US20080218770A1 - Robotic surgical instrument and methods using bragg fiber sensors - Google Patents
Robotic surgical instrument and methods using bragg fiber sensors Download PDFInfo
- Publication number
- US20080218770A1 US20080218770A1 US12/012,795 US1279508A US2008218770A1 US 20080218770 A1 US20080218770 A1 US 20080218770A1 US 1279508 A US1279508 A US 1279508A US 2008218770 A1 US2008218770 A1 US 2008218770A1
- Authority
- US
- United States
- Prior art keywords
- members
- bragg
- instrument
- movable joint
- sensor optical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
- A61G7/0503—Holders, support devices for receptacles, e.g. for drainage or urine bags
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/101—Clamping means for connecting accessories to the operating table
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00261—Discectomy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
Definitions
- the invention relates generally to medical instruments having multiple jointed devices, including for example telerobotic surgical systems, and more particularly to a method, system, and apparatus for sensing or measuring the position, temperature and/or stress and strain at one or more positions along the multiple jointed device.
- Robotic interventional systems and devices are well suited for use in performing minimally invasive medical procedures, as opposed to conventional techniques wherein the patient's body cavity is open to permit the surgeon's hands access to internal organs.
- a highly controllable yet minimally sized system to facilitate imaging, diagnosis, and treatment of tissues which may lie deep within a patient, and which may be accessed via naturally-occurring pathways such as blood vessels, other lumens, via surgically-created wounds of minimized size, or combinations thereof.
- a positionable medical instrument assembly e.g., a robotic instrument driver configured to maneuver an elongate medical instrument
- a positionable medical instrument assembly 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.
- the movable joint may allow for pivotal motion of the second member relative to the first member in a single plane, and wherein the determined relative position of the first and second members about the movable joint comprises an angular displacement of the second member relative to the first member.
- the movable joint may allow for movement of the second member relative to the first member in at least three degrees of freedom.
- a positionable medical instrument assembly in another embodiment, includes a plurality of positionable members, including a first member coupled to a second member by a first movable joint, and a third member coupled to the second member by a second movable joint.
- One or more Bragg fiber sensors are provided, each coupled to at least two of the first, second and third members, such that relative movement of the first and second members about the first movable joint causes a corresponding bending of at least one Bragg fiber sensor, and a relative movement of the second and third members about the second movable joint causes a corresponding bending of at least one Bragg fiber sensor.
- Each of the one or more Bragg fiber sensors having a proximal end operatively coupled to a controller configured to receive signals therefrom indicative of a bending of one or more portions thereof, the controller configured to analyze the signals to determine a relative position of the first, second and third members about the respective first and second movable joints.
- the first movable joint may allow for movement of the second member relative to the first member in at least three degrees of freedom
- the second movable joint may allow for movement of the third member relative to the second member in at least three degrees of freedom.
- the one or more Brag fiber sensors include a first Bragg fiber sensor coupled to the first, second and third members, such that relative movement of the first and second members about the first movable joint, and relative movement of the second and third members about the second movable joint causes a bending of at least first and second respective portions of the first Bragg fiber sensor.
- the controller is configured to analyze signals received from the first Bragg fiber sensor to determine a relative position of the first, second and third members about the respective first and second movable joints.
- the one or more Brag fiber sensors include a first Bragg fiber sensor coupled to the first and second members, such that relative movement of the first and second members about the first movable joint causes a bending of at least a portion of the first Bragg fiber sensor, and a second Bragg fiber sensor coupled to the second and third members, such that relative movement of the second and third members about the second movable joint causes a bending of at least a portion of the second Bragg fiber sensor, wherein the controller is configured to analyze respective signals received from the first and second Bragg fiber sensors to determine a relative position of the first, second and third members about the respective first and second movable joints.
- a positionable medical instrument assembly includes a first member coupled to a second member by a movable joint, with a plurality of Bragg fiber sensors 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 each of the plurality of the Bragg fiber sensors.
- the Bragg fiber sensors have respective proximal ends operatively coupled to a controller configured to receive signals from each of the Bragg fiber sensors indicative of a respective bending thereof.
- the controller is configured to analyze the signals to determine a relative position of the first and second members about the movable joint.
- the movable joint may allow for pivotal motion of the second member relative to the first member in a single plane, wherein the determined relative position of the first and second members about the movable joint comprises an angular displacement of the second member relative to the first member.
- the movable joint may allow for movement of the second member relative to the first member in at least three degrees of freedom.
- the assembly comprises a robotic instrument driver configured to maneuver an elongate medical instrument movably coupled to the second member.
- a medical instrument system including an instrument driver, a sterile barrier, an elongate flexible instrument body operatively coupled to the instrument driver through the sterile barrier, and a Bragg fiber sensor coupled to the elongate instrument body, such that relative bending of the instrument body causes a corresponding bending of at least a portion of the Bragg fiber sensor.
- the Bragg fiber sensor has a proximal end operatively coupled to a position sensor controller located on a sterile field side of the sterile barrier and configured to receive signals from the Bragg fiber sensor indicative of a bending thereof, the sensor controller configured to analyze the signals to determine a relative position of the instrument.
- the position sensor controller transmits wireless signals to an instrument driver controller located outside the sterile field to communicate to the instrument driver a relative position of the instrument.
- FIG. 1 illustrates a conventional manually-steerable catheter
- FIG. 2 illustrates one embodiment of a robotically-driven steerable catheter
- FIGS. 3A-3C illustrate one embodiment of a robotically-steerable catheter having an optical fiber positioned along one aspect of the wall of the catheter;
- FIG. 4 illustrates a cross sectional view of a portion of FIG. 3A ;
- FIG. 5 illustrates another embodiment wherein a composite fiber bundle is positioned within the wall of the catheter
- FIG. 6A illustrates a perspective view of a da Vinci telesurgical system including its operator control station and surgical work station;
- FIG. 6B shows a perspective view of a cart of the telesurgical system carrying three robotically controlled manipulator arms, each have a Bragg fiber assembly mounted thereon;
- FIG. 6C is a perspective view of a da Vinci robotic surgical arm cart system
- FIG. 6D is a side view of a robotic arm and surgical instrument assembly from a da Vinci system, the instrument assembly having a sensor cable connected to its Bragg fiber bundle;
- FIG. 6E illustrates a surgical instrument of the da Vinci system
- FIG. 6F illustrates an exemplary operating room installation of a patient-side telesurgical system
- FIG. 6G-L illustrate various embodiments of fiber bragg sensors operably coupled to articulated robotic instrument configurations
- FIG. 7A illustrates a perspective view of a system for magnetically assisted surgery
- FIG. 7B illustrates a patient lying on the patient support and having a Stereotaxis magnetic catheter including a Bragg fiber introduced into the patient's head;
- FIGS. 7C-7E illustrate various embodiments of magnetic ablation catheters having one or more Bragg fiber bundles
- FIG. 8A illustrates one embodiment of a Mako haptic guidance surgical system that utilizes method of position determination with a Bragg fiber
- FIG. 8B illustrates one embodiment of a Mako haptic robot
- FIG. 9A illustrates one embodiment of a radiosurgery system employing a Bragg fiber position sensing scheme
- FIG. 9B illustrates the distal portion of the Accuray robot arm to which the beaming apparatus is mounted
- FIG. 10A illustrates one embodiment of a steerable endoscope
- FIG. 10B illustrates a cross-sectional side view of a patient's head
- FIG. 10C illustrates a cross-sectional anterior view of a heart
- FIGS. 10D-10F show examples of a treating atrial fibrillation using an endoscopic device that includes a Bragg sensor fiber
- FIG. 10G illustrates an endoscope having a guide tube which is slidably insertable within the lumen of a guide tube
- FIG. 10H illustrates a colonoscopy procedure wherein a NeoGuide steerable endoscope with a Bragg sensor fiber is advanced through a colon;
- the present invention is directed to various interventional medical instruments, such as jointed positioning instruments, catheters and endoscopic devices, with Bragg fiberoptic grating guidance systems.
- interventional medical instruments such as jointed positioning instruments, catheters and endoscopic devices
- Bragg fiberoptic grating guidance systems with Bragg fiberoptic grating guidance systems.
- each of the embodiments of the present invention described herein may be utilized with robotic catheter systems, which can control the positioning of the devices within a patients body, and may also control the operation of other functions of the devices, such as imaging devices, ablation devices, cutting tools, or other end effectors.
- the devices may be controlled using a closed-loop servo control in which an instrument is moved in response to a command, and then the determined position may be utilized to further adjust the position; or an open loop control in which an instrument is moved in response to a user command, the determined position is then displayed to the user, and the user can then input another command based on the displayed position.
- applied loads may be estimated.
- applied loads preferably including magnitude and vector
- a comparison may be made between the expected position of the instrument, as determined utilizing the kinematic and/or mechanics relationships, and the actual position of the instrument, determined utilizing the Bragg fiber sensor data.
- the difference between actual and expected may then be analyzed utilizing the kinematic and/or mechanics relationships to determine what kind of load must have been applied to cause the difference between actual and expected—and thereby the load may be characterized.
- the distal link is basically a flexible polymeric cylinder
- a kinematic model can be used to predict how the cylinder should move relative to the more proximal pieces when actuated, and it should retain its original shape unless it is subjected to an external load
- the applied load can be calculated (e.g. a formula relating the bending to the load can be determined, or a lookup table of predetermined empirical data could be used).
- the Bragg fiber sensor to measure deflections or strains in different parts of the instrument, forces on the instrument and stresses within the instrument may be determined.
- the sheath and guide catheter instruments described in the exemplary embodiments below may be described as having a single lumen/tool/end-effector, etc.
- alternative embodiments of catheter instruments may have a plurality of lumens/tools/end-effectors/ports, etc.
- multiple catheter instruments may be delivered to a surgical site via a single multi-lumen sheath, each of which is robotically driven and controlled via an instrument driver.
- Some of the catheter instruments described herein are noted as flexible. It is contemplated that different embodiments of flexible catheters may be designed to have varying degrees of flexibility and control. For example, one catheter embodiment may have controlled flexibility throughout its entire length whereas another embodiment may have little or no flexibility in a first portion and controlled flexibility in a second portion. Similarly, different embodiments of these catheters may be implemented with varying degrees of freedom.
- Fiberoptic Bragg grating sensing can be implemented onto interventional medical devices to determine the location of various parts of the device by positioning the fiberoptic bundle longitudinally along the device and calculating the deflection of the fiberoptic bundle.
- the determination of the deflections of portions of a Fiberoptic Bragg grating sensor is known in the relevant art, but the integration of strains or deflections associated with various portions of a multi-part or articulated medical instrument utilizing one or more Fiberoptic Bragg grating sensors to predict the position of multi-part medical instrument in space.
- a conventional manually-steerable catheter ( 1 ) is depicted.
- a plurality of pullwires ( 2 ) may be selectively tensioned through manipulation of a handle ( 3 ) on the proximal portion of the catheter structure ( 1 ) to make a more flexible distal portion ( 5 ) of the catheter bend or steer controllably.
- a more proximal and conventionally less steerable portion ( 4 ) of the catheter may be configured to be compliant to loads from surrounding tissues (for example, to facilitate passing the catheter, including portions of the proximal portion, through tortuous pathways such as those formed by the blood vessels), yet less steerable as compared with the distal portion ( 5 ).
- a robotically-driven steerable catheter 6
- This catheter ( 6 ) has some similarities with the manually-steerable catheter ( 1 ) of FIG. 1 in that it has pullwires ( 10 ) associated distally with a more flexible section ( 8 ) configured to steer or bend when the pullwires ( 10 ) are tensioned in various configurations, as compared with a less steerable proximal portion ( 7 ) configured to be stiffer and more resistant to bending or steering.
- the depicted embodiment of the robotically-driven steerable catheter ( 6 ) comprises proximal axles or spindles ( 9 ) configured to primarily interface not with fingers or the hand, but with an electromechanical instrument driver configured to coordinate and drive, with the help of a computer, each of the spindles ( 9 ) to produce precise steering or bending movement of the catheter ( 6 ).
- the spindles ( 9 ) may be the same or similar to the control element interface assemblies which can be controlled by an instrument drive assembly as shown and described in U.S. patent application Ser. No. 11/637,951.
- Each of the embodiments depicted in FIGS. 1 and 2 may have a working lumen (not shown) located, for example, down the central axis of the catheter body, or may be without such a working lumen. If a working lumen is formed by the catheter structure, it may extend directly out the distal end of the catheter, or may be capped or blocked by the distal tip of the catheter. It is highly useful in many procedures to have precise information regarding the spatial position of the distal portion or tip of elongate instruments, such as the instruments available from suppliers such as the Ethicon Endosurgery division of Johnson & Johnson, or Intuitive Surgical Corporation, during diagnostic or interventional procedures.
- a robotically-steerable catheter ( 6 ) having an optical fiber ( 12 ) positioned along one aspect of the wall of the catheter ( 6 ).
- the fiber is not positioned coaxially with the neutral axis of bending ( 11 ) in the bending scenarios depicted in FIGS. 3B and 3C .
- the fiber ( 12 ) attached to, or longitudinally constrained by, at least two different points along the length of the catheter ( 6 ) body and unloaded from a tensile perspective relative to the catheter body in a neutral position of the catheter body such as that depicted in FIG.
- the longitudinally constrained portion of the fiber ( 12 ) would be placed in tension when the catheter ( 6 ) is deflected as depicted in FIG. 3B , while the longitudinally constrained portion of the fiber ( 12 ) would be placed in compression when the catheter ( 6 ) is deflected as depicted in FIG. 3C .
- Such relationships are elementary to solid mechanics, but may be applied as described herein with the use of a Bragg fiber grating to assist in the determination of temperature and/or deflection of an elongate instrument.
- Examples of fiberoptic Bragg fiber sensing technology may be available from Luna Innovations, Inc. of Roanoke, Va., Micron Optics, Inc., of Atlanta, Ga., LxSix Photonics, Inc., of Quebec, Canada, and Ibsen Photonics A/S, of Denmark.
- FIG. 4 a cross section of a portion of the configuration depicted in FIG. 3A is depicted, to clearly illustrate that the fiber ( 12 ) is not placed concentrically with the neutral axis ( 11 ) of bending for the sample cross section.
- FIG. 5 depicts a different variation, wherein a composite fiber bundle ( 13 ) is positioned within the wall of the catheter rather than a single fiber as depicted in FIG. 4 .
- the fiber bundle ( 13 ) comprises three smaller single fibers ( 14 ).
- a Bragg sensing fiber assembly may comprise a single fiber or multiple fibers, and the term Bragg sensing fiber, Bragg fiber sensor, or Bragg sensing fiber ( 16 , 220 , or 222 ) (when used in a drawing figure) as used herein shall mean any Bragg sensing fiber assembly having one or more fibers, unless the number of fibers is explicitly specified.
- catheters including fiberoptic Bragg grating fibers and associated sensors for measuring strain and determining positions along an elongated instrument similar to those described in detail in U.S. Provisional Patent Applications Nos. 60/785,001 (filed Mar. 22, 2006) and 60/788,176 (filed Mar. 31, 2006), both incorporated by reference herein in their entirety.
- FIG. 6A illustrates a perspective view of a da Vinci telesurgical system ( 20 ) including its operator control station ( 22 ) and surgical workstation ( 24 ).
- the surgical workstation ( 24 ) comprises a cart ( 26 ), which supports the robotic arms ( 28 ).
- a Bragg fiber sensor ( 16 ) is disposed along at least a portion of the length of each arm ( 28 ).
- multiple separate Bragg fiber sensors ( 16 ) may be disposed on each arm ( 28 ).
- Bragg fiber sensors ( 16 ) may be disposed on each link of the robotic arm ( 28 ).
- Bragg fiber sensors ( 16 ) may be operably coupled to interventional and/or diagnostic instruments, such as the depicted robotic arm ( 28 ), utilizing bands, clips, fasteners, a layer of at least partically encapsulating material, or the like, distributed along the length of the robotic arm or other structure to maintain the position of the fiber sensor ( 16 ) relative to the position of the pertinent portions of such structure.
- a position determining system ( 30 ) is depicted operatively coupled to each of the Bragg fiber sensors ( 16 ).
- the position determining system ( 30 ), generally comprising an optical radiation emitter and detector, and a computing system to analyze detected optical radiation, may be operatively coupled to each of the Bragg fiber sensors ( 16 ) via the cart ( 26 ).
- the position determining system ( 30 ) is configured to analyze data from the Bragg fiber sensors ( 16 ) as the arms ( 28 ) are maneuvered and determine changes in elongation of the Bragg fiber sensors ( 16 ).
- Some systems such as those available from Luna Innovations, Inc., may be configured to utilize sensed deflection data to determine the spatial positioning or shape of a particular fiber or bundle of fibers.
- the positioning determining system ( 30 ) is also operatively coupled to the operator control station ( 22 ) or control system of the instrument system, such that position information as determined by the position determining system ( 30 ) may be relayed to the operator control system ( 22 ) to assist in navigation and control of the instrument system.
- the surgical workstation ( 24 ) carries three robotically controlled arms ( 28 ), and the movement of the arms ( 28 ) is remotely controllable from the control station ( 22 ).
- the cart ( 26 ) may carry a varying number of arms ( 28 ) (i.e., two or four arms) depending on the particular configuration.
- the devices located on one side of the sterile barrier may use a wireless communication link to communicate with devices located on the other side of the sterile barrier.
- the position determining system may be configured to be placed within the sterile barrier and communicate wirelessly with the control station.
- a sensing system subportion ( 226 ) may be positioned on the sterile side of the sterile barrier ( 214 ) and configured to wirelessly communicate with a wirelessly-enabled fiber Bragg sensing system ( 30 )—to avoid having fibers physically crossing the sterile barrier ( 214 ).
- the position determining system ( 30 ) may then communicate with other components of the system via the wireless communication link, using RF, infrared or other suitable communications technologies, eliminating the need to pass a wires back and forth, or across the sterile barrier.
- FIG. 6B shows a perspective view of the cart ( 26 ) of the telesurgical system carrying three robotically controlled manipulator arms ( 28 ), each having a Bragg fiber sensor ( 16 ) disposed thereon, and extending along the catheters ( 32 ) operatively coupled to the arms ( 28 ).
- the fiber sensors ( 16 ) may be routed through the support structure of the arms ( 28 ) to the catheters ( 32 ).
- the fiber sensors ( 16 ) may be freely connected from the position determining system ( 30 ) directly to each of the catheter assemblies ( 32 ).
- FIG. 6C is a perspective view of another embodiment of a da Vinci robotic surgical arm cart system ( 40 ) in which a series of passive set-up joints ( 42 ) support robotically actuated manipulator arms ( 28 ) (typically, the center arm would support a camera).
- a wireless Bragg fiber relay ( 46 ) is attached to each of the catheter assemblies ( 32 ) mounted on the manipulator arms ( 44 ).
- Each wireless Bragg fiber relay ( 46 ) is operatively coupled to a respective Bragg fiber sensor ( 16 ) disposed on each catheter assembly ( 32 ).
- the wireless Bragg fiber relays ( 46 ) are configured to transmit radio frequency signals representative of the respective Bragg fiber sensor ( 16 ) outputs.
- data sensed along the fiber sensors ( 16 ) may be wirelessly transmitted from the individual wireless fiber relays ( 46 ) to a position determining system ( 30 ) having a compatible wireless signal receiver for receiving the wireless signal.
- the position determining system ( 30 ) may then analyze the fiber sensor data to calculate position information which can be communicated to the operator control system ( 22 ).
- FIG. 6D is a side view of a single robotic arm ( 28 ) and surgical instrument assembly ( 46 ) from a da Vinci system, such as the da Vinci System ( 20 ) described above and shown in FIG. 6A .
- the instrument assembly ( 47 ) has a Bragg fiber sensor ( 16 ) disposed along at least part of its length, and a sensor cable ( 48 ) connected to the Bragg fiber sensor ( 16 ).
- FIG. 6E shows, at an enlarged scale, a perspective view of a typical surgical instrument assembly ( 46 ) of a typical da Vinci system ( 20 or 40 ).
- the surgical instrument assembly ( 47 ) includes an elongate shaft ( 50 ) having a wrist-like mechanism or other end effector ( 52 ) located at a distal working end ( 54 ) of the shaft ( 50 ).
- a housing ( 56 ) is provided at the opposite end of the shaft ( 50 ), which is configured to detachably couple the proximal end ( 58 ) of the instrument assembly ( 47 ) to the robotic arm ( 28 ).
- a Bragg fiber sensor ( 16 ) is provided within the shaft ( 50 ) and extends from the distal working end ( 54 ) back to the housing ( 56 ).
- movements may be sensed by the fiber sensor ( 16 ) and such data communicated to a computer, such as the position determining system ( 30 ) or an integrated operator control system ( 22 ) for analysis and position determination.
- a computer such as the position determining system ( 30 ) or an integrated operator control system ( 22 ) for analysis and position determination.
- FIG. 6F illustrates another embodiment of a da Vinci-like patient-side telesurgical system ( 60 ) in an exemplary operating room installation having a patient table ( 64 ) and a patient ( 15 ).
- the telesurgical system ( 60 ) has four robotic arms ( 28 ) and a ceiling mount ( 62 ) for each robotic arm ( 28 ) mounted to the ceiling.
- Each of the arms ( 28 ) is equipped with a Bragg fiber sensor ( 16 ) which is operatively coupled to a wireless Bragg fiber relay ( 46 ).
- An instrument assembly ( 46 ) is operatively coupled to the arms ( 28 ). In operation, data is collected by the fiber sensors ( 16 ) as to instrument assembly ( 46 ) and arm ( 28 ) movements and wirelessly communicated to the position determining system ( 30 ).
- FIGS. 6G-6L various embodiments of a multi-link instrument system operably coupled to fiber Bragg sensors, a fiber Bragg sensing system, and a robotic instrument controller are depicted to illustrate various ways in which fiber Bragg sensing may be utilized to assist in the navigation and control of an instrument configuration such as that depicted in FIGS. 6G-6L .
- a flexible instrument ( 204 ) is depicted movably coupled to a first movable structural member ( 206 ), which is rotatably coupled to a second movable structural member ( 208 ), which is rotatably coupled to a third movable structural member ( 210 ), which is rotatably coupled to a mounting structure ( 200 ).
- the depicted joints ( 207 ) may be conventional hinge type joints, 3-degree-of-freedom ball and socket type joints, or other types of couplings suitable for suspending medical instruments.
- the linkage comprising the various members ( 206 , 208 , 210 ) is for illustration purposes, and it will be apparent to one skilled in the art that the same ideas described herein are applicable to less extensive linkages or structures. As shown in FIG.
- a single fiber Bragg sensor ( 16 ) may be operably coupled to the entire length of the flexible instrument ( 204 ) and associated supporting linkage ( 206 , 208 , 210 ), and operably coupled to a fiber Bragg sensing system ( 30 ), which is coupled to a robotic instrument controller ( 202 ), which may be operably coupled, via a communication link ( 216 ) such as an electrical cable, to the actuators, brakes, or the like which are configured to control physical movement of various aspects of the flexible instrument ( 204 ) and associated supporting linkage ( 206 , 208 , 210 ).
- a communication link such as an electrical cable
- a single core or multi-core fiber Bragg sensor ( 16 ) may be utilized to provide precision feedback to the robotic instrument controller regarding where the entire flexible instrument ( 204 ) and associated supporting linkage ( 206 , 208 , 210 ) are in space relative to each other, and relative to a ground position or the mounting structure ( 200 ).
- the sterile barrier preferably is configured to accommodate a direct crossing of the fiber Bragg sensor ( 16 ) via a hole or similar adaptation. Referring to FIG. 6H , an embodiment similar to that of FIG.
- an additional fiber Bragg sensor ( 220 ) is coupled to the instrument complex along the supporting linkage ( 206 , 208 , 210 ).
- This additional sensor ( 220 ) may be configured to provide additional data for common mode rejection purposes, or may be configured to facilitate monitoring of the position of the supporting linkage ( 206 , 208 , 210 ) so that the first fiber Bragg sensor ( 16 ) may have Bragg gratings concentrated more densely only at the portions of the instrument linkage distal to the distal termination of the second fiber Bragg sensor ( 220 ), in the depicted example along the length of the flexible medical instrument ( 204 ), for which it may be desirable to have more resolution of spatial movement feedback to the robotic instrument controller ( 202 ).
- FIG. 6I depicts a similar configuration.
- FIG. 6J depicts an embodiment similar to that of FIGS. 6H and 6I , with the exception that a third fiber Bragg sensor ( 222 ) is included to provide additional redundancy for common mode error rejection, or further distributed monitoring of the rotational or strain-based deflections of the various structures to which the fiber Bragg sensors are operably coupled.
- a third fiber Bragg sensor 222
- the first sensor ( 16 ) may be configured to provide high-resolution monitoring of the flexible instrument ( 204 ) only by having a high density of Bragg gratings along this associated portion of the fiber Bragg sensor ( 16 ), the second sensor ( 220 ) may be configured to monitor relative positioning of the first structural member ( 206 ) relative to the second ( 208 ), and the second ( 208 ) relative to the third ( 210 ), which the third sensor ( 222 ) may be configured to monitor relative positioning of the second structural member ( 208 ) relative to the third ( 210 ), for common mode rejection analysis using the data from the second sensor ( 220 ) in re that mechanical association, as well as relative positioning of the third structural member ( 210 ) relative to the mounting structure ( 220 ) or ground position.
- each of the three sensors ( 16 , 220 , 222 ) may be configured to monitor positioning along their entire length.
- FIG. 6K depicts an embodiment configured to wirelessly transmit data from the sensors ( 16 , 220 ) to the fiber Bragg sensing system ( 30 ) via antennae ( 228 ) to avoid fiber crossings of the sterile barrier ( 214 ).
