90/39 , A61B2090/3966 , A61M25/0108 , A61M2025/0166 , A61M2205/702 , G01B11/14 , G01B11/24 , G01B21/045
Abstract: For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.
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公开(公告)号：US08657781B2
公开(公告)日：2014-02-25
申请号：US13678280
申请日：2012-11-15
Applicant: Hansen Medical, Inc.
Inventor： Christopher M. Sewell , Neal A. Tanner , Teresa Miller
IPC: A61M31/00
CPC classification number: A61B19/201 , A61B18/24 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/11 , A61B2017/003 , A61B2034/102 , A61B2034/2051 , A61B2034/301 , A61B2090/0818 , A61B2090/306 , A61B2090/3614
Abstract: Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed.
Abstract translation: 公开了系统和方法，其中细长医疗器械可以被注册到相邻的组织结构和其他结构，并且可以以协调的方式导航和操作，以最大化运动范围，易于使用和其他因素。 用于相对于附近结构登记器械的方法可以包括将仪器的一部分在两个原位位置之间移动，在运动期间利用运动学模型和基于定位传感器的配置跟踪运动，确定跟踪部分相对 对于运动学建模中使用的仪器坐标系以及定位坐标参考系，并且使用运动学模型和定位传感器来调整仪器坐标参考系的方位以最小化确定的方向之间的差异。 还公开了用于导航耦合和登记的仪器组的方法和配置。
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Patent Agency Ranking
公开(公告)号：US20130072944A1
公开(公告)日：2013-03-21
申请号：US13678280
申请日：2012-11-15
Applicant: HANSEN MEDICAL, INC.
Inventor： Christopher M. Sewell , Neal A. Tanner , Teresa Miller
IPC: A61B19/00
CPC classification number: A61B19/201 , A61B18/24 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/11 , A61B2017/003 , A61B2034/102 , A61B2034/2051 , A61B2034/301 , A61B2090/0818 , A61B2090/306 , A61B2090/3614
Abstract: Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed.
Abstract translation: 公开了系统和方法，其中细长医疗器械可以被注册到相邻的组织结构和其他结构，并且可以以协调的方式导航和操作，以最大化运动范围，易于使用和其他因素。 用于相对于附近结构登记器械的方法可以包括将仪器的一部分在两个原位位置之间移动，在运动期间利用运动学模型和基于定位传感器的配置跟踪运动，确定跟踪部分相对 对于运动学建模中使用的仪器坐标系以及定位坐标参考系，并且使用运动学模型和定位传感器来调整仪器坐标参考系的方位以最小化确定的方向之间的差异。 还公开了用于导航耦合和登记的仪器组的方法和配置。
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7.发明申请公开(公告)号：US20150142013A1
公开(公告)日：2015-05-21
申请号：US14603836
申请日：2015-01-23
Applicant: Hansen Medical, Inc.
Inventor： Neal A. Tanner , Teresa Miller , Christopher M. Sewell , Sean P. Walker
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B6/12 , A61B6/4423 , A61B6/487 , A61B8/0841 , A61B8/12 , A61B8/4218 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B46/10 , A61B90/361 , A61B2017/00991 , A61B2034/102 , A61B2034/301 , A61B2034/303 , A61B2034/715 , A61B2034/742 , G06T19/00 , G06T2210/41
Abstract: Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.
Abstract translation: 本文描述了用于在患者体内引入和驱动柔性构件的系统和方法。 在一个实施例中，机器人方法包括定位具有预成形构型的柔性细长构件，其中柔性细长构件的至少一部分具有围绕其设置的第一构件，并且其中第一构件包括用于弯曲第一 构件或用于将第一构件保持在弯曲构型中，释放第一线中的至少一些张力以松弛第一构件，并且在第一构件处于松弛构型的同时使第一构件相对于柔性细长构件向远侧前进。
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公开(公告)号：US20140357953A1
公开(公告)日：2014-12-04
申请号：US14164961
申请日：2014-01-27
Applicant: Hansen Medical, Inc.
Inventor： Matthew J. Roelle , Neal A. Tanner , Robert G. Younge , Christopher R. Carlson , Federico Barbagli , David Camarillo
CPC classification number: A61B1/0051 , A61B1/00006 , A61B1/00039 , A61B1/0011 , A61B1/0016 , A61B1/008 , A61B34/20 , A61B34/30 , A61B2017/00477 , A61B2034/105 , A61B2034/301 , A61B2090/061 , A61M25/0147
Abstract: 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.
Abstract translation: 本文描述了使用形状数据改进对可成型或可操纵的仪器的控制的系统和方法。 附加方法包括准备与可成形器械一起使用的机器人医疗系统，并控制解剖学路径内的可塑性医疗装置的进展。 本文还描述了用于改变解剖区域的数据模型的方法。
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公开(公告)号：US10213264B2
公开(公告)日：2019-02-26
申请号：US15357537
申请日：2016-11-21
Applicant: Hansen Medical, Inc.
Inventor： Neal A. Tanner , Matthew J. Roelle , Gregory J. Stahler , Robert G. Younge , Travis Covington
Abstract: This disclosure covers various concepts to use for obtaining measurement of tension in catheter pullwires to improve controllability of a robotic surgical system.
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公开(公告)号：US20180184988A1
公开(公告)日：2018-07-05
申请号：US15844420
申请日：2017-12-15
Applicant: Hansen Medical, Inc.
Inventor： Sean P. Walker , Serena H. Wong , June Gyu Park , Neal A. Tanner
IPC: A61B6/12 , G01B11/24 , G01B11/14 , A61B8/12 , A61B5/00 , A61B6/03 , A61M25/01 , A61B90/00 , A61B6/00
CPC classification number: A61B6/12 , A61B5/0066 , A61B6/032 , A61B6/485 , A61B6/586 , A61B8/12 , A61B90/39 , A61B2090/3966 , A61M25/0108 , A61M2025/0166 , A61M2205/702 , G01B11/14 , G01B11/24 , G01B21/045
Abstract: For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.
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