- FIG. 6L depicts an embodiment similar to that of FIG. 6G , with the exception that the fiber Bragg sensor ( 16 ) is positioned approximately along the central axis of each structural member ( 206 , 208 , 210 ) and joint ( 207 ).
- Another aspect of the embodiment of FIG. 6L is a slack portion ( 230 ) of the fiber Bragg sensor ( 16 ) to facilitate relative motion of the flexible instrument ( 204 ) relative to the first structural member ( 206 ).
- FIG. 7A is a perspective view of a system ( 70 ) for magnetically assisted surgery.
- the system ( 70 ) generally comprises two sections; a magnet assembly ( 72 ) and a patient support assembly ( 74 ).
- a patient ( 15 ) is located on the table ( 76 ) of the patient support assembly ( 74 ) and a catheter is inserted into the patient's body and navigated to the region of interest.
- a magnetic catheter By controlling the strength and orientation of the magnetic fields produced from the magnet assembly, a magnetic catheter can be remotely controlled in response to the varying magnetic fields. For example, by pivoting and rotating the magnet assembly and moving the patient assembly, the magnetic fields will cause the magnetic elements of a catheter located in the patient to respond to the changing fields.
- one or more Bragg fiber cables are located along the elongated portions of each magnetic catheter. Thus as the magnetic catheter is manipulated and repositioned, changed may be detected along the optical fibers and communicated to a computer for position analysis and determination.
- FIG. 7B illustrates a patient lying on the table ( 76 ) of the patient support assembly ( 74 ) and having a Stereotaxis magnetic catheter ( 78 ) including a Bragg fiber sensor ( 16 ) introduced into the patient's head.
- the region of interest is the brain ( 115 ) and thus the patient's head is located about the magnet assembly ( 72 ).
- FIGS. 7C-7E illustrate various embodiments of magnetic ablation catheters ( 80 ) having one or more Bragg fiber sensors ( 16 ).
- the magnetic catheters ( 80 ) include an outer elongate body ( 81 ) and an ablation catheter ( 82 ) located within.
- the ablation catheter ( 82 ) has one or more electrodes ( 84 ) for ablating tissue.
- the magnetic catheter ( 80 ) may further include a circumferential mapping catheter ( 86 ) having one or more electrodes ( 84 ) for mapping electrical signals from tissue such as heart tissue.
- the magnetic catheter ( 80 ), ablation catheter ( 82 ), and mapping catheter ( 86 ) can be magnetically navigated to an ablation site, such as left atrium, for example using the system ( 70 ).
- the ablation catheter ( 82 ) and mapping catheter ( 86 ) may each be disposed within an anchor member ( 88 ) configured so that the ablation catheter ( 82 ) or mapping catheter ( 86 ) may be retracted into the anchor member ( 88 ) during navigation to the ablation site, and then extended out of the anchor ( 88 ) when the site has been reached.
- the magnetic catheter ( 80 ), ablation catheter ( 82 ) and/or the mapping catheter ( 86 ) may each have one or more Bragg fiber sensors ( 16 ) disposed longitudinally along at least part of their structures. As the magnetic catheter ( 80 ) is navigated with a patient's body, the Bragg fiber sensors ( 16 ) sense data related to position changes and bending of the fibers. This telemetry is relayed back to the navigation system (such as a position determining system ( 30 )) for analysis and position determination.
- the navigation system such as a position determining system ( 30 )
- FIG. 8A illustrates one embodiment of a Mako haptic guidance surgical system ( 90 ) that utilizes method of position determination with one or more Bragg fiber sensors ( 16 ).
- the surgical system ( 90 ) includes a computer system ( 92 ), a haptically-enabled device ( 94 ), and a tracking (or localizing) system ( 96 ).
- the surgical system ( 90 ) enables comprehensive, intraoperative surgical planning.
- the surgical system ( 90 ) also provides haptic guidance to a user and/or limits the user's manipulation of the haptically-enabled device ( 94 ) as the user performs a surgical procedure.
- the computing system ( 92 ) includes hardware and software for operation and control of the surgical system.
- the computer system ( 92 ) also analyzes data from the Bragg fiber sensor ( 16 ) to determine the position of the arm ( 98 ) of the haptically-enabled device ( 94 ) and a distal tool or end effector ( 100 ).
- a Bragg fiber sensor ( 16 ) is coupled to the arm ( 98 ) of the haptically-enabled device ( 94 ). At least one of the optical fibers of the Bragg fiber sensor ( 16 ) extends to all the way to the distal working end of the arm ( 98 ) having the end effector ( 100 ). As the arm ( 94 ) moves during a surgical procedure and the end effector ( 100 ) is manipulated on a patient, the movements are sensed by the fiber sensor ( 16 ) and communicated to the computer system ( 92 ). The computer system ( 92 ) may be configured to process the data from the fiber sensor ( 16 ) to determine the position and orientation of the arm ( 94 ) and/or the end effector ( 100 ). By analyzing this data, an operator at the computer system ( 92 ) may accurately know the location and orientation of the end effector ( 100 ) and the haptic arm ( 98 ).
- FIG. 8B illustrates one embodiment of a Mako haptic robot ( 94 ) comprising a base ( 102 ), an arm ( 98 ), an end effector ( 100 ), a user interface ( 104 ), and a Bragg sensor fiber ( 16 ).
- the base ( 102 ) provides a foundation for the haptically-enabled device ( 94 ).
- the arm ( 98 ) is disposed on the base ( 102 ) and is adapted to enable the haptically-enabled device ( 94 ) to be manipulated by the user.
- the arm ( 102 ) may be any suitable mechanical or electromechanical structure but is preferably an articulated arm having four or more degrees of freedom (or axes of movement), such as, for example, a robotic arm known as the “Whole-Arm Manipulator” currently manufactured by Barrett Technology, Inc.
- the Bragg fiber sensor assembly of this example includes a Bragg sensor fiber ( 16 ) extending from a sensor module ( 106 ), along the entire length of the robotic arm ( 98 ) all the way to the tip of the end effector ( 100 ).
- a plurality of fiber sensors ( 16 ) may be employed to different segments along the arm ( 98 ).
- the sensor module ( 106 ) of this illustration collects all the sensed data and communicates the data to the computer system ( 92 ) via a cable or wirelessly.
- the sensor module ( 106 ) may be configured to analyze the data from the fiber sensors ( 16 ) and then simply communicate the position data directly to the computer system ( 92 ).
- the CyberKnife robotic radiosurgery system manufactured by Accuray Inc. of Sunnyvale, Calif.
- the CyberKnife system provided therapeutic treatment to moving target regions in a patient's anatomy by creating radiosurgical lesions.
- the technique includes determining a pulsating motion of a patient separately from determining a respiratory motion, and directing a radiosurgical beam, from a radiosurgical beam source, to a target in the patient based on the determination of the pulsating motion.
- Directing the radiosurgical beam to the target may include creating a lesion in the heart to inhibit atrial fibrillation. Due to the nature of the treatment and the radiation involved, it is desirable to have accurate positioning of the target sites. For example, the system may have to take into account the respiratory motion of the patient, and compensate for movement of the target due to the respiratory motion and the pulsating motion of the patient.
- FIG. 9A illustrates one embodiment of a radiosurgery system, such as the CyberKnife, employing a Bragg fiber position sensing scheme.
- the system ( 110 ) includes an Accuray radiosurgical beaming apparatus ( 112 ), a positioning system ( 114 ), an imaging device ( 116 ), and a controller ( 118 ).
- the system ( 110 ) may also include an operator control console ( 120 ) and display ( 122 ).
- the radiosurgical beaming apparatus ( 112 ) generates, when activated, a collimated radiosurgical beam (consisting of x-rays, for example).
- the cumulative effect of the radiosurgical beam, when directed to the target is to necrotize or to create a lesion in a target within the patient's anatomy.
- the positioning system ( 114 ) is an industrial robot, which moves in response to command signals from the controller ( 118 ).
- the beaming apparatus ( 112 ) may be a small x-ray linac mounted to an arm of the industrial robot.
- one or more Bragg fiber sensor(s) ( 16 ) are attached to the robot arm ( 124 ) and the beaming apparatus ( 112 ).
- the fiber sensor(s) ( 16 ) provide indications of the position movements to a computer system ( 126 ). By analyzing the sensed data from the fiber sensor(s) 16 , an accurate position of the arm and the beaming apparatus can be determined.
- FIG. 9B illustrates the distal portion of the Accuray robot arm ( 124 ) to which the beaming apparatus ( 112 ) is mounted. Also shown is the Bragg fiber sensor ( 16 ) extending along the exterior of the beaming apparatus ( 112 ) and the robot arm ( 124 ).
- the fiberoptic Bragg grating position determining method and apparatus has been employed in the context of robotic surgical systems and/or their associated catheter devices or beaming devices. It is also contemplated that the position determination techniques using Bragg fibers may also be employed with endoscopic instruments and endoscopic medical procedures.
- one or more Bragg fiber sensors may be built into or located within a steerable endoscope device such as that produced by NeoGuide Systems Inc. of Los Gatos, Calif.
- FIG. 10A shows one variation of a steerable endoscope ( 130 ) which may be utilized for accessing various regions within the body without impinging upon the anatomy of the patient.
- the endoscope ( 130 ) generally has an elongate body ( 132 ) with a manually or selectively steerable distal portion ( 134 ) and an automatically controlled proximal portion ( 136 ).
- the elongate body ( 132 ) of the endoscope ( 130 ) is highly flexible so that it is able to bend around small diameter curves without buckling or kinking.
- a handle ( 138 ) at the proximal end of the elongate body may be connected to a steering control ( 142 ) which may be configured to allow a user to selectively steer or bend the selectively steerable distal portion of the elongate body in the desired direction.
- an axial motion transducer ( 144 ) may be provided to measure the axial motion of the elongate body ( 132 ) as it is advanced and withdrawn.
- the Bragg fiber techniques of the present invention presents an alternative or additional means of position determination for this endoscope ( 132 ).
- a Bragg fiber sensor ( 16 ) extends from the distal end ( 134 ) of the elongate body ( 132 ) for a NeoGuide steerable endoscope ( 130 ) to the proximal end ( 136 ) and to a position determination module ( 140 ).
- the position determination module analyzes the data and may be configured to calculate the position of the distal tip ( 134 ) of the endoscope ( 130 ), various points along the elongate body ( 132 ), or even every point along the entire length of the endoscope ( 130 ). Because a steerable endoscope may take a tortuous route as it travels through the body, it is highly desirable to know the exact position of a portion of, or the entire, length of the endoscopic instrument, particularly if the elongate body takes many turns or circles about itself.
- FIG. 10B illustrates a cross-sectional side view of a patient's head with a variation of a NeoGuide steerable endoscope ( 130 ) having a Bragg fiber sensor ( 16 ) disposed therethrough.
- FIG. 10C illustrates a cross-sectional anterior view of a heart ( 150 ) with a NeoGuide endoscopic device ( 130 ) having a Bragg fiber sensor ( 16 ) introduced via the superior vena cava and advanced to the right atrium.
- FIGS. 10D-10F show examples of treating atrial fibrillation using an endoscopic device ( 130 ) that includes a Bragg fiber sensor ( 16 ).
- the distal portion ( 134 ) of endoscopic device ( 130 ) is advanced into the chest cavity through a port ( 152 ).
- the location and orientation of the portions of interest of the endoscopic device ( 130 ) are determined using the data received from the Bragg fiber sensor ( 16 ).
- the distal portion ( 134 ) is advanced proximal the location(s) of the heart to be given treatment in order to treat the atrial fibrillation.
- FIG. 10G illustrates another embodiment of an endoscope ( 130 ), in this case having a guide tube ( 154 ) wherein the endoscope ( 130 ) is slidably insertable within the lumen of a guide tube ( 154 ).
- the endoscope ( 130 ) is provided with an end effector ( 100 ).
- the endoscope ( 130 ) and guide tube ( 154 ) have separate Bragg fiber sensors ( 16 ) such that the position of the endoscope ( 130 ) and guide tube ( 154 ) may be separately determined.
- FIG. 10H illustrates a colonoscopy procedure wherein a NeoGuide steerable endoscope ( 130 ) with a Bragg sensor fiber ( 16 ) is advanced through a colon.
- the endoscope ( 130 ) may also include a guide tube ( 154 ), and separate Bragg fiber sensors ( 16 ) on the endoscope ( 130 ) and guide tube ( 154 ).
- the Bragg fiber sensor has been described as being disposed on, coupled to or located on a robotic arm, instrument, catheter, and/or tool.
- the Bragg fiber or fiber bundles may be mounted to or installed on the exterior surface or housing of the robotic instrument.
- one or more Bragg grating fibers may be routed on the external housing of a robotic arm of the Intuitive Surgical da Vinci system, the Mako system, or the Accuray system.
- one or more Bragg fibers may be fastened on the outer surface of the instrument of the Intuitive Surgical, Stereotaxis, or NeoGuide system or apparatus.
- a Bragg fiber may be attached to a tool instrument or end-effector which may be operably coupled with the distal end of an instrument.
- the Bragg fiber sensors may be installed within or integrated into the robotic instrument itself.
- one or more Bragg fiber sensors may be routed internally to the robotic arm of the Intuitive Surgical da Vinci system, the Mako system, or the Accuray system.
- one or more Bragg fiber sensors may be located within the catheter instrument of the Intuitive Surgical catheter, Stereotaxis catheter, or NeoGuide catheter.
- a Bragg fiber may be built into a tool instrument or end-effector at the distal end of a catheter instrument. Accordingly, as used herein, the term “disposed on” shall include without limitation all of these described methods of providing the described structure with a fiber sensor, and shall not be limited to any particular mounting method or location relative to the structure.
- position data sensing/analysis logic system may be located either separated from the robotic system or alternatively on the robotic system itself.
- the position determining system may be integrated with the control system of the Intuitive Surgical/Mako/Accuray/NeoGuide/Stereotaxis surgical system.
- the position determining system may be stand-alone or part of another computer system. Because of these different implementations, data communication between the Bragg fiber sensors, the position determining system, and/or the control system for the robotic device may be accomplished in a variety of ways.
- the communication may be conducted via physical cables, wireless transmissions, infrared, optically, or other suitable means.
- the examples described herein are in the context of one Bragg fiber sensor or fiber bundle for clarity, it is contemplated that a plurality of optical fibers or fiber bundles may be deployed on each robotic arm, catheter, or tool device, thus providing additional position data and redundancy if so desired.
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Nursing (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Radiology & Medical Imaging (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
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.
Description
- The present application claims the benefit under 35 U.S.C. § 119 to U.S. Provisional Patent Application Ser. Nos. 60/899,048, filed on Feb. 2, 2007, and 60/900,584, filed on Feb. 8, 2007. The foregoing applications are hereby incorporated by reference into the present application in its entirety.
- The invention relates generally to medical instruments having multiple jointed devices, including for example telerobotic surgical systems, and more particularly to a method, system, and apparatus for sensing or measuring the position, temperature and/or stress and strain at one or more positions along the multiple jointed device.
- Robotic interventional systems and devices are well suited for use in performing minimally invasive medical procedures, as opposed to conventional techniques wherein the patient's body cavity is open to permit the surgeon's hands access to internal organs. For example, there is a need for a highly controllable yet minimally sized system to facilitate imaging, diagnosis, and treatment of tissues which may lie deep within a patient, and which may be accessed via naturally-occurring pathways such as blood vessels, other lumens, via surgically-created wounds of minimized size, or combinations thereof.
- In one embodiment, 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. By way of non-limiting example, the movable joint may allow for pivotal motion of the second member relative to the first member in a single plane, and wherein the determined relative position of the first and second members about the movable joint comprises an angular displacement of the second member relative to the first member. Alternatively, the movable joint may allow for movement of the second member relative to the first member in at least three degrees of freedom.
- In another embodiment, a positionable medical instrument assembly includes a plurality of positionable members, including a first member coupled to a second member by a first movable joint, and a third member coupled to the second member by a second movable joint. One or more Bragg fiber sensors are provided, each coupled to at least two of the first, second and third members, such that relative movement of the first and second members about the first movable joint causes a corresponding bending of at least one Bragg fiber sensor, and a relative movement of the second and third members about the second movable joint causes a corresponding bending of at least one Bragg fiber sensor. Each of the one or more Bragg fiber sensors having a proximal end operatively coupled to a controller configured to receive signals therefrom indicative of a bending of one or more portions thereof, the controller configured to analyze the signals to determine a relative position of the first, second and third members about the respective first and second movable joints. By way of non-limiting examples, the first movable joint may allow for movement of the second member relative to the first member in at least three degrees of freedom, and the second movable joint may allow for movement of the third member relative to the second member in at least three degrees of freedom.
- In one such embodiment, the one or more Brag fiber sensors include a first Bragg fiber sensor coupled to the first, second and third members, such that relative movement of the first and second members about the first movable joint, and relative movement of the second and third members about the second movable joint causes a bending of at least first and second respective portions of the first Bragg fiber sensor. In this embodiment, the controller is configured to analyze signals received from the first Bragg fiber sensor to determine a relative position of the first, second and third members about the respective first and second movable joints.
- In another such embodiment, the one or more Brag fiber sensors include a first Bragg fiber sensor coupled to the first and second members, such that relative movement of the first and second members about the first movable joint causes a bending of at least a portion of the first Bragg fiber sensor, and a second Bragg fiber sensor coupled to the second and third members, such that relative movement of the second and third members about the second movable joint causes a bending of at least a portion of the second Bragg fiber sensor, wherein the controller is configured to analyze respective signals received from the first and second Bragg fiber sensors to determine a relative position of the first, second and third members about the respective first and second movable joints.
- In yet another embodiment, a positionable medical instrument assembly includes a first member coupled to a second member by a movable joint, with a plurality of Bragg fiber sensors 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 each of the plurality of the Bragg fiber sensors. The Bragg fiber sensors have respective proximal ends operatively coupled to a controller configured to receive signals from each of the Bragg fiber sensors indicative of a respective bending thereof. The controller is configured to analyze the signals to determine a relative position of the first and second members about the movable joint. By way of example, the movable joint may allow for pivotal motion of the second member relative to the first member in a single plane, wherein the determined relative position of the first and second members about the movable joint comprises an angular displacement of the second member relative to the first member. By way of another example, the movable joint may allow for movement of the second member relative to the first member in at least three degrees of freedom. In various embodiments, the assembly comprises a robotic instrument driver configured to maneuver an elongate medical instrument movably coupled to the second member.
- In still another embodiment, a medical instrument system is provided, the system including an instrument driver, a sterile barrier, an elongate flexible instrument body operatively coupled to the instrument driver through the sterile barrier, and a Bragg fiber sensor coupled to the elongate instrument body, such that relative bending of the instrument body causes a corresponding bending of at least a portion of the Bragg fiber sensor. The Bragg fiber sensor has a proximal end operatively coupled to a position sensor controller located on a sterile field side of the sterile barrier and configured to receive signals from the Bragg fiber sensor indicative of a bending thereof, the sensor controller configured to analyze the signals to determine a relative position of the instrument. In one such embodiment, the position sensor controller transmits wireless signals to an instrument driver controller located outside the sterile field to communicate to the instrument driver a relative position of the instrument.
- The drawings illustrate the design and utility of illustrated embodiments of the invention, in which similar elements are referred to by common reference numerals.
-
FIG. 1 illustrates a conventional manually-steerable catheter; -
FIG. 2 illustrates one embodiment of a robotically-driven steerable catheter; -
FIGS. 3A-3C illustrate one embodiment of a robotically-steerable catheter having an optical fiber positioned along one aspect of the wall of the catheter; -
FIG. 4 illustrates a cross sectional view of a portion ofFIG. 3A ; -
FIG. 5 illustrates another embodiment wherein a composite fiber bundle is positioned within the wall of the catheter; -
FIG. 6A illustrates a perspective view of a da Vinci telesurgical system including its operator control station and surgical work station; -
FIG. 6B shows a perspective view of a cart of the telesurgical system carrying three robotically controlled manipulator arms, each have a Bragg fiber assembly mounted thereon; -
FIG. 6C is a perspective view of a da Vinci robotic surgical arm cart system; -
FIG. 6D is a side view of a robotic arm and surgical instrument assembly from a da Vinci system, the instrument assembly having a sensor cable connected to its Bragg fiber bundle; -
FIG. 6E illustrates a surgical instrument of the da Vinci system; -
FIG. 6F illustrates an exemplary operating room installation of a patient-side telesurgical system; -
FIG. 6G-L illustrate various embodiments of fiber bragg sensors operably coupled to articulated robotic instrument configurations; -
FIG. 7A illustrates a perspective view of a system for magnetically assisted surgery; -
FIG. 7B illustrates a patient lying on the patient support and having a Stereotaxis magnetic catheter including a Bragg fiber introduced into the patient's head; -
FIGS. 7C-7E illustrate various embodiments of magnetic ablation catheters having one or more Bragg fiber bundles; -
FIG. 8A illustrates one embodiment of a Mako haptic guidance surgical system that utilizes method of position determination with a Bragg fiber; -
FIG. 8B illustrates one embodiment of a Mako haptic robot; -
FIG. 9A illustrates one embodiment of a radiosurgery system employing a Bragg fiber position sensing scheme; -
FIG. 9B illustrates the distal portion of the Accuray robot arm to which the beaming apparatus is mounted; -
FIG. 10A illustrates one embodiment of a steerable endoscope; -
FIG. 10B illustrates a cross-sectional side view of a patient's head; -
FIG. 10C illustrates a cross-sectional anterior view of a heart; -
FIGS. 10D-10F show examples of a treating atrial fibrillation using an endoscopic device that includes a Bragg sensor fiber; -
FIG. 10G illustrates an endoscope having a guide tube which is slidably insertable within the lumen of a guide tube; -
FIG. 10H illustrates a colonoscopy procedure wherein a NeoGuide steerable endoscope with a Bragg sensor fiber is advanced through a colon; - The present invention is directed to various interventional medical instruments, such as jointed positioning instruments, catheters and endoscopic devices, with Bragg fiberoptic grating guidance systems. Advantageously, each of the embodiments of the present invention described herein may be utilized with robotic catheter systems, which can control the positioning of the devices within a patients body, and may also control the operation of other functions of the devices, such as imaging devices, ablation devices, cutting tools, or other end effectors. The devices may be controlled using a closed-loop servo control in which an instrument is moved in response to a command, and then the determined position may be utilized to further adjust the position; or an open loop control in which an instrument is moved in response to a user command, the determined position is then displayed to the user, and the user can then input another command based on the displayed position.
- In addition, by determining the strain or deflection of various portions of an instrument and utilizing kinematics and mechanics of materials relationships pertinent to the structures of the instrument, applied loads (preferably including magnitude and vector) may be estimated. In other words, by utilizing a kinematic model of an instrument fitted with one or more Bragg fiber sensor(s), and a mechanics model of how the instrument should deflect or strain under load, a comparison may be made between the expected position of the instrument, as determined utilizing the kinematic and/or mechanics relationships, and the actual position of the instrument, determined utilizing the Bragg fiber sensor data. The difference between actual and expected may then be analyzed utilizing the kinematic and/or mechanics relationships to determine what kind of load must have been applied to cause the difference between actual and expected—and thereby the load may be characterized. For example, taking a two-link instrument wherein the distal link is basically a flexible polymeric cylinder; a kinematic model can be used to predict how the cylinder should move relative to the more proximal pieces when actuated, and it should retain its original shape unless it is subjected to an external load; if the Bragg fiber sensor data indicates that the cylinder is bending, then the applied load can be calculated (e.g. a formula relating the bending to the load can be determined, or a lookup table of predetermined empirical data could be used). Thus, by using the Bragg fiber sensor to measure deflections or strains in different parts of the instrument, forces on the instrument and stresses within the instrument may be determined.
- Examples of robotic catheter systems and their components and functions have been previously described in the following U.S. patent applications, which are incorporated herein by reference in their entirety: U.S. patent application Ser. Nos. 10/923,660, filed Aug. 20, 2004; 10/949,032, filed Sep. 24, 2005; 11/073,363, filed Mar. 4, 2005; 11/173,812, filed Jul. 1, 2005; 11/176,954, filed Jul. 6, 2005; 11/179,007, filed Jul. 6, 2005; 11/202,925, filed Aug. 12, 2005; 11/331,576, filed Jan. 13, 2006; 60/785,001, filed Mar. 22, 2006; 60/788,176, filed Mar. 31, 2006; 11/418,398, filed May 3, 2006; 11/481,433, filed Jul. 3, 2006; 11/637,951, filed Dec. 11, 2006; 11/640,099, filed Dec. 14, 2006; 60/833,624, filed Jul. 26, 2006 and 60/835,592, filed Aug. 3, 2006.
- All of the following technologies may be utilized with manually or robotically steerable instruments, such as those described in the aforementioned patent application, U.S. Ser. No. 11/481,433. In addition, all of the following technologies may be utilized with the robotic catheter systems and methods described in the U.S. patent applications listed above, and incorporated by reference herein.
- For clarity, the sheath and guide catheter instruments described in the exemplary embodiments below may be described as having a single lumen/tool/end-effector, etc. However, it is contemplated that alternative embodiments of catheter instruments may have a plurality of lumens/tools/end-effectors/ports, etc. Furthermore, it is contemplated that in some embodiments, multiple catheter instruments may be delivered to a surgical site via a single multi-lumen sheath, each of which is robotically driven and controlled via an instrument driver. Some of the catheter instruments described herein are noted as flexible. It is contemplated that different embodiments of flexible catheters may be designed to have varying degrees of flexibility and control. For example, one catheter embodiment may have controlled flexibility throughout its entire length whereas another embodiment may have little or no flexibility in a first portion and controlled flexibility in a second portion. Similarly, different embodiments of these catheters may be implemented with varying degrees of freedom.
- With reference to the figures, the implementation of fiberoptic Bragg grating sensing to various interventional medical devices will be described. Fiberoptic Bragg grating sensing can be implemented onto interventional medical devices to determine the location of various parts of the device by positioning the fiberoptic bundle longitudinally along the device and calculating the deflection of the fiberoptic bundle. The determination of the deflections of portions of a Fiberoptic Bragg grating sensor is known in the relevant art, but the integration of strains or deflections associated with various portions of a multi-part or articulated medical instrument utilizing one or more Fiberoptic Bragg grating sensors to predict the position of multi-part medical instrument in space.
- Referring to
FIG. 1 , a conventional manually-steerable catheter (1) is depicted. A plurality of pullwires (2) may be selectively tensioned through manipulation of a handle (3) on the proximal portion of the catheter structure (1) to make a more flexible distal portion (5) of the catheter bend or steer controllably. A more proximal and conventionally less steerable portion (4) of the catheter may be configured to be compliant to loads from surrounding tissues (for example, to facilitate passing the catheter, including portions of the proximal portion, through tortuous pathways such as those formed by the blood vessels), yet less steerable as compared with the distal portion (5). - Referring to
FIG. 2 , a robotically-driven steerable catheter (6), similar to those described in detail in U.S. patent application Ser. No. 11/176,598, incorporated by reference herein in its entirety, is depicted. This catheter (6) has some similarities with the manually-steerable catheter (1) ofFIG. 1 in that it has pullwires (10) associated distally with a more flexible section (8) configured to steer or bend when the pullwires (10) are tensioned in various configurations, as compared with a less steerable proximal portion (7) configured to be stiffer and more resistant to bending or steering. The depicted embodiment of the robotically-driven steerable catheter (6) comprises proximal axles or spindles (9) configured to primarily interface not with fingers or the hand, but with an electromechanical instrument driver configured to coordinate and drive, with the help of a computer, each of the spindles (9) to produce precise steering or bending movement of the catheter (6). For example, the spindles (9) may be the same or similar to the control element interface assemblies which can be controlled by an instrument drive assembly as shown and described in U.S. patent application Ser. No. 11/637,951. - Each of the embodiments depicted in
FIGS. 1 and 2 may have a working lumen (not shown) located, for example, down the central axis of the catheter body, or may be without such a working lumen. If a working lumen is formed by the catheter structure, it may extend directly out the distal end of the catheter, or may be capped or blocked by the distal tip of the catheter. It is highly useful in many procedures to have precise information regarding the spatial position of the distal portion or tip of elongate instruments, such as the instruments available from suppliers such as the Ethicon Endosurgery division of Johnson & Johnson, or Intuitive Surgical Corporation, during diagnostic or interventional procedures. The examples and illustrations that follow are made in reference to a robotically-steerable catheter such as that depicted inFIG. 2 , but as would be apparent to one skilled in the art, the same principles may be applied to other elongate instruments, such as the manually-steerable catheter depicted inFIG. 1 , or other elongate instruments, flexible or not, from suppliers such as the Ethicon Endosurgery division of Johnson & Johnson, Inc., or Intuitive Surgical, Inc. - Referring to
FIGS. 3A-3C , a robotically-steerable catheter (6) is depicted having an optical fiber (12) positioned along one aspect of the wall of the catheter (6). The fiber is not positioned coaxially with the neutral axis of bending (11) in the bending scenarios depicted inFIGS. 3B and 3C . Indeed, with the fiber (12) attached to, or longitudinally constrained by, at least two different points along the length of the catheter (6) body and unloaded from a tensile perspective relative to the catheter body in a neutral position of the catheter body such as that depicted inFIG. 3A , the longitudinally constrained portion of the fiber (12) would be placed in tension when the catheter (6) is deflected as depicted inFIG. 3B , while the longitudinally constrained portion of the fiber (12) would be placed in compression when the catheter (6) is deflected as depicted inFIG. 3C . Such relationships are elementary to solid mechanics, but may be applied as described herein with the use of a Bragg fiber grating to assist in the determination of temperature and/or deflection of an elongate instrument. Examples of fiberoptic Bragg fiber sensing technology may be available from Luna Innovations, Inc. of Roanoke, Va., Micron Optics, Inc., of Atlanta, Ga., LxSix Photonics, Inc., of Quebec, Canada, and Ibsen Photonics A/S, of Denmark. - Referring to
FIG. 4 , a cross section of a portion of the configuration depicted inFIG. 3A is depicted, to clearly illustrate that the fiber (12) is not placed concentrically with the neutral axis (11) of bending for the sample cross section.FIG. 5 depicts a different variation, wherein a composite fiber bundle (13) is positioned within the wall of the catheter rather than a single fiber as depicted inFIG. 4 . The fiber bundle (13) comprises three smaller single fibers (14). When a structure such as that depicted inFIG. 5 is placed in bending in a configuration such as that depicted inFIG. 3B or 3C, the most radially outward (from the neutral axis of bending (11)) of the three single fibers (14) experiences more compression or tension than the two more radially inward fibers. Thus, as explained above, a Bragg sensing fiber assembly may comprise a single fiber or multiple fibers, and the term Bragg sensing fiber, Bragg fiber sensor, or Bragg sensing fiber (16, 220, or 222) (when used in a drawing figure) as used herein shall mean any Bragg sensing fiber assembly having one or more fibers, unless the number of fibers is explicitly specified. - It is contemplated that various medical systems for minimally invasive surgery may utilize alternative embodiments of catheters including fiberoptic Bragg grating fibers and associated sensors for measuring strain and determining positions along an elongated instrument similar to those described in detail in U.S. Provisional Patent Applications Nos. 60/785,001 (filed Mar. 22, 2006) and 60/788,176 (filed Mar. 31, 2006), both incorporated by reference herein in their entirety.
- For example, one or more Bragg sensing fibers may be included with each of the arms of a “da Vinci Surgical System” available from Intuitive Surgical Inc. of Sunnyvale, Calif.
FIG. 6A illustrates a perspective view of a da Vinci telesurgical system (20) including its operator control station (22) and surgical workstation (24). The surgical workstation (24) comprises a cart (26), which supports the robotic arms (28). A Bragg fiber sensor (16) is disposed along at least a portion of the length of each arm (28). Alternatively, multiple separate Bragg fiber sensors (16) may be disposed on each arm (28). For example, a separate Bragg fiber sensor (16) may be disposed on each link of the robotic arm (28). In the depicted embodiments, Bragg fiber sensors (16) may be operably coupled to interventional and/or diagnostic instruments, such as the depicted robotic arm (28), utilizing bands, clips, fasteners, a layer of at least partically encapsulating material, or the like, distributed along the length of the robotic arm or other structure to maintain the position of the fiber sensor (16) relative to the position of the pertinent portions of such structure. Referring again toFIG. 6A , a position determining system (30) is depicted operatively coupled to each of the Bragg fiber sensors (16). The position determining system (30), generally comprising an optical radiation emitter and detector, and a computing system to analyze detected optical radiation, may be operatively coupled to each of the Bragg fiber sensors (16) via the cart (26). The position determining system (30) is configured to analyze data from the Bragg fiber sensors (16) as the arms (28) are maneuvered and determine changes in elongation of the Bragg fiber sensors (16). Some systems, such as those available from Luna Innovations, Inc., may be configured to utilize sensed deflection data to determine the spatial positioning or shape of a particular fiber or bundle of fibers. Although it is referred to herein as a “position determining system,” such system may also analyze, calculate and/or determine other information using the data from the Bragg fiber sensors, including without limitation, stress, strain or elongation, forces, and/or temperature. The positioning determining system (30) is also operatively coupled to the operator control station (22) or control system of the instrument system, such that position information as determined by the position determining system (30) may be relayed to the operator control system (22) to assist in navigation and control of the instrument system. In this illustration, the surgical workstation (24) carries three robotically controlled arms (28), and the movement of the arms (28) is remotely controllable from the control station (22). In other embodiments, the cart (26) may carry a varying number of arms (28) (i.e., two or four arms) depending on the particular configuration. - It is desirable to minimize (or even eliminate) the need to pass instruments through sterile barrier (or drape). Thus, the devices located on one side of the sterile barrier may use a wireless communication link to communicate with devices located on the other side of the sterile barrier. To this end, the position determining system may be configured to be placed within the sterile barrier and communicate wirelessly with the control station. Alternatively, as depicted in
FIG. 6K , a sensing system subportion (226) may be positioned on the sterile side of the sterile barrier (214) and configured to wirelessly communicate with a wirelessly-enabled fiber Bragg sensing system (30)—to avoid having fibers physically crossing the sterile barrier (214). The position determining system (30) may then communicate with other components of the system via the wireless communication link, using RF, infrared or other suitable communications technologies, eliminating the need to pass a wires back and forth, or across the sterile barrier. -
FIG. 6B shows a perspective view of the cart (26) of the telesurgical system carrying three robotically controlled manipulator arms (28), each having a Bragg fiber sensor (16) disposed thereon, and extending along the catheters (32) operatively coupled to the arms (28). For one embodiment, the fiber sensors (16) may be routed through the support structure of the arms (28) to the catheters (32). In another embodiment, the fiber sensors (16) may be freely connected from the position determining system (30) directly to each of the catheter assemblies (32). -
FIG. 6C is a perspective view of another embodiment of a da Vinci robotic surgical arm cart system (40) in which a series of passive set-up joints (42) support robotically actuated manipulator arms (28) (typically, the center arm would support a camera). In this illustration, a wireless Bragg fiber relay (46) is attached to each of the catheter assemblies (32) mounted on the manipulator arms (44). Each wireless Bragg fiber relay (46) is operatively coupled to a respective Bragg fiber sensor (16) disposed on each catheter assembly (32). The wireless Bragg fiber relays (46) are configured to transmit radio frequency signals representative of the respective Bragg fiber sensor (16) outputs. During a procedure, data sensed along the fiber sensors (16) may be wirelessly transmitted from the individual wireless fiber relays (46) to a position determining system (30) having a compatible wireless signal receiver for receiving the wireless signal. The position determining system (30) may then analyze the fiber sensor data to calculate position information which can be communicated to the operator control system (22). -
FIG. 6D is a side view of a single robotic arm (28) and surgical instrument assembly (46) from a da Vinci system, such as the da Vinci System (20) described above and shown inFIG. 6A . The instrument assembly (47) has a Bragg fiber sensor (16) disposed along at least part of its length, and a sensor cable (48) connected to the Bragg fiber sensor (16).FIG. 6E shows, at an enlarged scale, a perspective view of a typical surgical instrument assembly (46) of a typical da Vinci system (20 or 40). The surgical instrument assembly (47) includes an elongate shaft (50) having a wrist-like mechanism or other end effector (52) located at a distal working end (54) of the shaft (50). A housing (56) is provided at the opposite end of the shaft (50), which is configured to detachably couple the proximal end (58) of the instrument assembly (47) to the robotic arm (28). A Bragg fiber sensor (16) is provided within the shaft (50) and extends from the distal working end (54) back to the housing (56). As the instrument assembly (47) is manipulated and travels on the robotic arm (28), movements may be sensed by the fiber sensor (16) and such data communicated to a computer, such as the position determining system (30) or an integrated operator control system (22) for analysis and position determination. -
FIG. 6F illustrates another embodiment of a da Vinci-like patient-side telesurgical system (60) in an exemplary operating room installation having a patient table (64) and a patient (15). In this example, the telesurgical system (60) has four robotic arms (28) and a ceiling mount (62) for each robotic arm (28) mounted to the ceiling. Each of the arms (28) is equipped with a Bragg fiber sensor (16) which is operatively coupled to a wireless Bragg fiber relay (46). An instrument assembly (46) is operatively coupled to the arms (28). In operation, data is collected by the fiber sensors (16) as to instrument assembly (46) and arm (28) movements and wirelessly communicated to the position determining system (30). - Referring to
FIGS. 6G-6L , various embodiments of a multi-link instrument system operably coupled to fiber Bragg sensors, a fiber Bragg sensing system, and a robotic instrument controller are depicted to illustrate various ways in which fiber Bragg sensing may be utilized to assist in the navigation and control of an instrument configuration such as that depicted inFIGS. 6G-6L . Referring toFIG. 6G , a flexible instrument (204) is depicted movably coupled to a first movable structural member (206), which is rotatably coupled to a second movable structural member (208), which is rotatably coupled to a third movable structural member (210), which is rotatably coupled to a mounting structure (200). The depicted joints (207) may be conventional hinge type joints, 3-degree-of-freedom ball and socket type joints, or other types of couplings suitable for suspending medical instruments. The linkage comprising the various members (206, 208, 210) is for illustration purposes, and it will be apparent to one skilled in the art that the same ideas described herein are applicable to less extensive linkages or structures. As shown inFIG. 6G , a single fiber Bragg sensor (16) may be operably coupled to the entire length of the flexible instrument (204) and associated supporting linkage (206, 208, 210), and operably coupled to a fiber Bragg sensing system (30), which is coupled to a robotic instrument controller (202), which may be operably coupled, via a communication link (216) such as an electrical cable, to the actuators, brakes, or the like which are configured to control physical movement of various aspects of the flexible instrument (204) and associated supporting linkage (206, 208, 210). With such a configuration, a single core or multi-core fiber Bragg sensor (16) may be utilized to provide precision feedback to the robotic instrument controller regarding where the entire flexible instrument (204) and associated supporting linkage (206, 208, 210) are in space relative to each other, and relative to a ground position or the mounting structure (200). At the junction between the mounting structure (200) and the most proximal structural member (210), the sterile barrier preferably is configured to accommodate a direct crossing of the fiber Bragg sensor (16) via a hole or similar adaptation. Referring toFIG. 6H , an embodiment similar to that ofFIG. 6G is depicted, with the exception that an additional fiber Bragg sensor (220) is coupled to the instrument complex along the supporting linkage (206, 208, 210). This additional sensor (220) may be configured to provide additional data for common mode rejection purposes, or may be configured to facilitate monitoring of the position of the supporting linkage (206, 208, 210) so that the first fiber Bragg sensor (16) may have Bragg gratings concentrated more densely only at the portions of the instrument linkage distal to the distal termination of the second fiber Bragg sensor (220), in the depicted example along the length of the flexible medical instrument (204), for which it may be desirable to have more resolution of spatial movement feedback to the robotic instrument controller (202).FIG. 6I depicts a similar configuration.FIG. 6J depicts an embodiment similar to that ofFIGS. 6H and 6I , with the exception that a third fiber Bragg sensor (222) is included to provide additional redundancy for common mode error rejection, or further distributed monitoring of the rotational or strain-based deflections of the various structures to which the fiber Bragg sensors are operably coupled. For example, in one embodiment, the first sensor (16) may be configured to provide high-resolution monitoring of the flexible instrument (204) only by having a high density of Bragg gratings along this associated portion of the fiber Bragg sensor (16), the second sensor (220) may be configured to monitor relative positioning of the first structural member (206) relative to the second (208), and the second (208) relative to the third (210), which the third sensor (222) may be configured to monitor relative positioning of the second structural member (208) relative to the third (210), for common mode rejection analysis using the data from the second sensor (220) in re that mechanical association, as well as relative positioning of the third structural member (210) relative to the mounting structure (220) or ground position. Further, each of the three sensors (16, 220, 222) may be configured to monitor positioning along their entire length. As discussed above,FIG. 6K depicts an embodiment configured to wirelessly transmit data from the sensors (16, 220) to the fiber Bragg sensing system (30) via antennae (228) to avoid fiber crossings of the sterile barrier (214).FIG. 6L depicts an embodiment similar to that ofFIG. 6G , with the exception that the fiber Bragg sensor (16) is positioned approximately along the central axis of each structural member (206, 208, 210) and joint (207). Another aspect of the embodiment ofFIG. 6L is a slack portion (230) of the fiber Bragg sensor (16) to facilitate relative motion of the flexible instrument (204) relative to the first structural member (206). - Another surgical system that can benefit from accurate position information is the NIOBE Magnetic Navigation System and associated Magnetic GentleTouch Catheters, all available from Stereotaxis, Inc. of St. Louis, Mo. Stereotaxis provides products for magnetically-assisted surgery.
FIG. 7A is a perspective view of a system (70) for magnetically assisted surgery. The system (70) generally comprises two sections; a magnet assembly (72) and a patient support assembly (74). During a procedure, a patient (15) is located on the table (76) of the patient support assembly (74) and a catheter is inserted into the patient's body and navigated to the region of interest. By controlling the strength and orientation of the magnetic fields produced from the magnet assembly, a magnetic catheter can be remotely controlled in response to the varying magnetic fields. For example, by pivoting and rotating the magnet assembly and moving the patient assembly, the magnetic fields will cause the magnetic elements of a catheter located in the patient to respond to the changing fields. In one implementation, it is contemplated that one or more Bragg fiber cables are located along the elongated portions of each magnetic catheter. Thus as the magnetic catheter is manipulated and repositioned, changed may be detected along the optical fibers and communicated to a computer for position analysis and determination. -
FIG. 7B illustrates a patient lying on the table (76) of the patient support assembly (74) and having a Stereotaxis magnetic catheter (78) including a Bragg fiber sensor (16) introduced into the patient's head. In this illustration, the region of interest is the brain (115) and thus the patient's head is located about the magnet assembly (72).FIGS. 7C-7E illustrate various embodiments of magnetic ablation catheters (80) having one or more Bragg fiber sensors (16). The magnetic catheters (80) include an outer elongate body (81) and an ablation catheter (82) located within. The ablation catheter (82) has one or more electrodes (84) for ablating tissue. The magnetic catheter (80) may further include a circumferential mapping catheter (86) having one or more electrodes (84) for mapping electrical signals from tissue such as heart tissue. The magnetic catheter (80), ablation catheter (82), and mapping catheter (86) can be magnetically navigated to an ablation site, such as left atrium, for example using the system (70). The ablation catheter (82) and mapping catheter (86) may each be disposed within an anchor member (88) configured so that the ablation catheter (82) or mapping catheter (86) may be retracted into the anchor member (88) during navigation to the ablation site, and then extended out of the anchor (88) when the site has been reached. The magnetic catheter (80), ablation catheter (82) and/or the mapping catheter (86) may each have one or more Bragg fiber sensors (16) disposed longitudinally along at least part of their structures. As the magnetic catheter (80) is navigated with a patient's body, the Bragg fiber sensors (16) sense data related to position changes and bending of the fibers. This telemetry is relayed back to the navigation system (such as a position determining system (30)) for analysis and position determination. - Another surgical system that may benefit from position information during a surgical procedure is the Mako Haptic Guidance System from Mako Surgical, Inc. of Ft. Lauderdale, Fla. Mako produces a robotic system for orthopedic surgical procedures. A haptic guidance system provides sensory feedback (e.g. tactile and/or visual and/or acoustic) to the operator to assist in performing a procedure.
FIG. 8A illustrates one embodiment of a Mako haptic guidance surgical system (90) that utilizes method of position determination with one or more Bragg fiber sensors (16). The surgical system (90) includes a computer system (92), a haptically-enabled device (94), and a tracking (or localizing) system (96). In operation, the surgical system (90) enables comprehensive, intraoperative surgical planning. The surgical system (90) also provides haptic guidance to a user and/or limits the user's manipulation of the haptically-enabled device (94) as the user performs a surgical procedure. The computing system (92) includes hardware and software for operation and control of the surgical system. In this embodiment, the computer system (92) also analyzes data from the Bragg fiber sensor (16) to determine the position of the arm (98) of the haptically-enabled device (94) and a distal tool or end effector (100). In one implementation, a Bragg fiber sensor (16) is coupled to the arm (98) of the haptically-enabled device (94). At least one of the optical fibers of the Bragg fiber sensor (16) extends to all the way to the distal working end of the arm (98) having the end effector (100). As the arm (94) moves during a surgical procedure and the end effector (100) is manipulated on a patient, the movements are sensed by the fiber sensor (16) and communicated to the computer system (92). The computer system (92) may be configured to process the data from the fiber sensor (16) to determine the position and orientation of the arm (94) and/or the end effector (100). By analyzing this data, an operator at the computer system (92) may accurately know the location and orientation of the end effector (100) and the haptic arm (98). -
FIG. 8B illustrates one embodiment of a Mako haptic robot (94) comprising a base (102), an arm (98), an end effector (100), a user interface (104), and a Bragg sensor fiber (16). The base (102) provides a foundation for the haptically-enabled device (94). The arm (98) is disposed on the base (102) and is adapted to enable the haptically-enabled device (94) to be manipulated by the user. The arm (102) may be any suitable mechanical or electromechanical structure but is preferably an articulated arm having four or more degrees of freedom (or axes of movement), such as, for example, a robotic arm known as the “Whole-Arm Manipulator” currently manufactured by Barrett Technology, Inc. The Bragg fiber sensor assembly of this example includes a Bragg sensor fiber (16) extending from a sensor module (106), along the entire length of the robotic arm (98) all the way to the tip of the end effector (100). In alternative embodiments, a plurality of fiber sensors (16) may be employed to different segments along the arm (98). The sensor module (106) of this illustration collects all the sensed data and communicates the data to the computer system (92) via a cable or wirelessly. In another implementation, the sensor module (106) may be configured to analyze the data from the fiber sensors (16) and then simply communicate the position data directly to the computer system (92). - Yet another surgical system that can use accurate position information is the CyberKnife robotic radiosurgery system manufactured by Accuray Inc. of Sunnyvale, Calif. The CyberKnife system provided therapeutic treatment to moving target regions in a patient's anatomy by creating radiosurgical lesions. The technique includes determining a pulsating motion of a patient separately from determining a respiratory motion, and directing a radiosurgical beam, from a radiosurgical beam source, to a target in the patient based on the determination of the pulsating motion. Directing the radiosurgical beam to the target may include creating a lesion in the heart to inhibit atrial fibrillation. Due to the nature of the treatment and the radiation involved, it is desirable to have accurate positioning of the target sites. For example, the system may have to take into account the respiratory motion of the patient, and compensate for movement of the target due to the respiratory motion and the pulsating motion of the patient.
-
FIG. 9A illustrates one embodiment of a radiosurgery system, such as the CyberKnife, employing a Bragg fiber position sensing scheme. The system (110) includes an Accuray radiosurgical beaming apparatus (112), a positioning system (114), an imaging device (116), and a controller (118). The system (110) may also include an operator control console (120) and display (122). The radiosurgical beaming apparatus (112) generates, when activated, a collimated radiosurgical beam (consisting of x-rays, for example). The cumulative effect of the radiosurgical beam, when directed to the target, is to necrotize or to create a lesion in a target within the patient's anatomy. By way of example, the positioning system (114) is an industrial robot, which moves in response to command signals from the controller (118). The beaming apparatus (112) may be a small x-ray linac mounted to an arm of the industrial robot. In this illustration, one or more Bragg fiber sensor(s) (16) are attached to the robot arm (124) and the beaming apparatus (112). As the robot moves the arm (124) and the beaming apparatus (112) over the patient, the fiber sensor(s) (16) provide indications of the position movements to a computer system (126). By analyzing the sensed data from the fiber sensor(s) 16, an accurate position of the arm and the beaming apparatus can be determined. By knowing these locations, the radiosurgical beam can be accurately aimed from the beaming apparatus (112) to the patient.FIG. 9B illustrates the distal portion of the Accuray robot arm (124) to which the beaming apparatus (112) is mounted. Also shown is the Bragg fiber sensor (16) extending along the exterior of the beaming apparatus (112) and the robot arm (124). - From the discussions thus far, the fiberoptic Bragg grating position determining method and apparatus has been employed in the context of robotic surgical systems and/or their associated catheter devices or beaming devices. It is also contemplated that the position determination techniques using Bragg fibers may also be employed with endoscopic instruments and endoscopic medical procedures. For example, one or more Bragg fiber sensors may be built into or located within a steerable endoscope device such as that produced by NeoGuide Systems Inc. of Los Gatos, Calif.
FIG. 10A shows one variation of a steerable endoscope (130) which may be utilized for accessing various regions within the body without impinging upon the anatomy of the patient. The endoscope (130) generally has an elongate body (132) with a manually or selectively steerable distal portion (134) and an automatically controlled proximal portion (136). The elongate body (132) of the endoscope (130) is highly flexible so that it is able to bend around small diameter curves without buckling or kinking. A handle (138) at the proximal end of the elongate body may be connected to a steering control (142) which may be configured to allow a user to selectively steer or bend the selectively steerable distal portion of the elongate body in the desired direction. In one embodiment, an axial motion transducer (144) may be provided to measure the axial motion of the elongate body (132) as it is advanced and withdrawn. The Bragg fiber techniques of the present invention presents an alternative or additional means of position determination for this endoscope (132). As shown inFIG. 10A , a Bragg fiber sensor (16) extends from the distal end (134) of the elongate body (132) for a NeoGuide steerable endoscope (130) to the proximal end (136) and to a position determination module (140). The position determination module analyzes the data and may be configured to calculate the position of the distal tip (134) of the endoscope (130), various points along the elongate body (132), or even every point along the entire length of the endoscope (130). Because a steerable endoscope may take a tortuous route as it travels through the body, it is highly desirable to know the exact position of a portion of, or the entire, length of the endoscopic instrument, particularly if the elongate body takes many turns or circles about itself. -
FIG. 10B illustrates a cross-sectional side view of a patient's head with a variation of a NeoGuide steerable endoscope (130) having a Bragg fiber sensor (16) disposed therethrough.FIG. 10C illustrates a cross-sectional anterior view of a heart (150) with a NeoGuide endoscopic device (130) having a Bragg fiber sensor (16) introduced via the superior vena cava and advanced to the right atrium. -
FIGS. 10D-10F show examples of treating atrial fibrillation using an endoscopic device (130) that includes a Bragg fiber sensor (16). As shown inFIG. 10D , the distal portion (134) of endoscopic device (130) is advanced into the chest cavity through a port (152). The location and orientation of the portions of interest of the endoscopic device (130) are determined using the data received from the Bragg fiber sensor (16). Turning toFIGS. 10E and 10F , the distal portion (134) is advanced proximal the location(s) of the heart to be given treatment in order to treat the atrial fibrillation. -
FIG. 10G illustrates another embodiment of an endoscope (130), in this case having a guide tube (154) wherein the endoscope (130) is slidably insertable within the lumen of a guide tube (154). In addition, the endoscope (130) is provided with an end effector (100). In this embodiment, the endoscope (130) and guide tube (154) have separate Bragg fiber sensors (16) such that the position of the endoscope (130) and guide tube (154) may be separately determined. -
FIG. 10H illustrates a colonoscopy procedure wherein a NeoGuide steerable endoscope (130) with a Bragg sensor fiber (16) is advanced through a colon. The endoscope (130) may also include a guide tube (154), and separate Bragg fiber sensors (16) on the endoscope (130) and guide tube (154). - In the descriptions of the various embodiments of surgical systems equipped with one or more Bragg fiber sensors (also referred to as Bragg grating fibers) and associated position sensing instrumentation, the Bragg fiber sensor has been described as being disposed on, coupled to or located on a robotic arm, instrument, catheter, and/or tool. In addition, it is contemplated that in some embodiments, the Bragg fiber or fiber bundles may be mounted to or installed on the exterior surface or housing of the robotic instrument. For example, one or more Bragg grating fibers may be routed on the external housing of a robotic arm of the Intuitive Surgical da Vinci system, the Mako system, or the Accuray system. Similarly, one or more Bragg fibers may be fastened on the outer surface of the instrument of the Intuitive Surgical, Stereotaxis, or NeoGuide system or apparatus. Furthermore, a Bragg fiber may be attached to a tool instrument or end-effector which may be operably coupled with the distal end of an instrument.
- It is further contemplated that in alternative embodiments, the Bragg fiber sensors may be installed within or integrated into the robotic instrument itself. For example, one or more Bragg fiber sensors may be routed internally to the robotic arm of the Intuitive Surgical da Vinci system, the Mako system, or the Accuray system. Similarly, one or more Bragg fiber sensors may be located within the catheter instrument of the Intuitive Surgical catheter, Stereotaxis catheter, or NeoGuide catheter. Furthermore, a Bragg fiber may be built into a tool instrument or end-effector at the distal end of a catheter instrument. Accordingly, as used herein, the term “disposed on” shall include without limitation all of these described methods of providing the described structure with a fiber sensor, and shall not be limited to any particular mounting method or location relative to the structure.
- In the descriptions above, it has also been disclosed that position data sensing/analysis logic system (referred to generically as the “position determining system” or “sensor module”) may be located either separated from the robotic system or alternatively on the robotic system itself. In some embodiments, the position determining system may be integrated with the control system of the Intuitive Surgical/Mako/Accuray/NeoGuide/Stereotaxis surgical system. In other embodiments, the position determining system may be stand-alone or part of another computer system. Because of these different implementations, data communication between the Bragg fiber sensors, the position determining system, and/or the control system for the robotic device may be accomplished in a variety of ways. In the embodiments described above, the communication may be conducted via physical cables, wireless transmissions, infrared, optically, or other suitable means. Although the examples described herein are in the context of one Bragg fiber sensor or fiber bundle for clarity, it is contemplated that a plurality of optical fibers or fiber bundles may be deployed on each robotic arm, catheter, or tool device, thus providing additional position data and redundancy if so desired.
- While multiple embodiments and variations of the invention have been disclosed and described herein, such disclosure is provided for purposes of illustration and not limitation. It will be apparent to those skilled in the art that many combinations and permutations of the disclosed embodiments are possible, for example, depending upon the medical application. Thus, the invention is to be limited only by the appended claims and their equivalents.
Claims (15)
1. A positionable medical instrument assembly, comprising:
a first member;
a second member coupled to the first member by a movable joint; and
a Bragg sensor optical fiber 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 sensor optical fiber,
the Bragg sensor optical fiber having a proximal end operatively coupled to a controller configured to receive signals from respective Bragg gratings on a fiber core of the Bragg sensor optical fiber 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.
2. The instrument assembly of claim 1 , wherein the movable joint allows for pivotal motion of the second member relative to the first member in a single plane, and wherein the determined relative position of the first and second members about the movable joint comprises an angular displacement of the second member relative to the first member.
3. The instrument assembly of claim 1 , wherein the movable joint allows for movement of the second member relative to the first member in at least three degrees of freedom.
4. The instrument assembly of claim 1 , wherein the assembly comprises a robotic instrument driver configured to maneuver an elongate medical instrument movably coupled to the second member.
5. A positionable medical instrument assembly, comprising:
a plurality of positionable members, including a first member coupled to a second member by a first movable joint, and a third member coupled to the second member by a second movable joint; and
one or more Bragg sensor optical fibers, each coupled to at least two of the first, second and third members such that relative movement of the first and second members about the first movable joint causes a corresponding bending of at least one Bragg sensor optical fiber, and a relative movement of the second and third members about the second movable joint causes a corresponding bending of a same or different at least one Bragg sensor optical fiber, each of the one or more Bragg sensor optical fibers having a proximal end operatively coupled to a controller configured to receive signals therefrom indicative of a bending of one or more portions thereof, the controller configured to analyze the signals to determine a relative position of the first, second and third members about the respective first and second movable joints.
6. The instrument assembly of claim 5 , wherein the first movable joint allows for movement of the second member relative to the first member in at least three degrees of freedom, and wherein the second movable joint allows for movement of the third member relative to the second member in at least three degrees of freedom.
7. The instrument assembly of claim 6 , the one or more Bragg sensor optical fibers including a first Bragg sensor optical fiber coupled to the first, second and third members, such that relative movement of the first and second members about the first movable joint, and relative movement of the second and third members about the second movable joint causes a bending of at least first and second respective portions of the first Bragg sensor optical fiber, and wherein the controller is configured to analyze signals received from the first Bragg sensor optical fiber to determine a relative position of the first, second and third members about the respective first and second movable joints.
8. The instrument assembly of claim 6 , the one or more Bragg sensor optical fibers including
a first Bragg sensor optical fiber coupled to the first and second members, such that relative movement of the first and second members about the first movable joint causes a bending of at least a portion of the first Bragg sensor optical fiber, and
a second Bragg sensor optical fiber coupled to the second and third members, such that relative movement of the second and third members about the second movable joint causes a bending of at least a portion of the second Bragg sensor optical fiber,
wherein the controller is configured to analyze respective signals received from the first and second Bragg sensor optical fibers to determine a relative position of the first, second and third members about the respective first and second movable joints.
9. The instrument assembly of claim 5 , further comprising an elongate medical instrument movably coupled to the second member.
10. A positionable medical instrument assembly, comprising:
a first member;
a second member coupled to the first member by a movable joint; and
a plurality of Bragg sensor optical fibers 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 each of the Bragg sensor optical fibers,
the Bragg sensor optical fibers having respective proximal ends operatively coupled to a controller configured to receive signals from respective Bragg gratings located on the Bragg sensor optical fibers and indicative of a respective bending thereof, the controller configured to analyze the signals to determine a relative position of the first and second members about the movable joint.
11. The instrument assembly of claim 10 , wherein the movable joint allows for pivotal motion of the second member relative to the first member in a single plane, and wherein the determined relative position of the first and second members about the movable joint comprises an angular displacement of the second member relative to the first member.
12. The instrument assembly of claim 10 , wherein the movable joint allows for movement of the second member relative to the first member in at least three degrees of freedom.
13. The instrument assembly of claim 10 , wherein the assembly comprises a robotic instrument driver configured to maneuver an elongate medical instrument movably coupled to the second member.
14. A medical instrument system, comprising:
an instrument driver;
a sterile barrier;
an elongate flexible instrument body operatively coupled to the instrument driver through the sterile barrier;
a Bragg sensor optical fiber coupled to the elongate instrument body, such that relative bending of the instrument body causes a corresponding bending of at least a portion of the Bragg sensor optical fiber, the Bragg sensor optical fiber having a proximal end operatively coupled to a position sensor controller located on a sterile field side of the sterile barrier and configured to receive signals from respective Bragg gratings located on at least one fiber core of the Bragg sensor optical fiber and indicative of a bending thereof, the sensor controller configured to analyze the signals to determine a relative position of the instrument.
15. The medical instrument system of claim 14 , wherein the position sensor controller transmits wireless signals to an instrument driver controller located outside the sterile field to communicate to the instrument driver a relative position of the instrument.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/012,795 US20080218770A1 (en) | 2007-02-02 | 2008-02-01 | Robotic surgical instrument and methods using bragg fiber sensors |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US89904807P | 2007-02-02 | 2007-02-02 | |
US90058407P | 2007-02-08 | 2007-02-08 | |
US12/012,795 US20080218770A1 (en) | 2007-02-02 | 2008-02-01 | Robotic surgical instrument and methods using bragg fiber sensors |
Publications (1)
Publication Number | Publication Date |
---|---|
US20080218770A1 true US20080218770A1 (en) | 2008-09-11 |
Family
ID=39661452
Family Applications (7)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/024,883 Expired - Fee Related US8146874B2 (en) | 2007-02-02 | 2008-02-01 | Mounting support assembly for suspending a medical instrument driver above an operating table |
US12/024,760 Abandoned US20090036900A1 (en) | 2007-02-02 | 2008-02-01 | Surgery methods using a robotic instrument system |
US12/012,795 Abandoned US20080218770A1 (en) | 2007-02-02 | 2008-02-01 | Robotic surgical instrument and methods using bragg fiber sensors |
US12/024,642 Abandoned US20080195081A1 (en) | 2007-02-02 | 2008-02-01 | Spinal surgery methods using a robotic instrument system |
US13/437,716 Abandoned US20120241576A1 (en) | 2007-02-02 | 2012-04-02 | Mounting support assembly for suspending a medical instrument driver above an operating table |
US13/486,934 Abandoned US20120253332A1 (en) | 2007-02-02 | 2012-06-01 | Surgery methods using a robotic instrument system |
US13/910,903 Active 2030-06-05 US9566201B2 (en) | 2007-02-02 | 2013-06-05 | Mounting support assembly for suspending a medical instrument driver above an operating table |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/024,883 Expired - Fee Related US8146874B2 (en) | 2007-02-02 | 2008-02-01 | Mounting support assembly for suspending a medical instrument driver above an operating table |
US12/024,760 Abandoned US20090036900A1 (en) | 2007-02-02 | 2008-02-01 | Surgery methods using a robotic instrument system |
Family Applications After (4)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/024,642 Abandoned US20080195081A1 (en) | 2007-02-02 | 2008-02-01 | Spinal surgery methods using a robotic instrument system |
US13/437,716 Abandoned US20120241576A1 (en) | 2007-02-02 | 2012-04-02 | Mounting support assembly for suspending a medical instrument driver above an operating table |
US13/486,934 Abandoned US20120253332A1 (en) | 2007-02-02 | 2012-06-01 | Surgery methods using a robotic instrument system |
US13/910,903 Active 2030-06-05 US9566201B2 (en) | 2007-02-02 | 2013-06-05 | Mounting support assembly for suspending a medical instrument driver above an operating table |
Country Status (2)
Country | Link |
---|---|
US (7) | US8146874B2 (en) |
WO (2) | WO2008097853A2 (en) |
Cited By (116)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060253108A1 (en) * | 2005-05-03 | 2006-11-09 | Yu Alan L | Support assembly for robotic catheter system |
US20070065077A1 (en) * | 2004-07-16 | 2007-03-22 | Luna Innovations Incorporated | Fiber Optic Position and Shape Sensing Device and Method Relating Thereto |
US20070265503A1 (en) * | 2006-03-22 | 2007-11-15 | Hansen Medical, Inc. | Fiber optic instrument sensing system |
US20090137952A1 (en) * | 2007-08-14 | 2009-05-28 | Ramamurthy Bhaskar S | Robotic instrument systems and methods utilizing optical fiber sensor |
US20090209978A1 (en) * | 2008-02-14 | 2009-08-20 | Donald Douglas Nelson | Systems and Methods For Real-Time Winding Analysis For Knot Detection |
US20090228020A1 (en) * | 2008-03-06 | 2009-09-10 | Hansen Medical, Inc. | In-situ graft fenestration |
US20090234444A1 (en) * | 2008-03-12 | 2009-09-17 | Michael Maschke | Method and apparatus for conducting an interventional procedure involving heart valves using a robot-based x-ray device |
US20090254083A1 (en) * | 2008-03-10 | 2009-10-08 | Hansen Medical, Inc. | Robotic ablation catheter |
US20090314925A1 (en) * | 2008-06-18 | 2009-12-24 | Mako Surgical Corp. | Fiber optic tracking system and method for tracking |
US20090324160A1 (en) * | 2008-06-30 | 2009-12-31 | Intuitive Surgical, Inc. | Fixture for shape-sensing optical fiber in a kinematic chain |
US20090324161A1 (en) * | 2008-06-30 | 2009-12-31 | Intuitive Surgical, Inc. | Fiber optic shape sensor |
US20100048998A1 (en) * | 2008-08-01 | 2010-02-25 | Hansen Medical, Inc. | Auxiliary cavity localization |
WO2010111090A1 (en) | 2009-03-26 | 2010-09-30 | Intuitive Surgical Operations, Inc. | System for providing visual guidance for steering a tip of an endoscopic device towards one or more landmarks and assisting an operator in endoscopic navigation |
US20110172680A1 (en) * | 2007-04-20 | 2011-07-14 | Koninklijke Philips Electronics N.V. | Optical fiber shape sensing systems |
US20110202069A1 (en) * | 2010-02-12 | 2011-08-18 | Prisco Giuseppe M | Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor |
WO2011100110A1 (en) | 2010-02-11 | 2011-08-18 | Intuitive Surgical Operations, Inc. | Method and system for automatically maintaining an operator selected roll orientation at a distal tip of a robotic endoscope |
US20110319910A1 (en) * | 2007-08-14 | 2011-12-29 | Hansen Medical, Inc. | Methods and devices for controlling a shapeable instrument |
US20120065470A1 (en) * | 2010-09-14 | 2012-03-15 | The Johns Hopkins University | Robotic system to augment endoscopes |
WO2012037506A2 (en) | 2010-09-17 | 2012-03-22 | Hansen Medical, Inc. | Robotically controlled steerable catheters |
US20120078053A1 (en) * | 2009-05-29 | 2012-03-29 | Soo Jay Louis Phee | Robotic system for flexible endoscopy |
US20120220879A1 (en) * | 2011-02-24 | 2012-08-30 | Vascomed Gmbh | Catheter and Catheter Arrangement |
US20120229291A1 (en) * | 2010-03-10 | 2012-09-13 | Kenneth Mikalsen | Method and Device for Securing Operation of Automatic or Autonomous Equipment |
US20120289783A1 (en) * | 2011-05-13 | 2012-11-15 | Intuitive Surgical Operations, Inc. | Medical system with multiple operating modes for steering a medical instrument through linked body passages |
WO2012158324A2 (en) | 2011-05-13 | 2012-11-22 | Intuitive Surgical Operations, Inc. | Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery |
US8337397B2 (en) | 2009-03-26 | 2012-12-25 | Intuitive Surgical Operations, Inc. | Method and system for providing visual guidance to an operator for steering a tip of an endoscopic device toward one or more landmarks in a patient |
US20130028554A1 (en) * | 2011-07-29 | 2013-01-31 | Hansen Medical, Inc. | Apparatus and methods for fiber integration and registration |
US8460236B2 (en) | 2010-06-24 | 2013-06-11 | Hansen Medical, Inc. | Fiber optic instrument sensing system |
US8663122B2 (en) | 2005-01-26 | 2014-03-04 | Stuart Schecter LLC | Cardiovascular haptic handle system |
US8672837B2 (en) | 2010-06-24 | 2014-03-18 | Hansen Medical, Inc. | Methods and devices for controlling a shapeable medical device |
WO2014058838A1 (en) | 2012-10-12 | 2014-04-17 | Intuitive Surgical Operations, Inc. | Determining position of medical device in branched anatomical structure |
US8780339B2 (en) | 2009-07-15 | 2014-07-15 | Koninklijke Philips N.V. | Fiber shape sensing systems and methods |
CN103957772A (en) * | 2011-10-20 | 2014-07-30 | 皇家飞利浦有限公司 | Shape sensing assisted medical procedure |
US8942828B1 (en) | 2011-04-13 | 2015-01-27 | Stuart Schecter, LLC | Minimally invasive cardiovascular support system with true haptic coupling |
US8989528B2 (en) | 2006-02-22 | 2015-03-24 | Hansen Medical, Inc. | Optical fiber grating sensors and methods of manufacture |
US20150157191A1 (en) * | 2011-11-28 | 2015-06-11 | Soo Jay Louis Phee | Robotic system for flexible endoscopy |
US20150230869A1 (en) * | 2014-02-18 | 2015-08-20 | Samsung Electronics Co., Ltd. | Master devices for surgical robots and control methods thereof |
US20150297404A1 (en) * | 2014-04-18 | 2015-10-22 | The Johns Hopkins University | Fiber optic distal sensor controlled micro-manipulation systems and methods |
US9259155B2 (en) | 2011-08-16 | 2016-02-16 | Koninklijke Philips N.V. | Method to estimate interfractional and intrafractional organ motion for adaptive external beam radiotherapy |
US20160097658A1 (en) * | 2014-10-06 | 2016-04-07 | Caterpillar Inc. | Fiber optic implement position determination system |
US20160120612A1 (en) * | 2013-07-12 | 2016-05-05 | Olympus Corporation | Surgical robot |
US9358076B2 (en) | 2011-01-20 | 2016-06-07 | Hansen Medical, Inc. | System and method for endoluminal and translumenal therapy |
US9532840B2 (en) | 2013-03-08 | 2017-01-03 | Hansen Medical, Inc. | Slider control of catheters and wires |
US9566201B2 (en) | 2007-02-02 | 2017-02-14 | Hansen Medical, Inc. | Mounting support assembly for suspending a medical instrument driver above an operating table |
US9710921B2 (en) | 2013-03-15 | 2017-07-18 | Hansen Medical, Inc. | System and methods for tracking robotically controlled medical instruments |
US9844353B2 (en) | 2013-03-13 | 2017-12-19 | Hansen Medical, Inc. | Reducing incremental measurement sensor error |
US20180078440A1 (en) * | 2016-09-16 | 2018-03-22 | Verb Surgical Inc. | Linkage mechanisms for mounting robotic arms to a surgical table |
WO2018052796A1 (en) * | 2016-09-19 | 2018-03-22 | Intuitive Surgical Operations, Inc. | Positioning indicator system for a remotely controllable arm and related methods |
WO2018057633A1 (en) * | 2016-09-21 | 2018-03-29 | Intuitive Surgical Operations, Inc. | Systems and methods for instrument buckling detection |
US10004387B2 (en) | 2009-03-26 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Method and system for assisting an operator in endoscopic navigation |
US10013082B2 (en) | 2012-06-05 | 2018-07-03 | Stuart Schecter, LLC | Operating system with haptic interface for minimally invasive, hand-held surgical instrument |
US10022192B1 (en) | 2017-06-23 | 2018-07-17 | Auris Health, Inc. | Automatically-initialized robotic systems for navigation of luminal networks |
US10045882B2 (en) | 2009-10-30 | 2018-08-14 | The Johns Hopkins University | Surgical instrument and systems with integrated optical sensor |
US10080576B2 (en) | 2013-03-08 | 2018-09-25 | Auris Health, Inc. | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
US10149720B2 (en) | 2013-03-08 | 2018-12-11 | Auris Health, Inc. | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
US10159533B2 (en) | 2014-07-01 | 2018-12-25 | Auris Health, Inc. | Surgical system with configurable rail-mounted mechanical arms |
US10169875B2 (en) | 2015-09-18 | 2019-01-01 | Auris Health, Inc. | Navigation of tubular networks |
US10349986B2 (en) | 2017-04-20 | 2019-07-16 | Warsaw Orthopedic, Inc. | Spinal implant system and method |
US10357324B2 (en) | 2015-02-20 | 2019-07-23 | Stryker Corporation | Sterile barrier assembly, mounting system, and method for coupling surgical components |
US10363103B2 (en) | 2009-04-29 | 2019-07-30 | Auris Health, Inc. | Flexible and steerable elongate instruments with shape control and support elements |
US10368951B2 (en) | 2005-03-04 | 2019-08-06 | Auris Health, Inc. | Robotic catheter system and methods |
US10376672B2 (en) | 2013-03-15 | 2019-08-13 | Auris Health, Inc. | Catheter insertion system and method of fabrication |
US10398518B2 (en) | 2014-07-01 | 2019-09-03 | Auris Health, Inc. | Articulating flexible endoscopic tool with roll capabilities |
US10405939B2 (en) | 2013-10-24 | 2019-09-10 | Auris Health, Inc. | Endoscopic device with helical lumen design |
EP3552540A1 (en) | 2018-04-10 | 2019-10-16 | Biosense Webster (Israel) Ltd. | Catheter localization using fiber optic shape sensing combined with current location |
US10463439B2 (en) | 2016-08-26 | 2019-11-05 | Auris Health, Inc. | Steerable catheter with shaft load distributions |
US10493241B2 (en) | 2014-07-01 | 2019-12-03 | Auris Health, Inc. | Apparatuses and methods for monitoring tendons of steerable catheters |
US10500001B2 (en) | 2015-05-15 | 2019-12-10 | Auris Health, Inc. | Surgical robotics system |
US10524866B2 (en) | 2018-03-28 | 2020-01-07 | Auris Health, Inc. | Systems and methods for registration of location sensors |
US20200030040A1 (en) * | 2017-01-18 | 2020-01-30 | KB Medical SA | Robotic navigation of robotic surgical systems |
US10555778B2 (en) | 2017-10-13 | 2020-02-11 | Auris Health, Inc. | Image-based branch detection and mapping for navigation |
US20200100848A1 (en) * | 2014-11-21 | 2020-04-02 | Think Surgical, Inc. | Visible light communication system for transmitting data between visual tracking systems and tracking markers |
US10667871B2 (en) | 2014-09-30 | 2020-06-02 | Auris Health, Inc. | Configurable robotic surgical system with virtual rail and flexible endoscope |
US10702348B2 (en) | 2015-04-09 | 2020-07-07 | Auris Health, Inc. | Surgical system with configurable rail-mounted mechanical arms |
US10716461B2 (en) | 2017-05-17 | 2020-07-21 | Auris Health, Inc. | Exchangeable working channel |
US10792464B2 (en) | 2014-07-01 | 2020-10-06 | Auris Health, Inc. | Tool and method for using surgical endoscope with spiral lumens |
US10806535B2 (en) | 2015-11-30 | 2020-10-20 | Auris Health, Inc. | Robot-assisted driving systems and methods |
US10827913B2 (en) | 2018-03-28 | 2020-11-10 | Auris Health, Inc. | Systems and methods for displaying estimated location of instrument |
US10874468B2 (en) | 2004-03-05 | 2020-12-29 | Auris Health, Inc. | Robotic catheter system |
US10898276B2 (en) | 2018-08-07 | 2021-01-26 | Auris Health, Inc. | Combining strain-based shape sensing with catheter control |
US10898275B2 (en) | 2018-05-31 | 2021-01-26 | Auris Health, Inc. | Image-based airway analysis and mapping |
US10898286B2 (en) | 2018-05-31 | 2021-01-26 | Auris Health, Inc. | Path-based navigation of tubular networks |
US10905499B2 (en) | 2018-05-30 | 2021-02-02 | Auris Health, Inc. | Systems and methods for location sensor-based branch prediction |
US11020016B2 (en) | 2013-05-30 | 2021-06-01 | Auris Health, Inc. | System and method for displaying anatomy and devices on a movable display |
US11058493B2 (en) | 2017-10-13 | 2021-07-13 | Auris Health, Inc. | Robotic system configured for navigation path tracing |
US11096754B2 (en) | 2017-10-04 | 2021-08-24 | Mako Surgical Corp. | Sterile drape assembly for surgical robot |
US20210268235A1 (en) * | 2015-01-12 | 2021-09-02 | Intuitive Surgical Operations, Inc. | Devices, systems, and methods for anchoring actuation wires to a steerable instrument |
US11109920B2 (en) | 2018-03-28 | 2021-09-07 | Auris Health, Inc. | Medical instruments with variable bending stiffness profiles |
US11147637B2 (en) | 2012-05-25 | 2021-10-19 | Auris Health, Inc. | Low friction instrument driver interface for robotic systems |
US11147633B2 (en) | 2019-08-30 | 2021-10-19 | Auris Health, Inc. | Instrument image reliability systems and methods |
US11160615B2 (en) | 2017-12-18 | 2021-11-02 | Auris Health, Inc. | Methods and systems for instrument tracking and navigation within luminal networks |
US11179212B2 (en) | 2018-09-26 | 2021-11-23 | Auris Health, Inc. | Articulating medical instruments |
US11185455B2 (en) | 2016-09-16 | 2021-11-30 | Verb Surgical Inc. | Table adapters for mounting robotic arms to a surgical table |
US11207141B2 (en) | 2019-08-30 | 2021-12-28 | Auris Health, Inc. | Systems and methods for weight-based registration of location sensors |
US11298195B2 (en) | 2019-12-31 | 2022-04-12 | Auris Health, Inc. | Anatomical feature identification and targeting |
US11324558B2 (en) | 2019-09-03 | 2022-05-10 | Auris Health, Inc. | Electromagnetic distortion detection and compensation |
US11389250B2 (en) * | 2017-12-29 | 2022-07-19 | Erhan Ilhan Konukseven | Position detection system by fiber Bragg grating based optical sensors in surgical fields |
US11395703B2 (en) | 2017-06-28 | 2022-07-26 | Auris Health, Inc. | Electromagnetic distortion detection |
US11426095B2 (en) | 2013-03-15 | 2022-08-30 | Auris Health, Inc. | Flexible instrument localization from both remote and elongation sensors |
US11490782B2 (en) | 2017-03-31 | 2022-11-08 | Auris Health, Inc. | Robotic systems for navigation of luminal networks that compensate for physiological noise |
US11504187B2 (en) | 2013-03-15 | 2022-11-22 | Auris Health, Inc. | Systems and methods for localizing, tracking and/or controlling medical instruments |
US11503986B2 (en) | 2018-05-31 | 2022-11-22 | Auris Health, Inc. | Robotic systems and methods for navigation of luminal network that detect physiological noise |
US11510736B2 (en) | 2017-12-14 | 2022-11-29 | Auris Health, Inc. | System and method for estimating instrument location |
US11583204B2 (en) * | 2012-02-03 | 2023-02-21 | Intuitive Surgical Operations, Inc. | Steerable flexible needle with embedded shape sensing |
US11602372B2 (en) | 2019-12-31 | 2023-03-14 | Auris Health, Inc. | Alignment interfaces for percutaneous access |
US11617627B2 (en) | 2019-03-29 | 2023-04-04 | Auris Health, Inc. | Systems and methods for optical strain sensing in medical instruments |
US11660147B2 (en) | 2019-12-31 | 2023-05-30 | Auris Health, Inc. | Alignment techniques for percutaneous access |
US11717147B2 (en) | 2019-08-15 | 2023-08-08 | Auris Health, Inc. | Medical device having multiple bending sections |
US11744670B2 (en) | 2018-01-17 | 2023-09-05 | Auris Health, Inc. | Surgical platform with adjustable arm supports |
US11771309B2 (en) | 2016-12-28 | 2023-10-03 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
US11806096B2 (en) | 2018-12-04 | 2023-11-07 | Mako Surgical Corp. | Mounting system with sterile barrier assembly for use in coupling surgical components |
US11819636B2 (en) | 2015-03-30 | 2023-11-21 | Auris Health, Inc. | Endoscope pull wire electrical circuit |
EP4064955A4 (en) * | 2019-11-26 | 2023-11-22 | Arizona Board of Regents on behalf of Arizona State University | System and method for determining position of a steerable assembly within tissue of an animal body |
US11832889B2 (en) | 2017-06-28 | 2023-12-05 | Auris Health, Inc. | Electromagnetic field generator alignment |
US11950872B2 (en) | 2019-12-31 | 2024-04-09 | Auris Health, Inc. | Dynamic pulley system |
US11963798B2 (en) | 2019-11-14 | 2024-04-23 | Medtronic, Inc. | Optical force sensor with a catheter/sheath |
US11986257B2 (en) | 2018-12-28 | 2024-05-21 | Auris Health, Inc. | Medical instrument with articulable segment |
Families Citing this family (208)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007008967A2 (en) | 2005-07-11 | 2007-01-18 | Cardiac Inventions Unlimited, Inc. | Remotely controlled catheter insertion system |
US8219178B2 (en) | 2007-02-16 | 2012-07-10 | Catholic Healthcare West | Method and system for performing invasive medical procedures using a surgical robot |
US10357184B2 (en) | 2012-06-21 | 2019-07-23 | Globus Medical, Inc. | Surgical tool systems and method |
US10893912B2 (en) | 2006-02-16 | 2021-01-19 | Globus Medical Inc. | Surgical tool systems and methods |
US10653497B2 (en) | 2006-02-16 | 2020-05-19 | Globus Medical, Inc. | Surgical tool systems and methods |
US9232959B2 (en) | 2007-01-02 | 2016-01-12 | Aquabeam, Llc | Multi fluid tissue resection methods and devices |
EP2214575A2 (en) * | 2007-11-29 | 2010-08-11 | SurgiQuest, Incorporated | Surgical instruments with improved dexterity for use in minimally invasive surgical procedures |
US9126023B1 (en) * | 2007-12-14 | 2015-09-08 | Gmedelaware 2 Llc | Balloon expandable cement director and related methods |
CN101918073B (en) | 2008-01-16 | 2014-06-18 | 导管机器人技术公司 | Remotely controlled catheter insertion system |
ES2769535T3 (en) | 2008-03-06 | 2020-06-26 | Aquabeam Llc | Tissue ablation and cauterization with optical energy carried in a fluid stream |
GB0811971D0 (en) | 2008-06-30 | 2008-07-30 | Oliver Crispin Robotics Ltd | Robotic arm |
WO2011010229A2 (en) * | 2009-07-20 | 2011-01-27 | The Adelman Research Ltd | Surgical device |
US8377013B2 (en) * | 2009-08-05 | 2013-02-19 | The University Of Toledo | Needle for directional control of the injection of bone cement into a vertebral compression fracture |
US8992542B2 (en) * | 2009-10-01 | 2015-03-31 | Mako Surgical Corp. | Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool |
US9220554B2 (en) | 2010-02-18 | 2015-12-29 | Globus Medical, Inc. | Methods and apparatus for treating vertebral fractures |
EP2624780B1 (en) | 2010-10-08 | 2024-02-14 | Koninklijke Philips N.V. | Flexible tether with integrated sensors for dynamic instrument tracking |
WO2012059867A1 (en) * | 2010-11-05 | 2012-05-10 | Koninklijke Philips Electronics N.V. | Imaging apparatus for imaging an object |
US20120190970A1 (en) | 2010-11-10 | 2012-07-26 | Gnanasekar Velusamy | Apparatus and method for stabilizing a needle |
US9486189B2 (en) | 2010-12-02 | 2016-11-08 | Hitachi Aloka Medical, Ltd. | Assembly for use with surgery system |
WO2012101563A2 (en) * | 2011-01-27 | 2012-08-02 | Koninklijke Philips Electronics N.V. | Integration of fiber optic shape sensing within an nterventional environment |
WO2012131660A1 (en) * | 2011-04-01 | 2012-10-04 | Ecole Polytechnique Federale De Lausanne (Epfl) | Robotic system for spinal and other surgeries |
WO2012131658A1 (en) * | 2011-04-01 | 2012-10-04 | Ecole Polytechnique Federale De Lausanne (Epfl) | Small active medical robot and passive holding structure |
KR101782352B1 (en) | 2011-04-25 | 2017-09-29 | 한국기술교육대학교 산학협력단 | Apparatus For Measuring Operating Cable Force which applied to the Robot Manipulator Using Fiber Bragg Grating Sensor And Romote Operating Apparatus for Robot Mnipulator thereof |
US9393001B2 (en) * | 2011-07-29 | 2016-07-19 | Olympus Corporation | Operation method of endoscope |
ITFI20110186A1 (en) * | 2011-08-26 | 2013-02-27 | Scuola Superiore Di Studi Universit Arie Di Perfe | ROBOTIC DEVICE FOR NEURAL INTERFACE PLANT IN THE PERIPHERAL NERVOUS SYSTEM |
US9622779B2 (en) | 2011-10-27 | 2017-04-18 | DePuy Synthes Products, Inc. | Method and devices for a sub-splenius / supra-levator scapulae surgical access technique |
US8652031B2 (en) | 2011-12-29 | 2014-02-18 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Remote guidance system for medical devices for use in environments having electromagnetic interference |
US9956042B2 (en) | 2012-01-13 | 2018-05-01 | Vanderbilt University | Systems and methods for robot-assisted transurethral exploration and intervention |
ES2687817T3 (en) | 2012-02-29 | 2018-10-29 | Procept Biorobotics Corporation | Resection and treatment of automated image guided tissue |
US9539726B2 (en) * | 2012-04-20 | 2017-01-10 | Vanderbilt University | Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots |
WO2013158974A1 (en) | 2012-04-20 | 2013-10-24 | Vanderbilt University | Dexterous wrists for surgical intervention |
WO2013158983A1 (en) | 2012-04-20 | 2013-10-24 | Vanderbilt University | Robotic device for establishing access channel |
CA3078098C (en) | 2012-06-12 | 2022-03-15 | Alcon Inc. | Intraocular gas injector |
US10758315B2 (en) | 2012-06-21 | 2020-09-01 | Globus Medical Inc. | Method and system for improving 2D-3D registration convergence |
US11253327B2 (en) | 2012-06-21 | 2022-02-22 | Globus Medical, Inc. | Systems and methods for automatically changing an end-effector on a surgical robot |
US11395706B2 (en) | 2012-06-21 | 2022-07-26 | Globus Medical Inc. | Surgical robot platform |
US11974822B2 (en) | 2012-06-21 | 2024-05-07 | Globus Medical Inc. | Method for a surveillance marker in robotic-assisted surgery |
US11857266B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | System for a surveillance marker in robotic-assisted surgery |
US12004905B2 (en) | 2012-06-21 | 2024-06-11 | Globus Medical, Inc. | Medical imaging systems using robotic actuators and related methods |
US10624710B2 (en) | 2012-06-21 | 2020-04-21 | Globus Medical, Inc. | System and method for measuring depth of instrumentation |
US11045267B2 (en) | 2012-06-21 | 2021-06-29 | Globus Medical, Inc. | Surgical robotic automation with tracking markers |
US10350013B2 (en) | 2012-06-21 | 2019-07-16 | Globus Medical, Inc. | Surgical tool systems and methods |
US10231791B2 (en) | 2012-06-21 | 2019-03-19 | Globus Medical, Inc. | Infrared signal based position recognition system for use with a robot-assisted surgery |
US10136954B2 (en) | 2012-06-21 | 2018-11-27 | Globus Medical, Inc. | Surgical tool systems and method |
US11864839B2 (en) | 2012-06-21 | 2024-01-09 | Globus Medical Inc. | Methods of adjusting a virtual implant and related surgical navigation systems |
US11607149B2 (en) | 2012-06-21 | 2023-03-21 | Globus Medical Inc. | Surgical tool systems and method |
EP2863827B1 (en) | 2012-06-21 | 2022-11-16 | Globus Medical, Inc. | Surgical robot platform |
US11793570B2 (en) | 2012-06-21 | 2023-10-24 | Globus Medical Inc. | Surgical robotic automation with tracking markers |
US11116576B2 (en) | 2012-06-21 | 2021-09-14 | Globus Medical Inc. | Dynamic reference arrays and methods of use |
US11298196B2 (en) | 2012-06-21 | 2022-04-12 | Globus Medical Inc. | Surgical robotic automation with tracking markers and controlled tool advancement |
US11864745B2 (en) | 2012-06-21 | 2024-01-09 | Globus Medical, Inc. | Surgical robotic system with retractor |
US11399900B2 (en) | 2012-06-21 | 2022-08-02 | Globus Medical, Inc. | Robotic systems providing co-registration using natural fiducials and related methods |
US11317971B2 (en) | 2012-06-21 | 2022-05-03 | Globus Medical, Inc. | Systems and methods related to robotic guidance in surgery |
US11857149B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | Surgical robotic systems with target trajectory deviation monitoring and related methods |
RU2515850C1 (en) * | 2012-10-04 | 2014-05-20 | государственное бюджетное образовательное учреждение высшего профессионального образования "Омская государственная медицинская академия" Министерства здравоохранения Российской Федерации (ГБОУ ВПО ОмГМА Минздрава России) | Method for combined drainage of pleural cavity and intermuscular spaces accompanying spinal operations in children |
DE102012110193B4 (en) | 2012-10-25 | 2023-03-30 | Abb Schweiz Ag | Holding device for the detachable attachment of a robot |
US10231867B2 (en) | 2013-01-18 | 2019-03-19 | Auris Health, Inc. | Method, apparatus and system for a water jet |
US9533121B2 (en) | 2013-02-26 | 2017-01-03 | Catheter Precision, Inc. | Components and methods for accommodating guidewire catheters on a catheter controller system |
US9326822B2 (en) | 2013-03-14 | 2016-05-03 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US20140277334A1 (en) | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US20140276647A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Vascular remote catheter manipulator |
US9408669B2 (en) | 2013-03-15 | 2016-08-09 | Hansen Medical, Inc. | Active drive mechanism with finite range of motion |
US9452018B2 (en) | 2013-03-15 | 2016-09-27 | Hansen Medical, Inc. | Rotational support for an elongate member |
US10744035B2 (en) | 2013-06-11 | 2020-08-18 | Auris Health, Inc. | Methods for robotic assisted cataract surgery |
US10426661B2 (en) | 2013-08-13 | 2019-10-01 | Auris Health, Inc. | Method and apparatus for laser assisted cataract surgery |
US9993614B2 (en) | 2013-08-27 | 2018-06-12 | Catheter Precision, Inc. | Components for multiple axis control of a catheter in a catheter positioning system |
US9724493B2 (en) | 2013-08-27 | 2017-08-08 | Catheter Precision, Inc. | Components and methods for balancing a catheter controller system with a counterweight |
WO2015032625A1 (en) * | 2013-09-04 | 2015-03-12 | Koninklijke Philips N.V. | Robotic system |
US9750577B2 (en) | 2013-09-06 | 2017-09-05 | Catheter Precision, Inc. | Single hand operated remote controller for remote catheter positioning system |
US9999751B2 (en) | 2013-09-06 | 2018-06-19 | Catheter Precision, Inc. | Adjustable nose cone for a catheter positioning system |
US9700698B2 (en) | 2013-09-27 | 2017-07-11 | Catheter Precision, Inc. | Components and methods for a catheter positioning system with a spreader and track |
US9795764B2 (en) | 2013-09-27 | 2017-10-24 | Catheter Precision, Inc. | Remote catheter positioning system with hoop drive assembly |
US9283048B2 (en) | 2013-10-04 | 2016-03-15 | KB Medical SA | Apparatus and systems for precise guidance of surgical tools |
US10688284B2 (en) | 2013-11-22 | 2020-06-23 | Massachusetts Institute Of Technology | Steering techniques for surgical instruments |
US20150148838A1 (en) * | 2013-11-26 | 2015-05-28 | Novartis Ag | Systems and Methods for a Surgical Tissue Manipulator |
WO2015092581A1 (en) * | 2013-12-17 | 2015-06-25 | Koninklijke Philips N.V. | Shape sensed robotic ultrasound for minimally invasive interventions |
US9241771B2 (en) | 2014-01-15 | 2016-01-26 | KB Medical SA | Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery |
EP3104803B1 (en) | 2014-02-11 | 2021-09-15 | KB Medical SA | Sterile handle for controlling a robotic surgical system from a sterile field |
DE102014203921B4 (en) * | 2014-03-04 | 2017-11-09 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | management systems |
WO2015138317A1 (en) | 2014-03-10 | 2015-09-17 | Stryker Corporation | Limb positioning system |
US10004562B2 (en) | 2014-04-24 | 2018-06-26 | Globus Medical, Inc. | Surgical instrument holder for use with a robotic surgical system |
EP3157446B1 (en) | 2014-06-19 | 2018-08-15 | KB Medical SA | Systems for performing minimally invasive surgery |
WO2016008880A1 (en) | 2014-07-14 | 2016-01-21 | KB Medical SA | Anti-skid surgical instrument for use in preparing holes in bone tissue |
EP3197646A4 (en) * | 2014-09-23 | 2018-06-06 | Covidien LP | Surgical robotic arm support systems and methods of use |
SG10201708515PA (en) * | 2014-09-30 | 2017-11-29 | Massachusetts Inst Technology | Instruments for minimally invasive surgical procedures |
US10499999B2 (en) | 2014-10-09 | 2019-12-10 | Auris Health, Inc. | Systems and methods for aligning an elongate member with an access site |
JP6731920B2 (en) | 2014-12-02 | 2020-07-29 | カーベー メディカル エスアー | Robot-assisted volume removal during surgery |
US10013808B2 (en) | 2015-02-03 | 2018-07-03 | Globus Medical, Inc. | Surgeon head-mounted display apparatuses |
US10555782B2 (en) | 2015-02-18 | 2020-02-11 | Globus Medical, Inc. | Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique |
US9951904B2 (en) | 2015-03-24 | 2018-04-24 | Stryker Corporation | Rotatable seat clamps for rail clamp |
US20160287279A1 (en) | 2015-04-01 | 2016-10-06 | Auris Surgical Robotics, Inc. | Microsurgical tool for robotic applications |
USD787071S1 (en) * | 2015-06-25 | 2017-05-16 | General Electric Company | Integration management system for patient table |
US10646298B2 (en) | 2015-07-31 | 2020-05-12 | Globus Medical, Inc. | Robot arm and methods of use |
US10058394B2 (en) | 2015-07-31 | 2018-08-28 | Globus Medical, Inc. | Robot arm and methods of use |
US10080615B2 (en) | 2015-08-12 | 2018-09-25 | Globus Medical, Inc. | Devices and methods for temporary mounting of parts to bone |
US10687905B2 (en) | 2015-08-31 | 2020-06-23 | KB Medical SA | Robotic surgical systems and methods |
WO2017044884A1 (en) | 2015-09-09 | 2017-03-16 | Auris Surgical Robotics, Inc. | Instrument device manipulator for a surgical robotics system |
US10034716B2 (en) | 2015-09-14 | 2018-07-31 | Globus Medical, Inc. | Surgical robotic systems and methods thereof |
US9771092B2 (en) | 2015-10-13 | 2017-09-26 | Globus Medical, Inc. | Stabilizer wheel assembly and methods of use |
US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
US10231793B2 (en) | 2015-10-30 | 2019-03-19 | Auris Health, Inc. | Object removal through a percutaneous suction tube |
CN106859780B (en) * | 2015-12-11 | 2020-01-10 | 四川锦江电子科技有限公司 | Switching equipment fixing device |
US10932861B2 (en) | 2016-01-14 | 2021-03-02 | Auris Health, Inc. | Electromagnetic tracking surgical system and method of controlling the same |
USD792595S1 (en) * | 2016-01-25 | 2017-07-18 | Dongguan Weihong Hardware And Plastic Products Co., Ltd. | Automatic support for headrest |
US10932691B2 (en) | 2016-01-26 | 2021-03-02 | Auris Health, Inc. | Surgical tools having electromagnetic tracking components |
US11058378B2 (en) | 2016-02-03 | 2021-07-13 | Globus Medical, Inc. | Portable medical imaging system |
US10448910B2 (en) | 2016-02-03 | 2019-10-22 | Globus Medical, Inc. | Portable medical imaging system |
US11883217B2 (en) | 2016-02-03 | 2024-01-30 | Globus Medical, Inc. | Portable medical imaging system and method |
US10842453B2 (en) | 2016-02-03 | 2020-11-24 | Globus Medical, Inc. | Portable medical imaging system |
US10117632B2 (en) | 2016-02-03 | 2018-11-06 | Globus Medical, Inc. | Portable medical imaging system with beam scanning collimator |
USD816848S1 (en) * | 2016-02-22 | 2018-05-01 | Innovative Medical Products, Inc. | Clamp for surgical support table |
US10866119B2 (en) | 2016-03-14 | 2020-12-15 | Globus Medical, Inc. | Metal detector for detecting insertion of a surgical device into a hollow tube |
US11324554B2 (en) | 2016-04-08 | 2022-05-10 | Auris Health, Inc. | Floating electromagnetic field generator system and method of controlling the same |
EP3241518A3 (en) | 2016-04-11 | 2018-01-24 | Globus Medical, Inc | Surgical tool systems and methods |
US10743891B2 (en) | 2016-07-13 | 2020-08-18 | Washington University | Discectomy instrument |
US11103990B2 (en) | 2016-09-16 | 2021-08-31 | Mobius Imaging Llc | System and method for mounting a robotic arm in a surgical robotic system |
CN110248583B (en) | 2016-12-02 | 2021-12-31 | 范德比尔特大学 | Steerable endoscope with continuum manipulator |
US11071594B2 (en) | 2017-03-16 | 2021-07-27 | KB Medical SA | Robotic navigation of robotic surgical systems |
WO2018183393A1 (en) | 2017-03-28 | 2018-10-04 | Auris Health, Inc. | Shaft actuating handle |
JP7314052B2 (en) | 2017-04-07 | 2023-07-25 | オーリス ヘルス インコーポレイテッド | Patient introducer alignment |
US10285574B2 (en) | 2017-04-07 | 2019-05-14 | Auris Health, Inc. | Superelastic medical instrument |
US11135015B2 (en) | 2017-07-21 | 2021-10-05 | Globus Medical, Inc. | Robot surgical platform |
US10967504B2 (en) | 2017-09-13 | 2021-04-06 | Vanderbilt University | Continuum robots with multi-scale motion through equilibrium modulation |
US11357548B2 (en) | 2017-11-09 | 2022-06-14 | Globus Medical, Inc. | Robotic rod benders and related mechanical and motor housings |
US11794338B2 (en) | 2017-11-09 | 2023-10-24 | Globus Medical Inc. | Robotic rod benders and related mechanical and motor housings |
US10898252B2 (en) | 2017-11-09 | 2021-01-26 | Globus Medical, Inc. | Surgical robotic systems for bending surgical rods, and related methods and devices |
US11134862B2 (en) | 2017-11-10 | 2021-10-05 | Globus Medical, Inc. | Methods of selecting surgical implants and related devices |
US20190254753A1 (en) | 2018-02-19 | 2019-08-22 | Globus Medical, Inc. | Augmented reality navigation systems for use with robotic surgical systems and methods of their use |
US10573023B2 (en) | 2018-04-09 | 2020-02-25 | Globus Medical, Inc. | Predictive visualization of medical imaging scanner component movement |
WO2019211150A1 (en) * | 2018-05-02 | 2019-11-07 | Koninklijke Philips N.V. | Intraluminal medical imaging interface devices and systems |
US11013574B1 (en) * | 2018-05-10 | 2021-05-25 | Intuitive Surgical Operations, Inc. | Mounting teleoperated surgical arms |
US12004912B2 (en) | 2018-05-10 | 2024-06-11 | Intuitive Surgical Operations, Inc. | Mounting teleoperated surgical arms |
JP7267309B2 (en) | 2018-06-07 | 2023-05-01 | オーリス ヘルス インコーポレイテッド | Robotic medical system with high-strength instruments |
MX2020013783A (en) | 2018-06-28 | 2021-03-02 | Auris Health Inc | Medical systems incorporating pulley sharing. |
EP3806772A4 (en) | 2018-08-15 | 2022-03-30 | Auris Health, Inc. | Medical instruments for tissue cauterization |
WO2020036686A1 (en) | 2018-08-17 | 2020-02-20 | Auris Health, Inc. | Bipolar medical instrument |
US11648058B2 (en) | 2018-09-24 | 2023-05-16 | Simplify Medical Pty Ltd | Robotic system and method for bone preparation for intervertebral disc prosthesis implantation |
US11160672B2 (en) | 2018-09-24 | 2021-11-02 | Simplify Medical Pty Ltd | Robotic systems and methods for distraction in intervertebral disc prosthesis implantation |
US11819424B2 (en) | 2018-09-24 | 2023-11-21 | Simplify Medical Pty Ltd | Robot assisted intervertebral disc prosthesis selection and implantation system |
US11864849B2 (en) | 2018-09-26 | 2024-01-09 | Auris Health, Inc. | Systems and instruments for suction and irrigation |
WO2020076447A1 (en) | 2018-10-08 | 2020-04-16 | Auris Health, Inc. | Systems and instruments for tissue sealing |
US11446055B1 (en) | 2018-10-18 | 2022-09-20 | Lumoptik, Inc. | Light assisted needle placement system and method |
US11224537B2 (en) | 2018-10-19 | 2022-01-18 | Alcon Inc. | Intraocular gas injector |
US11337742B2 (en) | 2018-11-05 | 2022-05-24 | Globus Medical Inc | Compliant orthopedic driver |
US11278360B2 (en) | 2018-11-16 | 2022-03-22 | Globus Medical, Inc. | End-effectors for surgical robotic systems having sealed optical components |
US11602402B2 (en) | 2018-12-04 | 2023-03-14 | Globus Medical, Inc. | Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems |
US11744655B2 (en) | 2018-12-04 | 2023-09-05 | Globus Medical, Inc. | Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems |
US11950863B2 (en) | 2018-12-20 | 2024-04-09 | Auris Health, Inc | Shielding for wristed instruments |
WO2020154100A1 (en) | 2019-01-25 | 2020-07-30 | Auris Health, Inc. | Vessel sealer with heating and cooling capabilities |
DE102019102075B4 (en) * | 2019-01-28 | 2022-08-18 | Avateramedical Digital Solutions Gmbh | Actuated kinematics for mounting in a vertical position |
US11918313B2 (en) | 2019-03-15 | 2024-03-05 | Globus Medical Inc. | Active end effectors for surgical robots |
US20200297357A1 (en) | 2019-03-22 | 2020-09-24 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11571265B2 (en) | 2019-03-22 | 2023-02-07 | Globus Medical Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11806084B2 (en) | 2019-03-22 | 2023-11-07 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, and related methods and devices |
US11317978B2 (en) | 2019-03-22 | 2022-05-03 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11419616B2 (en) | 2019-03-22 | 2022-08-23 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11382549B2 (en) | 2019-03-22 | 2022-07-12 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, and related methods and devices |
WO2020197625A1 (en) | 2019-03-25 | 2020-10-01 | Auris Health, Inc. | Systems and methods for medical stapling |
US11045179B2 (en) | 2019-05-20 | 2021-06-29 | Global Medical Inc | Robot-mounted retractor system |
CN110037767A (en) * | 2019-05-27 | 2019-07-23 | 川北医学院 | Interverbebral disc Minimally Invasive Surgery channel device and rotary cut device |
US11369386B2 (en) | 2019-06-27 | 2022-06-28 | Auris Health, Inc. | Systems and methods for a medical clip applier |
US11109928B2 (en) | 2019-06-28 | 2021-09-07 | Auris Health, Inc. | Medical instruments including wrists with hybrid redirect surfaces |
US11628023B2 (en) | 2019-07-10 | 2023-04-18 | Globus Medical, Inc. | Robotic navigational system for interbody implants |
US11272995B2 (en) | 2019-08-15 | 2022-03-15 | Auris Health, Inc. | Axial motion drive devices, systems, and methods for a robotic medical system |
US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
US11571171B2 (en) | 2019-09-24 | 2023-02-07 | Globus Medical, Inc. | Compound curve cable chain |
US10959792B1 (en) | 2019-09-26 | 2021-03-30 | Auris Health, Inc. | Systems and methods for collision detection and avoidance |
US11890066B2 (en) | 2019-09-30 | 2024-02-06 | Globus Medical, Inc | Surgical robot with passive end effector |
US11426178B2 (en) | 2019-09-27 | 2022-08-30 | Globus Medical Inc. | Systems and methods for navigating a pin guide driver |
US11864857B2 (en) | 2019-09-27 | 2024-01-09 | Globus Medical, Inc. | Surgical robot with passive end effector |
WO2021064536A1 (en) | 2019-09-30 | 2021-04-08 | Auris Health, Inc. | Medical instrument with capstan |
US11510684B2 (en) | 2019-10-14 | 2022-11-29 | Globus Medical, Inc. | Rotary motion passive end effector for surgical robots in orthopedic surgeries |
US11737835B2 (en) | 2019-10-29 | 2023-08-29 | Auris Health, Inc. | Braid-reinforced insulation sheath |
US11992373B2 (en) | 2019-12-10 | 2024-05-28 | Globus Medical, Inc | Augmented reality headset with varied opacity for navigated robotic surgery |
US12064189B2 (en) | 2019-12-13 | 2024-08-20 | Globus Medical, Inc. | Navigated instrument for use in robotic guided surgery |
EP4084724A4 (en) | 2019-12-31 | 2023-12-27 | Auris Health, Inc. | Advanced basket drive mode |
JP2023511075A (en) | 2020-01-16 | 2023-03-16 | スパイナル イノベーションズ、エルエルシー | Pressure-activated surgical instrument for use in spinal decompression procedures and method of using the pressure-activated surgical instrument |
US11382699B2 (en) | 2020-02-10 | 2022-07-12 | Globus Medical Inc. | Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery |
US11207150B2 (en) | 2020-02-19 | 2021-12-28 | Globus Medical, Inc. | Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment |
US11253216B2 (en) | 2020-04-28 | 2022-02-22 | Globus Medical Inc. | Fixtures for fluoroscopic imaging systems and related navigation systems and methods |
US11153555B1 (en) | 2020-05-08 | 2021-10-19 | Globus Medical Inc. | Extended reality headset camera system for computer assisted navigation in surgery |
US11510750B2 (en) | 2020-05-08 | 2022-11-29 | Globus Medical, Inc. | Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications |
US11382700B2 (en) | 2020-05-08 | 2022-07-12 | Globus Medical Inc. | Extended reality headset tool tracking and control |
CA3181740A1 (en) * | 2020-06-08 | 2021-12-16 | Cowles Ventures, Llc | Fixation support device for brachytherapy with or without image guidance |
US11317973B2 (en) | 2020-06-09 | 2022-05-03 | Globus Medical, Inc. | Camera tracking bar for computer assisted navigation during surgery |
US11382713B2 (en) | 2020-06-16 | 2022-07-12 | Globus Medical, Inc. | Navigated surgical system with eye to XR headset display calibration |
CN115802975A (en) | 2020-06-29 | 2023-03-14 | 奥瑞斯健康公司 | System and method for detecting contact between a connecting rod and an external object |
WO2022003493A1 (en) | 2020-06-30 | 2022-01-06 | Auris Health, Inc. | Robotic medical system with collision proximity indicators |
US11357586B2 (en) | 2020-06-30 | 2022-06-14 | Auris Health, Inc. | Systems and methods for saturated robotic movement |
US11877807B2 (en) | 2020-07-10 | 2024-01-23 | Globus Medical, Inc | Instruments for navigated orthopedic surgeries |
US11793588B2 (en) | 2020-07-23 | 2023-10-24 | Globus Medical, Inc. | Sterile draping of robotic arms |
US11737831B2 (en) | 2020-09-02 | 2023-08-29 | Globus Medical Inc. | Surgical object tracking template generation for computer assisted navigation during surgical procedure |
US20220079808A1 (en) * | 2020-09-16 | 2022-03-17 | Johnson & Johnson Surgical Vision, Inc. | Robotic cataract surgery using focused ultrasound |
US11523785B2 (en) | 2020-09-24 | 2022-12-13 | Globus Medical, Inc. | Increased cone beam computed tomography volume length without requiring stitching or longitudinal C-arm movement |
US11911112B2 (en) | 2020-10-27 | 2024-02-27 | Globus Medical, Inc. | Robotic navigational system |
US11941814B2 (en) | 2020-11-04 | 2024-03-26 | Globus Medical Inc. | Auto segmentation using 2-D images taken during 3-D imaging spin |
US11717350B2 (en) | 2020-11-24 | 2023-08-08 | Globus Medical Inc. | Methods for robotic assistance and navigation in spinal surgery and related systems |
US11857273B2 (en) | 2021-07-06 | 2024-01-02 | Globus Medical, Inc. | Ultrasonic robotic surgical navigation |
US11419777B1 (en) * | 2021-07-12 | 2022-08-23 | Scott Sledge | Mounting bracket for use with a surgical table |
USD986437S1 (en) * | 2021-07-15 | 2023-05-16 | Innovative Medical Products, Inc. | Extruded base plate for a support table |
USD987109S1 (en) * | 2021-07-15 | 2023-05-23 | Industrial Flow Solutions, Inc. | Extruded base plate for an operating room table |
US11439444B1 (en) | 2021-07-22 | 2022-09-13 | Globus Medical, Inc. | Screw tower and rod reduction tool |
US11844732B2 (en) * | 2021-07-30 | 2023-12-19 | Corindus, Inc. | Support for securing a robotic system to a patient table |
CN113813005B (en) * | 2021-08-20 | 2023-01-24 | 中国科学院深圳先进技术研究院 | Robot for cutting vertebral plate of spine |
US11911115B2 (en) | 2021-12-20 | 2024-02-27 | Globus Medical Inc. | Flat panel registration fixture and method of using same |
US12048493B2 (en) | 2022-03-31 | 2024-07-30 | Globus Medical, Inc. | Camera tracking system identifying phantom markers during computer assisted surgery navigation |
US20240156421A1 (en) | 2022-11-11 | 2024-05-16 | Corindus, Inc. | Arrangement for securing a robotic system to a patient table |
Citations (76)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3807390A (en) * | 1972-12-04 | 1974-04-30 | American Optical Corp | Fiber optic catheter |
US4443698A (en) * | 1980-04-25 | 1984-04-17 | Siemens Aktigesellschaft | Sensing device having a multicore optical fiber as a sensing element |
US4761073A (en) * | 1984-08-13 | 1988-08-02 | United Technologies Corporation | Distributed, spatially resolving optical fiber strain gauge |
US4960410A (en) * | 1989-03-31 | 1990-10-02 | Cordis Corporation | Flexible tubular member for catheter construction |
US4996419A (en) * | 1989-12-26 | 1991-02-26 | United Technologies Corporation | Distributed multiplexed optical fiber Bragg grating sensor arrangeement |
US5007705A (en) * | 1989-12-26 | 1991-04-16 | United Technologies Corporation | Variable optical fiber Bragg filter arrangement |
US5066133A (en) * | 1990-10-18 | 1991-11-19 | United Technologies Corporation | Extended length embedded Bragg grating manufacturing method and arrangement |
US5118931A (en) * | 1990-09-07 | 1992-06-02 | Mcdonnell Douglas Corporation | Fiber optic microbending sensor arrays including microbend sensors sensitive over different bands of wavelengths of light |
US5144960A (en) * | 1991-03-20 | 1992-09-08 | Medtronic, Inc. | Transvenous defibrillation lead and method of use |
US5267339A (en) * | 1991-06-11 | 1993-11-30 | Fujikura Ltd. | Optical fiber having a core with a repeatedly changing constitutional parameter |
US5380995A (en) * | 1992-10-20 | 1995-01-10 | Mcdonnell Douglas Corporation | Fiber optic grating sensor systems for sensing environmental effects |
US5397891A (en) * | 1992-10-20 | 1995-03-14 | Mcdonnell Douglas Corporation | Sensor systems employing optical fiber gratings |
US5401956A (en) * | 1993-09-29 | 1995-03-28 | United Technologies Corporation | Diagnostic system for fiber grating sensors |
US5798521A (en) * | 1996-02-27 | 1998-08-25 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Apparatus and method for measuring strain in bragg gratings |
US5828059A (en) * | 1996-09-09 | 1998-10-27 | Udd; Eric | Transverse strain measurements using fiber optic grating based sensors |
US5917978A (en) * | 1997-01-10 | 1999-06-29 | Siecor Corporation | Buffered optical fiber having improved low temperature performance and stripability |
US6035082A (en) * | 1998-03-16 | 2000-03-07 | Luna Innovations, Inc. | Process for preparing an optical fiber sensor with enhanced sensitivity |
US6069420A (en) * | 1996-10-23 | 2000-05-30 | Omnific International, Ltd. | Specialized actuators driven by oscillatory transducers |
US6144026A (en) * | 1997-10-17 | 2000-11-07 | Blue Road Research | Fiber optic grating corrosion and chemical sensor |
US6215943B1 (en) * | 1998-06-23 | 2001-04-10 | Luna Innovations, Inc. | Optical fiber holder |
US6256090B1 (en) * | 1997-07-31 | 2001-07-03 | University Of Maryland | Method and apparatus for determining the shape of a flexible body |
US6275628B1 (en) * | 1998-12-10 | 2001-08-14 | Luna Innovations, Inc. | Single-ended long period grating optical device |
US6275511B1 (en) * | 1998-07-13 | 2001-08-14 | E-Tek Dynamics | Overlapping multiple fiber Bragg gratings |
US20010021843A1 (en) * | 2000-03-13 | 2001-09-13 | Siemens Aktiengesellschaft | Medical instrument for insertion into an examination subject, and medical examination/treatment device employing same |
US6301420B1 (en) * | 1998-05-01 | 2001-10-09 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Multicore optical fibre |
US6366722B1 (en) * | 1999-03-04 | 2002-04-02 | Luna Innovations, Inc. | Optical waveguide sensors having high refractive index sensitivity |
US6389187B1 (en) * | 1997-06-20 | 2002-05-14 | Qinetiq Limited | Optical fiber bend sensor |
US6404956B1 (en) * | 1997-10-02 | 2002-06-11 | 3M Intellectual Properties Company | Long-length continuous phase Bragg reflectors in optical media |
US6426796B1 (en) * | 1998-09-28 | 2002-07-30 | Luna Innovations, Inc. | Fiber optic wall shear stress sensor |
US6471710B1 (en) * | 1999-08-13 | 2002-10-29 | Advanced Sensor Technology, Llc | Probe position sensing system and method of employment of same |
US6545760B1 (en) * | 1999-03-25 | 2003-04-08 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Apparatus and method for measuring strain in optical fibers using rayleigh scatter |
US6571710B1 (en) * | 1999-03-03 | 2003-06-03 | James F. Price | Keyless inker for a printing press |
US6571639B1 (en) * | 1999-03-01 | 2003-06-03 | Luna Innovations, Inc. | Fiber optic system |
US6611700B1 (en) * | 1999-12-30 | 2003-08-26 | Brainlab Ag | Method and apparatus for positioning a body for radiation using a position sensor |
US6671055B1 (en) * | 2000-04-13 | 2003-12-30 | Luna Innovations, Inc. | Interferometric sensors utilizing bulk sensing mediums extrinsic to the input/output optical fiber |
US20040165810A1 (en) * | 2003-02-20 | 2004-08-26 | Fuji Photo Optical Co., Ltd. | Device for detecting three-dimensional shapes of elongated flexible body |
US6826343B2 (en) * | 2001-03-16 | 2004-11-30 | Cidra Corporation | Multi-core waveguide |
US20050036140A1 (en) * | 2002-10-31 | 2005-02-17 | Luna Innovations, Inc. | Fiber-optic flow cell and method relating thereto |
US6876786B2 (en) * | 2002-10-02 | 2005-04-05 | Cicese-Centro De Investigation | Fiber-optic sensing system for distributed detection and localization of alarm conditions |
US6888623B2 (en) * | 2003-02-26 | 2005-05-03 | Dynamic Technology, Inc. | Fiber optic sensor for precision 3-D position measurement |
US6898337B2 (en) * | 2003-03-19 | 2005-05-24 | Luna Innovations, Incorporated | Fiber-optic apparatus and method for making simultaneous multiple parameter measurements |
US20050137478A1 (en) * | 2003-08-20 | 2005-06-23 | Younge Robert G. | System and method for 3-D imaging |
US6923048B2 (en) * | 2003-09-24 | 2005-08-02 | Siemens Aktiengesellschaft | Method and apparatus of monitoring temperature and strain by using fiber Bragg grating (FBG) sensors |
US20050197530A1 (en) * | 2003-09-25 | 2005-09-08 | Wallace Daniel T. | Balloon visualization for traversing a tissue wall |
US20050201664A1 (en) * | 2004-03-12 | 2005-09-15 | Eric Udd | Fiber grating pressure wave speed measurement system |
US20050222554A1 (en) * | 2004-03-05 | 2005-10-06 | Wallace Daniel T | Robotic catheter system |
US6965708B2 (en) * | 2002-10-04 | 2005-11-15 | Luna Innovations, Inc. | Devices, systems, and methods for sensing moisture |
US20060013523A1 (en) * | 2004-07-16 | 2006-01-19 | Luna Innovations Incorporated | Fiber optic position and shape sensing device and method relating thereto |
US20060036213A1 (en) * | 2004-06-29 | 2006-02-16 | Stereotaxis, Inc. | Navigation of remotely actuable medical device using control variable and length |
US7010182B2 (en) * | 2002-07-31 | 2006-03-07 | Luna Innovations Incorporated | Biosensors having enhanced environmental sensitivity |
US20060084945A1 (en) * | 2004-03-05 | 2006-04-20 | Hansen Medical, Inc. | Instrument driver for robotic catheter system |
US7038190B2 (en) * | 2001-12-21 | 2006-05-02 | Eric Udd | Fiber grating environmental sensing system |
US20060095022A1 (en) * | 2004-03-05 | 2006-05-04 | Moll Frederic H | Methods using a robotic catheter system |
US7042573B2 (en) * | 2000-12-14 | 2006-05-09 | Luna Innovations Incorporated | Apparatus and method for the complete characterization of optical devices including loss, birefringence and dispersion effects |
US7046866B2 (en) * | 2001-03-08 | 2006-05-16 | Proximon Fiber Systems Ab | System and method for fabricating Bragg gratings with overlapping exposures |
US20060111692A1 (en) * | 2004-07-19 | 2006-05-25 | Hlavka Edwin J | Robotically controlled intravascular tissue injection system |
US20060200026A1 (en) * | 2005-01-13 | 2006-09-07 | Hansen Medical, Inc. | Robotic catheter system |
US20060200049A1 (en) * | 2005-03-04 | 2006-09-07 | Giovanni Leo | Medical apparatus system having optical fiber load sensing capability |
US20060253108A1 (en) * | 2005-05-03 | 2006-11-09 | Yu Alan L | Support assembly for robotic catheter system |
US20060276775A1 (en) * | 2005-05-03 | 2006-12-07 | Hansen Medical, Inc. | Robotic catheter system |
US7154081B1 (en) * | 2002-11-26 | 2006-12-26 | Luna Innovations Incorporated | Composite structures, such as coated wiring assemblies, having integral fiber optic-based condition detectors and systems which employ the same |
US20070043338A1 (en) * | 2004-03-05 | 2007-02-22 | Hansen Medical, Inc | Robotic catheter system and methods |
US20070060847A1 (en) * | 2005-03-04 | 2007-03-15 | Giovanni Leo | Medical apparatus system having optical fiber load sensing capability |
US20070156019A1 (en) * | 2005-12-30 | 2007-07-05 | Larkin David Q | Robotic surgery system including position sensors using fiber bragg gratings |
US20070156123A1 (en) * | 2005-12-09 | 2007-07-05 | Hansen Medical, Inc | Robotic catheter system and methods |
US20070197896A1 (en) * | 2005-12-09 | 2007-08-23 | Hansen Medical, Inc | Robotic catheter system and methods |
US20070265503A1 (en) * | 2006-03-22 | 2007-11-15 | Hansen Medical, Inc. | Fiber optic instrument sensing system |
US20080009750A1 (en) * | 2006-06-09 | 2008-01-10 | Endosense Sa | Catheter having tri-axial force sensor |
US7330245B2 (en) * | 2005-03-10 | 2008-02-12 | Luna Innovations Incorporated | Calculation of birefringence in a waveguide based on Rayleigh scatter |
US20080285909A1 (en) * | 2007-04-20 | 2008-11-20 | Hansen Medical, Inc. | Optical fiber shape sensing systems |
US20090123111A1 (en) * | 2006-02-22 | 2009-05-14 | Hansen Medical, Inc. | Optical fiber grating sensors and methods of manufacture |
US7538883B2 (en) * | 2006-06-16 | 2009-05-26 | Luna Innovations Incorporated | Distributed strain and temperature discrimination in polarization maintaining fiber |
US7561276B2 (en) * | 2006-01-13 | 2009-07-14 | Luna Innovations Incorporated | Demodulation method and apparatus for fiber optic sensors |
US7772541B2 (en) * | 2004-07-16 | 2010-08-10 | Luna Innnovations Incorporated | Fiber optic position and/or shape sensing based on rayleigh scatter |
US7781724B2 (en) * | 2004-07-16 | 2010-08-24 | Luna Innovations Incorporated | Fiber optic position and shape sensing device and method relating thereto |
US7789875B2 (en) * | 1998-02-24 | 2010-09-07 | Hansen Medical, Inc. | Surgical instruments |
Family Cites Families (153)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1598569A (en) * | 1925-09-23 | 1926-08-31 | Fitzhugh Champe Geraldine | Combined table and bookrest |
US2048449A (en) * | 1935-01-24 | 1936-07-21 | William C Holtzmann | Support |
US2466518A (en) * | 1944-07-24 | 1949-04-05 | Rudolph W Wagner | Combined angle bracket and stationary clamping jaws having a selectively mountable clamping jaw |
US2452816A (en) * | 1945-05-21 | 1948-11-02 | Venus M Wagner | Jaw-supporting appliance |
US2569729A (en) * | 1948-01-28 | 1951-10-02 | Nold Elton Lewis | Child's adjustable seat |
US2535559A (en) * | 1949-03-15 | 1950-12-26 | Wolf Monroe | Surgical clamp |
US2788529A (en) * | 1954-09-28 | 1957-04-16 | Moritzacky Fred | Adjustable headrest for beds |
US2970798A (en) * | 1956-10-23 | 1961-02-07 | Central Scient Co | Laboratory clamps |
US2940715A (en) * | 1957-12-02 | 1960-06-14 | Arthur E Schultz | Lantern holder |
US3495519A (en) * | 1967-02-01 | 1970-02-17 | Microform Data Systems | Xy table |
US3823709A (en) * | 1973-04-27 | 1974-07-16 | Guire G Mc | Table supported surgical retractor and pelvic support |
US4099521A (en) * | 1975-06-16 | 1978-07-11 | Nestor Engineering Associates, Inc. | Surgical retractor adjustable mounting apparatus |
GB1596036A (en) * | 1977-04-01 | 1981-08-19 | Nat Res Dev | Surgical apparatus |
US4151812A (en) * | 1977-08-12 | 1979-05-01 | Miller John J | Attachment for use on veterinarian tables |
US4355631A (en) * | 1981-03-19 | 1982-10-26 | Minnesota Scientific, Inc. | Surgical retractor apparatus with improved clamping device |
US4432525A (en) * | 1981-12-23 | 1984-02-21 | Duvall Clarence E | Adjustable chair support |
US4583539A (en) * | 1982-01-12 | 1986-04-22 | Cornell Research Foundation, Inc. | Laser surgical system |
US4545573A (en) * | 1983-03-03 | 1985-10-08 | Saginaw Automation & Machine, Inc. | Surgical leg clamp |
US4559942A (en) * | 1984-02-29 | 1985-12-24 | William Eisenberg | Method utilizing a laser for eye surgery |
US4583725A (en) * | 1985-03-05 | 1986-04-22 | Arnold Roger D | Patient support frame for posterior lumbar laminectomy |
US4766838A (en) * | 1987-06-30 | 1988-08-30 | Grady Johnson | Auxiliary boat seat |
US4729336A (en) * | 1987-07-06 | 1988-03-08 | Rohne Richard E | Boat seat bracket security device |
US4773709A (en) * | 1987-09-04 | 1988-09-27 | Slinkard Ronald L | Swivel seat and insulated cooler combination |
US5423798A (en) * | 1988-04-20 | 1995-06-13 | Crow; Lowell M. | Ophthalmic surgical laser apparatus |
US4886258A (en) * | 1988-08-24 | 1989-12-12 | Scott James W | Well leg operative support |
US4971037A (en) * | 1988-09-19 | 1990-11-20 | Pilling Co. | Surgical retractor support |
US4930523A (en) * | 1989-04-13 | 1990-06-05 | Lincoln Mills, Inc. | Surgical shoulder positioning apparatus |
US5025802A (en) * | 1990-02-08 | 1991-06-25 | Lincoln Mills, Inc. | Surgical holding apparatus for distracting ankle |
US5112015A (en) * | 1990-03-19 | 1992-05-12 | Chris Williams | Air conditioner bracket assembly |
US5400772A (en) * | 1991-05-24 | 1995-03-28 | Minnesota Scientific, Inc. | Surgical retractor apparatus with improved clamping device |
US5290220A (en) * | 1992-03-16 | 1994-03-01 | Guhl James F | Non-invasive distraction system for ankle arthroscopy |
US5857996A (en) * | 1992-07-06 | 1999-01-12 | Catheter Imaging Systems | Method of epidermal surgery |
US5762458A (en) * | 1996-02-20 | 1998-06-09 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US5330147A (en) * | 1993-01-22 | 1994-07-19 | Mayline Company, Inc. | Video monitor clamp |
US5575810A (en) | 1993-10-15 | 1996-11-19 | Ep Technologies, Inc. | Composite structures and methods for ablating tissue to form complex lesion patterns in the treatment of cardiac conditions and the like |
US5876325A (en) | 1993-11-02 | 1999-03-02 | Olympus Optical Co., Ltd. | Surgical manipulation system |
US5571216A (en) | 1994-01-19 | 1996-11-05 | The General Hospital Corporation | Methods and apparatus for joining collagen-containing materials |
US5462551A (en) * | 1994-04-04 | 1995-10-31 | Innovative Medical Products Inc. | Knee positioner |
US5492131A (en) * | 1994-09-06 | 1996-02-20 | Guided Medical Systems, Inc. | Servo-catheter |
US5590619A (en) * | 1995-08-21 | 1997-01-07 | Meador; Thomas R. | Holder for a boat seat clamp assembly |
US5722959A (en) | 1995-10-24 | 1998-03-03 | Venetec International, Inc. | Catheter securement device |
SE9503796D0 (en) * | 1995-10-26 | 1995-10-26 | Bo S Bergstroem | Slideset |
US6363279B1 (en) | 1996-01-08 | 2002-03-26 | Impulse Dynamics N.V. | Electrical muscle controller |
JP4130226B2 (en) | 1996-02-15 | 2008-08-06 | バイオセンス・ウェブスター・インコーポレイテッド | Precise positioning of endoscope |
US6699177B1 (en) * | 1996-02-20 | 2004-03-02 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
US5855583A (en) * | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US6436107B1 (en) * | 1996-02-20 | 2002-08-20 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
US5830224A (en) | 1996-03-15 | 1998-11-03 | Beth Israel Deaconess Medical Center | Catheter apparatus and methodology for generating a fistula on-demand between closely associated blood vessels at a pre-chosen anatomic site in-vivo |
US20030073908A1 (en) | 1996-04-26 | 2003-04-17 | 2000 Injectx, Inc. | Method and apparatus for delivery of genes, enzymes and biological agents to tissue cells |
US5845646A (en) | 1996-11-05 | 1998-12-08 | Lemelson; Jerome | System and method for treating select tissue in a living being |
US5926876A (en) * | 1996-11-19 | 1999-07-27 | Compacta International, Ltd. | Surgical operating table accessory for shoulder procedures |
US6132368A (en) | 1996-12-12 | 2000-10-17 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
US5876373A (en) | 1997-04-04 | 1999-03-02 | Eclipse Surgical Technologies, Inc. | Steerable catheter |
US6129668A (en) | 1997-05-08 | 2000-10-10 | Lucent Medical Systems, Inc. | System and method to determine the location and orientation of an indwelling medical device |
US6061587A (en) | 1997-05-15 | 2000-05-09 | Regents Of The University Of Minnesota | Method and apparatus for use with MR imaging |
US6015414A (en) | 1997-08-29 | 2000-01-18 | Stereotaxis, Inc. | Method and apparatus for magnetically controlling motion direction of a mechanically pushed catheter |
US6200312B1 (en) | 1997-09-11 | 2001-03-13 | Vnus Medical Technologies, Inc. | Expandable vein ligator catheter having multiple electrode leads |
US6154901A (en) * | 1997-09-26 | 2000-12-05 | New York Society For The Relief Of The Ruptured And Crippled Maintaining The Hospital For Special Surgery | Spinal-surgery table |
US6086532A (en) | 1997-09-26 | 2000-07-11 | Ep Technologies, Inc. | Systems for recording use of structures deployed in association with heart tissue |
US20020120200A1 (en) | 1997-10-14 | 2002-08-29 | Brian Brockway | Devices, systems and methods for endocardial pressure measurement |
US6409674B1 (en) | 1998-09-24 | 2002-06-25 | Data Sciences International, Inc. | Implantable sensor with wireless communication |
US20020095175A1 (en) | 1998-02-24 | 2002-07-18 | Brock David L. | Flexible instrument |
US7169141B2 (en) | 1998-02-24 | 2007-01-30 | Hansen Medical, Inc. | Surgical instrument |
JPH11267133A (en) | 1998-03-25 | 1999-10-05 | Olympus Optical Co Ltd | Therapeutic apparatus |
IL138666A0 (en) | 1998-03-31 | 2001-10-31 | Transvascular Inc | Catheters, systems and methods for percutaneous in situ arterio-venous bypass |
US6004271A (en) | 1998-05-07 | 1999-12-21 | Boston Scientific Corporation | Combined motor drive and automated longitudinal position translator for ultrasonic imaging system |
US6763836B2 (en) | 1998-06-02 | 2004-07-20 | Arthrocare Corporation | Methods for electrosurgical tendon vascularization |
US5960746A (en) * | 1998-06-23 | 1999-10-05 | Salts; Nancy L. | Rigid dog grooming restraint |
US6189478B1 (en) * | 1998-07-27 | 2001-02-20 | Clinton S. Myers | Boat carrier with retractable wheels |
US20030074011A1 (en) | 1998-09-24 | 2003-04-17 | Super Dimension Ltd. | System and method of recording and displaying in context of an image a location of at least one point-of-interest in a body during an intra-body medical procedure |
US6771262B2 (en) | 1998-11-25 | 2004-08-03 | Siemens Corporate Research, Inc. | System and method for volume rendering-based segmentation |
CA2369641C (en) | 1999-04-09 | 2009-02-10 | Evalve, Inc. | Methods and apparatus for cardiac valve repair |
US8442618B2 (en) | 1999-05-18 | 2013-05-14 | Mediguide Ltd. | Method and system for delivering a medical device to a selected position within a lumen |
US6245028B1 (en) * | 1999-11-24 | 2001-06-12 | Marconi Medical Systems, Inc. | Needle biopsy system |
US6564406B2 (en) * | 2000-03-28 | 2003-05-20 | Hill-Rom Services, Inc. | Shoulder surgery attachment for a surgical table |
US8888688B2 (en) | 2000-04-03 | 2014-11-18 | Intuitive Surgical Operations, Inc. | Connector device for a controllable instrument |
US6610007B2 (en) | 2000-04-03 | 2003-08-26 | Neoguide Systems, Inc. | Steerable segmented endoscope and method of insertion |
US6949105B2 (en) * | 2000-08-08 | 2005-09-27 | Sdgi Holdings, Inc. | Method and apparatus for stereotactic implantation |
US6551273B1 (en) | 2000-08-23 | 2003-04-22 | Scimed Life Systems, Inc. | Catheter having a shaft keeper |
US6800076B2 (en) * | 2000-10-18 | 2004-10-05 | Retinalabs, Inc. | Soft tip cannula and methods for use thereof |
US6499158B1 (en) * | 2000-10-30 | 2002-12-31 | Steris, Inc. | Surgical table top and accessory clamp used thereon |
US20030135204A1 (en) | 2001-02-15 | 2003-07-17 | Endo Via Medical, Inc. | Robotically controlled medical instrument with a flexible section |
US8414505B1 (en) | 2001-02-15 | 2013-04-09 | Hansen Medical, Inc. | Catheter driver system |
US7699835B2 (en) | 2001-02-15 | 2010-04-20 | Hansen Medical, Inc. | Robotically controlled surgical instruments |
US7766894B2 (en) | 2001-02-15 | 2010-08-03 | Hansen Medical, Inc. | Coaxial catheter system |
US6598275B1 (en) * | 2001-03-12 | 2003-07-29 | Steris, Inc. | Low shadow radiolucent surgical table, clamp systems, and accessories therefore |
US7020917B1 (en) * | 2001-03-12 | 2006-04-04 | Steris Corporation | Radiolucent surgical table with low shadow accessory interface profile |
US6743221B1 (en) * | 2001-03-13 | 2004-06-01 | James L. Hobart | Laser system and method for treatment of biological tissues |
US6533794B2 (en) | 2001-04-19 | 2003-03-18 | The Ohio State University | Simplified stereotactic apparatus and methods |
DK1389958T3 (en) | 2001-05-06 | 2009-01-12 | Stereotaxis Inc | Catheter delivery system |
US7022109B1 (en) * | 2001-07-09 | 2006-04-04 | Ditto Deborah L | Pain abatement catheter system |
US6728599B2 (en) | 2001-09-07 | 2004-04-27 | Computer Motion, Inc. | Modularity system for computer assisted surgery |
US7831292B2 (en) | 2002-03-06 | 2010-11-09 | Mako Surgical Corp. | Guidance system and method for surgical procedures with improved feedback |
US6804846B2 (en) * | 2002-03-14 | 2004-10-19 | Peter Schuerch | Shoulder arthroscopy chair |
US6820621B2 (en) * | 2002-03-22 | 2004-11-23 | Imp Inc. | Lateral surgical positioner unit |
EP1496798A1 (en) | 2002-04-10 | 2005-01-19 | Stereotaxis, Inc. | Systems and methods for interventional medicine |
US20040176751A1 (en) | 2002-08-14 | 2004-09-09 | Endovia Medical, Inc. | Robotic medical instrument system |
US7156806B2 (en) * | 2002-08-23 | 2007-01-02 | Minnesota Scientific, Inc. | Stabilized table rail clamp |
DE10239673A1 (en) * | 2002-08-26 | 2004-03-11 | Markus Schwarz | Device for machining parts |
WO2004037065A2 (en) * | 2002-10-21 | 2004-05-06 | Edrich Vascular Devices, Inc. | Surgical instrument positioning system and method of use |
US7404824B1 (en) | 2002-11-15 | 2008-07-29 | Advanced Cardiovascular Systems, Inc. | Valve aptation assist device |
US8882657B2 (en) | 2003-03-07 | 2014-11-11 | Intuitive Surgical Operations, Inc. | Instrument having radio frequency identification systems and methods for use |
US7143458B2 (en) * | 2003-03-17 | 2006-12-05 | Slater Jr Robert R | Stabilizer for forearm traction |
US7101387B2 (en) | 2003-04-30 | 2006-09-05 | Scimed Life Systems, Inc. | Radio frequency ablation cooling shield |
US20040220588A1 (en) | 2003-05-01 | 2004-11-04 | James Kermode | Guide assembly |
US20050045785A1 (en) * | 2003-08-25 | 2005-03-03 | Warren Cohen | Mounting system for mounting a support to a rail of a deck |
US7280863B2 (en) | 2003-10-20 | 2007-10-09 | Magnetecs, Inc. | System and method for radar-assisted catheter guidance and control |
US7901348B2 (en) | 2003-12-12 | 2011-03-08 | University Of Washington | Catheterscope 3D guidance and interface system |
US8046049B2 (en) * | 2004-02-23 | 2011-10-25 | Biosense Webster, Inc. | Robotically guided catheter |
US7976539B2 (en) * | 2004-03-05 | 2011-07-12 | Hansen Medical, Inc. | System and method for denaturing and fixing collagenous tissue |
US7167622B2 (en) * | 2004-04-08 | 2007-01-23 | Omniguide, Inc. | Photonic crystal fibers and medical systems including photonic crystal fibers |
US7003827B2 (en) * | 2004-06-21 | 2006-02-28 | Innovative Medical Products Inc. | Operating table support clamp |
US8905637B2 (en) * | 2004-07-30 | 2014-12-09 | Neurologica Corp. | X-ray transparent bed and gurney extender for use with mobile computerized tomography (CT) imaging systems |
US7285125B2 (en) | 2004-10-18 | 2007-10-23 | Tyco Healthcare Group Lp | Compression anastomosis device and method |
US20060094956A1 (en) | 2004-10-29 | 2006-05-04 | Viswanathan Raju R | Restricted navigation controller for, and methods of controlling, a remote navigation system |
US20070038181A1 (en) | 2005-08-09 | 2007-02-15 | Alexander Melamud | Method, system and device for delivering a substance to tissue |
US20070094798A1 (en) | 2005-10-28 | 2007-05-03 | Yu Chun H | Platform assembly for an operating bed |
WO2008017080A2 (en) * | 2006-08-03 | 2008-02-07 | Hansen Medical, Inc. | Systems for performing minimally invasive procedures |
CN101998841B (en) * | 2006-09-19 | 2013-04-10 | 纽约市哥伦比亚大学理事会 | Systems, devices, and methods for surgery on a hollow anatomically suspended organ |
US8041413B2 (en) * | 2006-10-02 | 2011-10-18 | Hansen Medical, Inc. | Systems and methods for three-dimensional ultrasound mapping |
IL188262A (en) | 2007-01-10 | 2011-10-31 | Mediguide Ltd | System and method for superimposing a representation of the tip of a catheter on an image acquired by a moving imager |
US8108069B2 (en) * | 2007-01-10 | 2012-01-31 | Hansen Medical, Inc. | Robotic catheter system and methods |
US8146874B2 (en) | 2007-02-02 | 2012-04-03 | Hansen Medical, Inc. | Mounting support assembly for suspending a medical instrument driver above an operating table |
WO2008115565A2 (en) * | 2007-03-19 | 2008-09-25 | Hansen Medical, Inc. | Apparatus systems and methods for flushing gas from a catheter of a robotic catheter system |
US8391957B2 (en) * | 2007-03-26 | 2013-03-05 | Hansen Medical, Inc. | Robotic catheter systems and methods |
US20080275367A1 (en) | 2007-04-23 | 2008-11-06 | Hansen Medical, Inc | Systems and methods for mapping intra-body tissue compliance |
US20090138025A1 (en) | 2007-05-04 | 2009-05-28 | Hansen Medical, Inc. | Apparatus systems and methods for forming a working platform of a robotic instrument system by manipulation of components having controllably rigidity |
US8409234B2 (en) * | 2007-05-25 | 2013-04-02 | Hansen Medical, Inc. | Rotational apparatus system and method for a robotic instrument system |
US9468412B2 (en) | 2007-06-22 | 2016-10-18 | General Electric Company | System and method for accuracy verification for image based surgical navigation |
ES2774799T3 (en) * | 2007-08-14 | 2020-07-22 | Koninklijke Philips Nv | Robotic instrument systems using fiber optic sensors |
US7992238B2 (en) * | 2007-09-13 | 2011-08-09 | Thomas Hejkal | Rotatable surgery table |
US20090221908A1 (en) | 2008-03-01 | 2009-09-03 | Neil David Glossop | System and Method for Alignment of Instrumentation in Image-Guided Intervention |
US20090318797A1 (en) | 2008-06-19 | 2009-12-24 | Vision-Sciences Inc. | System and method for deflecting endoscopic tools |
US8086298B2 (en) | 2008-09-29 | 2011-12-27 | Civco Medical Instruments Co., Inc. | EM tracking systems for use with ultrasound and other imaging modalities |
US8720448B2 (en) * | 2008-11-07 | 2014-05-13 | Hansen Medical, Inc. | Sterile interface apparatus |
US8317746B2 (en) * | 2008-11-20 | 2012-11-27 | Hansen Medical, Inc. | Automated alignment |
US9254123B2 (en) * | 2009-04-29 | 2016-02-09 | Hansen Medical, Inc. | Flexible and steerable elongate instruments with shape control and support elements |
US8230864B2 (en) * | 2009-08-31 | 2012-07-31 | Hunter Jr Alton Lee | Arm stabilizer for elbow surgical procedure |
US8672837B2 (en) * | 2010-06-24 | 2014-03-18 | Hansen Medical, Inc. | Methods and devices for controlling a shapeable medical device |
US9314306B2 (en) * | 2010-09-17 | 2016-04-19 | Hansen Medical, Inc. | Systems and methods for manipulating an elongate member |
EP2740433B1 (en) * | 2011-08-04 | 2016-04-27 | Olympus Corporation | Surgical implement and medical treatment manipulator |
JP5841451B2 (en) * | 2011-08-04 | 2016-01-13 | オリンパス株式会社 | Surgical instrument and control method thereof |
EP2884933B1 (en) | 2012-08-15 | 2020-10-07 | Intuitive Surgical Operations, Inc. | User initiated break-away clutching of a surgical mounting platform |
CN113509271A (en) | 2012-08-15 | 2021-10-19 | 直观外科手术操作公司 | Movable surgical mounting platform controlled by manual motion of robotic arm |
US8671817B1 (en) * | 2012-11-28 | 2014-03-18 | Hansen Medical, Inc. | Braiding device for catheter having acuately varying pullwires |
US8894610B2 (en) * | 2012-11-28 | 2014-11-25 | Hansen Medical, Inc. | Catheter having unirail pullwire architecture |
US9057600B2 (en) * | 2013-03-13 | 2015-06-16 | Hansen Medical, Inc. | Reducing incremental measurement sensor error |
US9326822B2 (en) * | 2013-03-14 | 2016-05-03 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US20140277334A1 (en) * | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US9014851B2 (en) * | 2013-03-15 | 2015-04-21 | Hansen Medical, Inc. | Systems and methods for tracking robotically controlled medical instruments |
US9408669B2 (en) * | 2013-03-15 | 2016-08-09 | Hansen Medical, Inc. | Active drive mechanism with finite range of motion |
US9452018B2 (en) * | 2013-03-15 | 2016-09-27 | Hansen Medical, Inc. | Rotational support for an elongate member |
US20140276647A1 (en) * | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Vascular remote catheter manipulator |
-
2008
- 2008-02-01 US US12/024,883 patent/US8146874B2/en not_active Expired - Fee Related
- 2008-02-01 US US12/024,760 patent/US20090036900A1/en not_active Abandoned
- 2008-02-01 US US12/012,795 patent/US20080218770A1/en not_active Abandoned
- 2008-02-01 WO PCT/US2008/052814 patent/WO2008097853A2/en active Application Filing
- 2008-02-01 WO PCT/US2008/001505 patent/WO2008097540A2/en active Application Filing
- 2008-02-01 US US12/024,642 patent/US20080195081A1/en not_active Abandoned
-
2012
- 2012-04-02 US US13/437,716 patent/US20120241576A1/en not_active Abandoned
- 2012-06-01 US US13/486,934 patent/US20120253332A1/en not_active Abandoned
-
2013
- 2013-06-05 US US13/910,903 patent/US9566201B2/en active Active
Patent Citations (79)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3807390A (en) * | 1972-12-04 | 1974-04-30 | American Optical Corp | Fiber optic catheter |
US4443698A (en) * | 1980-04-25 | 1984-04-17 | Siemens Aktigesellschaft | Sensing device having a multicore optical fiber as a sensing element |
US4761073A (en) * | 1984-08-13 | 1988-08-02 | United Technologies Corporation | Distributed, spatially resolving optical fiber strain gauge |
US4960410A (en) * | 1989-03-31 | 1990-10-02 | Cordis Corporation | Flexible tubular member for catheter construction |
US4996419A (en) * | 1989-12-26 | 1991-02-26 | United Technologies Corporation | Distributed multiplexed optical fiber Bragg grating sensor arrangeement |
US5007705A (en) * | 1989-12-26 | 1991-04-16 | United Technologies Corporation | Variable optical fiber Bragg filter arrangement |
US5118931A (en) * | 1990-09-07 | 1992-06-02 | Mcdonnell Douglas Corporation | Fiber optic microbending sensor arrays including microbend sensors sensitive over different bands of wavelengths of light |
US5066133A (en) * | 1990-10-18 | 1991-11-19 | United Technologies Corporation | Extended length embedded Bragg grating manufacturing method and arrangement |
US5144960A (en) * | 1991-03-20 | 1992-09-08 | Medtronic, Inc. | Transvenous defibrillation lead and method of use |
US5267339A (en) * | 1991-06-11 | 1993-11-30 | Fujikura Ltd. | Optical fiber having a core with a repeatedly changing constitutional parameter |
US5380995A (en) * | 1992-10-20 | 1995-01-10 | Mcdonnell Douglas Corporation | Fiber optic grating sensor systems for sensing environmental effects |
US5397891A (en) * | 1992-10-20 | 1995-03-14 | Mcdonnell Douglas Corporation | Sensor systems employing optical fiber gratings |
US5627927A (en) * | 1992-10-20 | 1997-05-06 | Mcdonnell Douglas Aerospace West | Fiber with multiple overlapping gratings |
US5401956A (en) * | 1993-09-29 | 1995-03-28 | United Technologies Corporation | Diagnostic system for fiber grating sensors |
US5798521A (en) * | 1996-02-27 | 1998-08-25 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Apparatus and method for measuring strain in bragg gratings |
US5828059A (en) * | 1996-09-09 | 1998-10-27 | Udd; Eric | Transverse strain measurements using fiber optic grating based sensors |
US6069420A (en) * | 1996-10-23 | 2000-05-30 | Omnific International, Ltd. | Specialized actuators driven by oscillatory transducers |
US5917978A (en) * | 1997-01-10 | 1999-06-29 | Siecor Corporation | Buffered optical fiber having improved low temperature performance and stripability |
US6389187B1 (en) * | 1997-06-20 | 2002-05-14 | Qinetiq Limited | Optical fiber bend sensor |
US6256090B1 (en) * | 1997-07-31 | 2001-07-03 | University Of Maryland | Method and apparatus for determining the shape of a flexible body |
US6404956B1 (en) * | 1997-10-02 | 2002-06-11 | 3M Intellectual Properties Company | Long-length continuous phase Bragg reflectors in optical media |
US6144026A (en) * | 1997-10-17 | 2000-11-07 | Blue Road Research | Fiber optic grating corrosion and chemical sensor |
US7789875B2 (en) * | 1998-02-24 | 2010-09-07 | Hansen Medical, Inc. | Surgical instruments |
US6035082A (en) * | 1998-03-16 | 2000-03-07 | Luna Innovations, Inc. | Process for preparing an optical fiber sensor with enhanced sensitivity |
US6301420B1 (en) * | 1998-05-01 | 2001-10-09 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Multicore optical fibre |
US6215943B1 (en) * | 1998-06-23 | 2001-04-10 | Luna Innovations, Inc. | Optical fiber holder |
US6275511B1 (en) * | 1998-07-13 | 2001-08-14 | E-Tek Dynamics | Overlapping multiple fiber Bragg gratings |
US6426796B1 (en) * | 1998-09-28 | 2002-07-30 | Luna Innovations, Inc. | Fiber optic wall shear stress sensor |
US6275628B1 (en) * | 1998-12-10 | 2001-08-14 | Luna Innovations, Inc. | Single-ended long period grating optical device |
US6571639B1 (en) * | 1999-03-01 | 2003-06-03 | Luna Innovations, Inc. | Fiber optic system |
US6571710B1 (en) * | 1999-03-03 | 2003-06-03 | James F. Price | Keyless inker for a printing press |
US6366722B1 (en) * | 1999-03-04 | 2002-04-02 | Luna Innovations, Inc. | Optical waveguide sensors having high refractive index sensitivity |
US6545760B1 (en) * | 1999-03-25 | 2003-04-08 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Apparatus and method for measuring strain in optical fibers using rayleigh scatter |
US6471710B1 (en) * | 1999-08-13 | 2002-10-29 | Advanced Sensor Technology, Llc | Probe position sensing system and method of employment of same |
US6611700B1 (en) * | 1999-12-30 | 2003-08-26 | Brainlab Ag | Method and apparatus for positioning a body for radiation using a position sensor |
US20010021843A1 (en) * | 2000-03-13 | 2001-09-13 | Siemens Aktiengesellschaft | Medical instrument for insertion into an examination subject, and medical examination/treatment device employing same |
US6671055B1 (en) * | 2000-04-13 | 2003-12-30 | Luna Innovations, Inc. | Interferometric sensors utilizing bulk sensing mediums extrinsic to the input/output optical fiber |
US7042573B2 (en) * | 2000-12-14 | 2006-05-09 | Luna Innovations Incorporated | Apparatus and method for the complete characterization of optical devices including loss, birefringence and dispersion effects |
US7046866B2 (en) * | 2001-03-08 | 2006-05-16 | Proximon Fiber Systems Ab | System and method for fabricating Bragg gratings with overlapping exposures |
US6826343B2 (en) * | 2001-03-16 | 2004-11-30 | Cidra Corporation | Multi-core waveguide |
US7038190B2 (en) * | 2001-12-21 | 2006-05-02 | Eric Udd | Fiber grating environmental sensing system |
US7010182B2 (en) * | 2002-07-31 | 2006-03-07 | Luna Innovations Incorporated | Biosensors having enhanced environmental sensitivity |
US6876786B2 (en) * | 2002-10-02 | 2005-04-05 | Cicese-Centro De Investigation | Fiber-optic sensing system for distributed detection and localization of alarm conditions |
US6965708B2 (en) * | 2002-10-04 | 2005-11-15 | Luna Innovations, Inc. | Devices, systems, and methods for sensing moisture |
US20050036140A1 (en) * | 2002-10-31 | 2005-02-17 | Luna Innovations, Inc. | Fiber-optic flow cell and method relating thereto |
US6987897B2 (en) * | 2002-10-31 | 2006-01-17 | Luna Innovations Incorporated | Fiber-optic flow cell and method relating thereto |
US7154081B1 (en) * | 2002-11-26 | 2006-12-26 | Luna Innovations Incorporated | Composite structures, such as coated wiring assemblies, having integral fiber optic-based condition detectors and systems which employ the same |
US20040165810A1 (en) * | 2003-02-20 | 2004-08-26 | Fuji Photo Optical Co., Ltd. | Device for detecting three-dimensional shapes of elongated flexible body |
US6888623B2 (en) * | 2003-02-26 | 2005-05-03 | Dynamic Technology, Inc. | Fiber optic sensor for precision 3-D position measurement |
US6898337B2 (en) * | 2003-03-19 | 2005-05-24 | Luna Innovations, Incorporated | Fiber-optic apparatus and method for making simultaneous multiple parameter measurements |
US20050137478A1 (en) * | 2003-08-20 | 2005-06-23 | Younge Robert G. | System and method for 3-D imaging |
US6923048B2 (en) * | 2003-09-24 | 2005-08-02 | Siemens Aktiengesellschaft | Method and apparatus of monitoring temperature and strain by using fiber Bragg grating (FBG) sensors |
US20050197530A1 (en) * | 2003-09-25 | 2005-09-08 | Wallace Daniel T. | Balloon visualization for traversing a tissue wall |
US20070043338A1 (en) * | 2004-03-05 | 2007-02-22 | Hansen Medical, Inc | Robotic catheter system and methods |
US20060095022A1 (en) * | 2004-03-05 | 2006-05-04 | Moll Frederic H | Methods using a robotic catheter system |
US20060084945A1 (en) * | 2004-03-05 | 2006-04-20 | Hansen Medical, Inc. | Instrument driver for robotic catheter system |
US20060100610A1 (en) * | 2004-03-05 | 2006-05-11 | Wallace Daniel T | Methods using a robotic catheter system |
US20050222554A1 (en) * | 2004-03-05 | 2005-10-06 | Wallace Daniel T | Robotic catheter system |
US20050201664A1 (en) * | 2004-03-12 | 2005-09-15 | Eric Udd | Fiber grating pressure wave speed measurement system |
US20060036213A1 (en) * | 2004-06-29 | 2006-02-16 | Stereotaxis, Inc. | Navigation of remotely actuable medical device using control variable and length |
US20060013523A1 (en) * | 2004-07-16 | 2006-01-19 | Luna Innovations Incorporated | Fiber optic position and shape sensing device and method relating thereto |
US7781724B2 (en) * | 2004-07-16 | 2010-08-24 | Luna Innovations Incorporated | Fiber optic position and shape sensing device and method relating thereto |
US7772541B2 (en) * | 2004-07-16 | 2010-08-10 | Luna Innnovations Incorporated | Fiber optic position and/or shape sensing based on rayleigh scatter |
US20060111692A1 (en) * | 2004-07-19 | 2006-05-25 | Hlavka Edwin J | Robotically controlled intravascular tissue injection system |
US20060200026A1 (en) * | 2005-01-13 | 2006-09-07 | Hansen Medical, Inc. | Robotic catheter system |
US20060200049A1 (en) * | 2005-03-04 | 2006-09-07 | Giovanni Leo | Medical apparatus system having optical fiber load sensing capability |
US20070060847A1 (en) * | 2005-03-04 | 2007-03-15 | Giovanni Leo | Medical apparatus system having optical fiber load sensing capability |
US7330245B2 (en) * | 2005-03-10 | 2008-02-12 | Luna Innovations Incorporated | Calculation of birefringence in a waveguide based on Rayleigh scatter |
US20060253108A1 (en) * | 2005-05-03 | 2006-11-09 | Yu Alan L | Support assembly for robotic catheter system |
US20060276775A1 (en) * | 2005-05-03 | 2006-12-07 | Hansen Medical, Inc. | Robotic catheter system |
US20070197896A1 (en) * | 2005-12-09 | 2007-08-23 | Hansen Medical, Inc | Robotic catheter system and methods |
US20070156123A1 (en) * | 2005-12-09 | 2007-07-05 | Hansen Medical, Inc | Robotic catheter system and methods |
US20070156019A1 (en) * | 2005-12-30 | 2007-07-05 | Larkin David Q | Robotic surgery system including position sensors using fiber bragg gratings |
US7561276B2 (en) * | 2006-01-13 | 2009-07-14 | Luna Innovations Incorporated | Demodulation method and apparatus for fiber optic sensors |
US20090123111A1 (en) * | 2006-02-22 | 2009-05-14 | Hansen Medical, Inc. | Optical fiber grating sensors and methods of manufacture |
US20070265503A1 (en) * | 2006-03-22 | 2007-11-15 | Hansen Medical, Inc. | Fiber optic instrument sensing system |
US20080009750A1 (en) * | 2006-06-09 | 2008-01-10 | Endosense Sa | Catheter having tri-axial force sensor |
US7538883B2 (en) * | 2006-06-16 | 2009-05-26 | Luna Innovations Incorporated | Distributed strain and temperature discrimination in polarization maintaining fiber |
US20080285909A1 (en) * | 2007-04-20 | 2008-11-20 | Hansen Medical, Inc. | Optical fiber shape sensing systems |
Cited By (248)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11883121B2 (en) | 2004-03-05 | 2024-01-30 | Auris Health, Inc. | Robotic catheter system |
US10874468B2 (en) | 2004-03-05 | 2020-12-29 | Auris Health, Inc. | Robotic catheter system |
US20070065077A1 (en) * | 2004-07-16 | 2007-03-22 | Luna Innovations Incorporated | Fiber Optic Position and Shape Sensing Device and Method Relating Thereto |
US7781724B2 (en) | 2004-07-16 | 2010-08-24 | Luna Innovations Incorporated | Fiber optic position and shape sensing device and method relating thereto |
US8663122B2 (en) | 2005-01-26 | 2014-03-04 | Stuart Schecter LLC | Cardiovascular haptic handle system |
US8956304B2 (en) | 2005-01-26 | 2015-02-17 | Stuart Schecter LLC | Cardiovascular haptic handle system |
US10368951B2 (en) | 2005-03-04 | 2019-08-06 | Auris Health, Inc. | Robotic catheter system and methods |
US7789874B2 (en) * | 2005-05-03 | 2010-09-07 | Hansen Medical, Inc. | Support assembly for robotic catheter system |
US8968333B2 (en) | 2005-05-03 | 2015-03-03 | Hansen Medical, Inc. | Support assembly for robotic catheter system |
US20060253108A1 (en) * | 2005-05-03 | 2006-11-09 | Yu Alan L | Support assembly for robotic catheter system |
US20100308195A1 (en) * | 2005-05-03 | 2010-12-09 | Hansen Medical, Inc. | Support assembly for robotic catheter system |
US8989528B2 (en) | 2006-02-22 | 2015-03-24 | Hansen Medical, Inc. | Optical fiber grating sensors and methods of manufacture |
US20070265503A1 (en) * | 2006-03-22 | 2007-11-15 | Hansen Medical, Inc. | Fiber optic instrument sensing system |
US9566201B2 (en) | 2007-02-02 | 2017-02-14 | Hansen Medical, Inc. | Mounting support assembly for suspending a medical instrument driver above an operating table |
US8515215B2 (en) | 2007-04-20 | 2013-08-20 | Koninklijke Philips Electronics N.V. | Optical fiber shape sensing systems |
US8811777B2 (en) | 2007-04-20 | 2014-08-19 | Koninklijke Philips Electronics N.V. | Optical fiber shape sensing systems |
US8818143B2 (en) | 2007-04-20 | 2014-08-26 | Koninklijke Philips Electronics N.V. | Optical fiber instrument system for detecting twist of elongated instruments |
US8705903B2 (en) | 2007-04-20 | 2014-04-22 | Koninklijke Philips N.V. | Optical fiber instrument system for detecting and decoupling twist effects |
US20110172680A1 (en) * | 2007-04-20 | 2011-07-14 | Koninklijke Philips Electronics N.V. | Optical fiber shape sensing systems |
US8050523B2 (en) | 2007-04-20 | 2011-11-01 | Koninklijke Philips Electronics N.V. | Optical fiber shape sensing systems |
US9186046B2 (en) | 2007-08-14 | 2015-11-17 | Koninklijke Philips Electronics N.V. | Robotic instrument systems and methods utilizing optical fiber sensor |
US9186047B2 (en) | 2007-08-14 | 2015-11-17 | Koninklijke Philips Electronics N.V. | Instrument systems and methods utilizing optical fiber sensor |
US9500472B2 (en) | 2007-08-14 | 2016-11-22 | Koninklijke Philips Electronics N.V. | System and method for sensing shape of elongated instrument |
US8864655B2 (en) | 2007-08-14 | 2014-10-21 | Koninklijke Philips Electronics N.V. | Fiber optic instrument shape sensing system and method |
US9441954B2 (en) | 2007-08-14 | 2016-09-13 | Koninklijke Philips Electronics N.V. | System and method for calibration of optical fiber instrument |
US20110319910A1 (en) * | 2007-08-14 | 2011-12-29 | Hansen Medical, Inc. | Methods and devices for controlling a shapeable instrument |
US9500473B2 (en) | 2007-08-14 | 2016-11-22 | Koninklijke Philips Electronics N.V. | Optical fiber instrument system and method with motion-based adjustment |
US9404734B2 (en) | 2007-08-14 | 2016-08-02 | Koninklijke Philips Electronics N.V. | System and method for sensing shape of elongated instrument |
US20090137952A1 (en) * | 2007-08-14 | 2009-05-28 | Ramamurthy Bhaskar S | Robotic instrument systems and methods utilizing optical fiber sensor |
US9726476B2 (en) | 2007-08-14 | 2017-08-08 | Koninklijke Philips Electronics N.V. | Fiber optic instrument orientation sensing system and method |
US10907956B2 (en) | 2007-08-14 | 2021-02-02 | Koninklijke Philips Electronics Nv | Instrument systems and methods utilizing optical fiber sensor |
US11067386B2 (en) | 2007-08-14 | 2021-07-20 | Koninklijke Philips N.V. | Instrument systems and methods utilizing optical fiber sensor |
US20090209978A1 (en) * | 2008-02-14 | 2009-08-20 | Donald Douglas Nelson | Systems and Methods For Real-Time Winding Analysis For Knot Detection |
US9486292B2 (en) * | 2008-02-14 | 2016-11-08 | Immersion Corporation | Systems and methods for real-time winding analysis for knot detection |
US20090228020A1 (en) * | 2008-03-06 | 2009-09-10 | Hansen Medical, Inc. | In-situ graft fenestration |
US20090254083A1 (en) * | 2008-03-10 | 2009-10-08 | Hansen Medical, Inc. | Robotic ablation catheter |
US8792964B2 (en) * | 2008-03-12 | 2014-07-29 | Siemens Aktiengesellschaft | Method and apparatus for conducting an interventional procedure involving heart valves using a robot-based X-ray device |
US20090234444A1 (en) * | 2008-03-12 | 2009-09-17 | Michael Maschke | Method and apparatus for conducting an interventional procedure involving heart valves using a robot-based x-ray device |
US20090314925A1 (en) * | 2008-06-18 | 2009-12-24 | Mako Surgical Corp. | Fiber optic tracking system and method for tracking |
US9050131B2 (en) | 2008-06-18 | 2015-06-09 | Mako Surgical Corp. | Fiber optic tracking system and method for tracking a substantially rigid object |
US9523821B2 (en) | 2008-06-30 | 2016-12-20 | Intuitive Surgical Operations, Inc. | Fixture for shape-sensing optical fiber in a kinematic chain |
US8616782B2 (en) | 2008-06-30 | 2013-12-31 | Intuitive Surgical Operations, Inc. | Fixture for shape-sensing optical fiber in a kinematic chain |
US20090324160A1 (en) * | 2008-06-30 | 2009-12-31 | Intuitive Surgical, Inc. | Fixture for shape-sensing optical fiber in a kinematic chain |
US8358883B2 (en) | 2008-06-30 | 2013-01-22 | Intuitive Surgical Operations, Inc. | Fiber optic shape sensor |
US20090324161A1 (en) * | 2008-06-30 | 2009-12-31 | Intuitive Surgical, Inc. | Fiber optic shape sensor |
US9011021B2 (en) | 2008-06-30 | 2015-04-21 | Intuitive Surgical Operations, Inc. | Fixture for shape-sensing optical fiber in a kinematic chain |
US7815376B2 (en) * | 2008-06-30 | 2010-10-19 | Intuitive Surgical Operations, Inc. | Fixture for shape-sensing optical fiber in a kinematic chain |
US20110044578A1 (en) * | 2008-06-30 | 2011-02-24 | Intuitive Surgical Operations, Inc. | Fixture for Shape-Sensing Optical Fiber in a Kinematic Chain |
US8182158B2 (en) | 2008-06-30 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Fixture for shape-sensing optical fiber in a kinematic chain |
US8116601B2 (en) | 2008-06-30 | 2012-02-14 | Intuitive Surgical Operations, Inc. | Fiber optic shape sensing |
US7720322B2 (en) | 2008-06-30 | 2010-05-18 | Intuitive Surgical, Inc. | Fiber optic shape sensor |
US20100202727A1 (en) * | 2008-06-30 | 2010-08-12 | Intuitive Surgical Operations, Inc. | Fiber optic shape sensor |
US20100048998A1 (en) * | 2008-08-01 | 2010-02-25 | Hansen Medical, Inc. | Auxiliary cavity localization |
US8290571B2 (en) | 2008-08-01 | 2012-10-16 | Koninklijke Philips Electronics N.V. | Auxiliary cavity localization |
US10004387B2 (en) | 2009-03-26 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Method and system for assisting an operator in endoscopic navigation |
US11744445B2 (en) | 2009-03-26 | 2023-09-05 | Intuitive Surgical Operations, Inc. | Method and system for assisting an operator in endoscopic navigation |
EP3553751A2 (en) | 2009-03-26 | 2019-10-16 | Intuitive Surgical Operations Inc. | System for providing visual guidance for steering a tip of an endoscopic device towards one or more landmarks and assisting an operator in endoscopic navigation |
WO2010111090A1 (en) | 2009-03-26 | 2010-09-30 | Intuitive Surgical Operations, Inc. | System for providing visual guidance for steering a tip of an endoscopic device towards one or more landmarks and assisting an operator in endoscopic navigation |
US10524641B2 (en) | 2009-03-26 | 2020-01-07 | Intuitive Surgical Operations, Inc. | Method and system for assisting an operator in endoscopic navigation |
US8801601B2 (en) | 2009-03-26 | 2014-08-12 | Intuitive Surgical Operations, Inc. | Method and system for providing visual guidance to an operator for steering a tip of an endoscopic device toward one or more landmarks in a patient |
US10856770B2 (en) | 2009-03-26 | 2020-12-08 | Intuitive Surgical Operations, Inc. | Method and system for providing visual guidance to an operator for steering a tip of an endoscopic device towards one or more landmarks in a patient |
US8337397B2 (en) | 2009-03-26 | 2012-12-25 | Intuitive Surgical Operations, Inc. | Method and system for providing visual guidance to an operator for steering a tip of an endoscopic device toward one or more landmarks in a patient |
EP3023941A2 (en) | 2009-03-26 | 2016-05-25 | Intuitive Surgical Operations, Inc. | System for providing visual guidance for steering a tip of an endoscopic device towards one or more landmarks and assisting an operator in endoscopic navigation |
EP4012658A1 (en) | 2009-03-26 | 2022-06-15 | Intuitive Surgical Operations, Inc. | System for providing visual guidance for steering a tip of an endoscopic device towards one or more landmarks and assisting an operator in endoscopic navigation |
EP3859682A1 (en) | 2009-03-26 | 2021-08-04 | Intuitive Surgical Operations, Inc. | System for providing visual guidance for steering a tip of an endoscopic device towards one or more landmarks and assisting an operator in endoscopic navigation |
US10363103B2 (en) | 2009-04-29 | 2019-07-30 | Auris Health, Inc. | Flexible and steerable elongate instruments with shape control and support elements |
US11464586B2 (en) | 2009-04-29 | 2022-10-11 | Auris Health, Inc. | Flexible and steerable elongate instruments with shape control and support elements |
US20120078053A1 (en) * | 2009-05-29 | 2012-03-29 | Soo Jay Louis Phee | Robotic system for flexible endoscopy |
US8882660B2 (en) * | 2009-05-29 | 2014-11-11 | Nanyang Technological University | Robotic system for flexible endoscopy |
US8780339B2 (en) | 2009-07-15 | 2014-07-15 | Koninklijke Philips N.V. | Fiber shape sensing systems and methods |
US10045882B2 (en) | 2009-10-30 | 2018-08-14 | The Johns Hopkins University | Surgical instrument and systems with integrated optical sensor |
WO2011100110A1 (en) | 2010-02-11 | 2011-08-18 | Intuitive Surgical Operations, Inc. | Method and system for automatically maintaining an operator selected roll orientation at a distal tip of a robotic endoscope |
US9285246B2 (en) | 2010-02-12 | 2016-03-15 | Intuitive Surgical Operations, Inc. | Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor |
US10028791B2 (en) | 2010-02-12 | 2018-07-24 | Intuitive Surgical Operations, Inc. | Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor |
EP3339799A1 (en) * | 2010-02-12 | 2018-06-27 | Intuitive Surgical Operations, Inc. | System for absolute three-dimensional measurements using a twist-insensitive shape sensor |
US12023113B2 (en) | 2010-02-12 | 2024-07-02 | Intuitive Surgical Operations, Inc. | Method and system for operating a teleoperated surgical instrument and a manual instrument |
US10588703B2 (en) | 2010-02-12 | 2020-03-17 | Intuitive Surgical Operations, Inc. | Method and system for operating a teleoperated surgical instrument and a manual instrument |
WO2011100124A1 (en) * | 2010-02-12 | 2011-08-18 | Intuitive Surgical Operations, Inc. | Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor |
US10687907B2 (en) | 2010-02-12 | 2020-06-23 | Intuitive Surgical Operations, Inc. | Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor |
US20110202069A1 (en) * | 2010-02-12 | 2011-08-18 | Prisco Giuseppe M | Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor |
US11252141B2 (en) | 2010-02-12 | 2022-02-15 | Intuitive Surgical Operations, Inc. | Method and system for operating a teleoperated surgical instrument and a manual instrument |
US20120229291A1 (en) * | 2010-03-10 | 2012-09-13 | Kenneth Mikalsen | Method and Device for Securing Operation of Automatic or Autonomous Equipment |
US8460236B2 (en) | 2010-06-24 | 2013-06-11 | Hansen Medical, Inc. | Fiber optic instrument sensing system |
US20140357953A1 (en) * | 2010-06-24 | 2014-12-04 | Hansen Medical, Inc. | Methods and devices for controlling a shapeable medical device |
US11857156B2 (en) | 2010-06-24 | 2024-01-02 | Auris Health, Inc. | Methods and devices for controlling a shapeable medical device |
US10143360B2 (en) * | 2010-06-24 | 2018-12-04 | Auris Health, Inc. | Methods and devices for controlling a shapeable medical device |
US11051681B2 (en) | 2010-06-24 | 2021-07-06 | Auris Health, Inc. | Methods and devices for controlling a shapeable medical device |
US8672837B2 (en) | 2010-06-24 | 2014-03-18 | Hansen Medical, Inc. | Methods and devices for controlling a shapeable medical device |
US20120065470A1 (en) * | 2010-09-14 | 2012-03-15 | The Johns Hopkins University | Robotic system to augment endoscopes |
US8961533B2 (en) | 2010-09-17 | 2015-02-24 | Hansen Medical, Inc. | Anti-buckling mechanisms and methods |
EP3175813A1 (en) | 2010-09-17 | 2017-06-07 | Hansen Medical, Inc. | Robotically controlled steerable catheters |
WO2012037506A2 (en) | 2010-09-17 | 2012-03-22 | Hansen Medical, Inc. | Robotically controlled steerable catheters |
US10130427B2 (en) | 2010-09-17 | 2018-11-20 | Auris Health, Inc. | Systems and methods for positioning an elongate member inside a body |
US10555780B2 (en) | 2010-09-17 | 2020-02-11 | Auris Health, Inc. | Systems and methods for positioning an elongate member inside a body |
US11213356B2 (en) | 2010-09-17 | 2022-01-04 | Auris Health, Inc. | Systems and methods for positioning an elongate member inside a body |
US8827948B2 (en) | 2010-09-17 | 2014-09-09 | Hansen Medical, Inc. | Steerable catheters |
US9314306B2 (en) | 2010-09-17 | 2016-04-19 | Hansen Medical, Inc. | Systems and methods for manipulating an elongate member |
US9358076B2 (en) | 2011-01-20 | 2016-06-07 | Hansen Medical, Inc. | System and method for endoluminal and translumenal therapy |
US10350390B2 (en) | 2011-01-20 | 2019-07-16 | Auris Health, Inc. | System and method for endoluminal and translumenal therapy |
US20120220879A1 (en) * | 2011-02-24 | 2012-08-30 | Vascomed Gmbh | Catheter and Catheter Arrangement |
US8942828B1 (en) | 2011-04-13 | 2015-01-27 | Stuart Schecter, LLC | Minimally invasive cardiovascular support system with true haptic coupling |
EP4079212A1 (en) | 2011-05-13 | 2022-10-26 | Intuitive Surgical Operations, Inc. | Medical system with multiple operating modes for steering a medical instrument through linked body passages |
US9572481B2 (en) * | 2011-05-13 | 2017-02-21 | Intuitive Surgical Operations, Inc. | Medical system with multiple operating modes for steering a medical instrument through linked body passages |
US20120289783A1 (en) * | 2011-05-13 | 2012-11-15 | Intuitive Surgical Operations, Inc. | Medical system with multiple operating modes for steering a medical instrument through linked body passages |
EP3058889A1 (en) | 2011-05-13 | 2016-08-24 | Intuitive Surgical Operations, Inc. | Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery |
WO2012158324A2 (en) | 2011-05-13 | 2012-11-22 | Intuitive Surgical Operations, Inc. | Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery |
US11490793B2 (en) | 2011-05-13 | 2022-11-08 | Intuitive Surgical Operations, Inc. | Medical system with multiple operating modes for steering a medical instrument through linked body passages |
US20130028554A1 (en) * | 2011-07-29 | 2013-01-31 | Hansen Medical, Inc. | Apparatus and methods for fiber integration and registration |
US20160374590A1 (en) * | 2011-07-29 | 2016-12-29 | Hansen Medical, Inc. | Apparatus and methods for fiber integration and registration |
US10667720B2 (en) * | 2011-07-29 | 2020-06-02 | Auris Health, Inc. | Apparatus and methods for fiber integration and registration |
US9138166B2 (en) * | 2011-07-29 | 2015-09-22 | Hansen Medical, Inc. | Apparatus and methods for fiber integration and registration |
US11419518B2 (en) | 2011-07-29 | 2022-08-23 | Auris Health, Inc. | Apparatus and methods for fiber integration and registration |
US9259155B2 (en) | 2011-08-16 | 2016-02-16 | Koninklijke Philips N.V. | Method to estimate interfractional and intrafractional organ motion for adaptive external beam radiotherapy |
EP2744391B1 (en) * | 2011-10-20 | 2018-04-18 | Koninklijke Philips N.V. | Shape sensing assisted medical procedure |
US11109775B2 (en) | 2011-10-20 | 2021-09-07 | Koninklijke Philips N.V. | Shape sensing assisted medical procedure |
CN103957772A (en) * | 2011-10-20 | 2014-07-30 | 皇家飞利浦有限公司 | Shape sensing assisted medical procedure |
US9622825B2 (en) * | 2011-11-28 | 2017-04-18 | National University Of Singapore | Robotic system for flexible endoscopy |
US20150157191A1 (en) * | 2011-11-28 | 2015-06-11 | Soo Jay Louis Phee | Robotic system for flexible endoscopy |
US11583204B2 (en) * | 2012-02-03 | 2023-02-21 | Intuitive Surgical Operations, Inc. | Steerable flexible needle with embedded shape sensing |
US11147637B2 (en) | 2012-05-25 | 2021-10-19 | Auris Health, Inc. | Low friction instrument driver interface for robotic systems |
US10013082B2 (en) | 2012-06-05 | 2018-07-03 | Stuart Schecter, LLC | Operating system with haptic interface for minimally invasive, hand-held surgical instrument |
US11903693B2 (en) | 2012-10-12 | 2024-02-20 | Intuitive Surgical Operations, Inc. | Determining position of medical device in branched anatomical structure |
US10888248B2 (en) | 2012-10-12 | 2021-01-12 | Intuitive Surgical Operations, Inc. | Determining position of medical device in branched anatomical structure |
WO2014058838A1 (en) | 2012-10-12 | 2014-04-17 | Intuitive Surgical Operations, Inc. | Determining position of medical device in branched anatomical structure |
US10080576B2 (en) | 2013-03-08 | 2018-09-25 | Auris Health, Inc. | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
US10149720B2 (en) | 2013-03-08 | 2018-12-11 | Auris Health, Inc. | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
US9532840B2 (en) | 2013-03-08 | 2017-01-03 | Hansen Medical, Inc. | Slider control of catheters and wires |
US11723636B2 (en) | 2013-03-08 | 2023-08-15 | Auris Health, Inc. | Method, apparatus, and system for facilitating bending of an instrument in a surgical or medical robotic environment |
US9844353B2 (en) | 2013-03-13 | 2017-12-19 | Hansen Medical, Inc. | Reducing incremental measurement sensor error |
US10492741B2 (en) | 2013-03-13 | 2019-12-03 | Auris Health, Inc. | Reducing incremental measurement sensor error |
US10123755B2 (en) | 2013-03-13 | 2018-11-13 | Auris Health, Inc. | Reducing incremental measurement sensor error |
US11241203B2 (en) | 2013-03-13 | 2022-02-08 | Auris Health, Inc. | Reducing measurement sensor error |
US10376672B2 (en) | 2013-03-15 | 2019-08-13 | Auris Health, Inc. | Catheter insertion system and method of fabrication |
US11129602B2 (en) | 2013-03-15 | 2021-09-28 | Auris Health, Inc. | Systems and methods for tracking robotically controlled medical instruments |
US10531864B2 (en) | 2013-03-15 | 2020-01-14 | Auris Health, Inc. | System and methods for tracking robotically controlled medical instruments |
US11504187B2 (en) | 2013-03-15 | 2022-11-22 | Auris Health, Inc. | Systems and methods for localizing, tracking and/or controlling medical instruments |
US10130345B2 (en) | 2013-03-15 | 2018-11-20 | Auris Health, Inc. | System and methods for tracking robotically controlled medical instruments |
US11426095B2 (en) | 2013-03-15 | 2022-08-30 | Auris Health, Inc. | Flexible instrument localization from both remote and elongation sensors |
US11413428B2 (en) | 2013-03-15 | 2022-08-16 | Auris Health, Inc. | Catheter insertion system and method of fabrication |
US11969157B2 (en) | 2013-03-15 | 2024-04-30 | Auris Health, Inc. | Systems and methods for tracking robotically controlled medical instruments |
US9710921B2 (en) | 2013-03-15 | 2017-07-18 | Hansen Medical, Inc. | System and methods for tracking robotically controlled medical instruments |
US11020016B2 (en) | 2013-05-30 | 2021-06-01 | Auris Health, Inc. | System and method for displaying anatomy and devices on a movable display |
US20160120612A1 (en) * | 2013-07-12 | 2016-05-05 | Olympus Corporation | Surgical robot |
US10405939B2 (en) | 2013-10-24 | 2019-09-10 | Auris Health, Inc. | Endoscopic device with helical lumen design |
US10405940B2 (en) | 2013-10-24 | 2019-09-10 | Auris Health, Inc. | Endoscopic device with double-helical lumen design |
US20150230869A1 (en) * | 2014-02-18 | 2015-08-20 | Samsung Electronics Co., Ltd. | Master devices for surgical robots and control methods thereof |
US9655680B2 (en) * | 2014-02-18 | 2017-05-23 | Samsung Electronics Co., Ltd. | Master devices for surgical robots and control methods thereof |
US9907696B2 (en) * | 2014-04-18 | 2018-03-06 | The Johns Hopkins University | Fiber optic distal sensor controlled micro-manipulation systems and methods |
US20150297404A1 (en) * | 2014-04-18 | 2015-10-22 | The Johns Hopkins University | Fiber optic distal sensor controlled micro-manipulation systems and methods |
US10493241B2 (en) | 2014-07-01 | 2019-12-03 | Auris Health, Inc. | Apparatuses and methods for monitoring tendons of steerable catheters |
US11511079B2 (en) | 2014-07-01 | 2022-11-29 | Auris Health, Inc. | Apparatuses and methods for monitoring tendons of steerable catheters |
US11350998B2 (en) | 2014-07-01 | 2022-06-07 | Auris Health, Inc. | Medical instrument having translatable spool |
US10792464B2 (en) | 2014-07-01 | 2020-10-06 | Auris Health, Inc. | Tool and method for using surgical endoscope with spiral lumens |
US10159533B2 (en) | 2014-07-01 | 2018-12-25 | Auris Health, Inc. | Surgical system with configurable rail-mounted mechanical arms |
US10814101B2 (en) | 2014-07-01 | 2020-10-27 | Auris Health, Inc. | Apparatuses and methods for monitoring tendons of steerable catheters |
US10398518B2 (en) | 2014-07-01 | 2019-09-03 | Auris Health, Inc. | Articulating flexible endoscopic tool with roll capabilities |
US11759605B2 (en) | 2014-07-01 | 2023-09-19 | Auris Health, Inc. | Tool and method for using surgical endoscope with spiral lumens |
US10667871B2 (en) | 2014-09-30 | 2020-06-02 | Auris Health, Inc. | Configurable robotic surgical system with virtual rail and flexible endoscope |
US11534250B2 (en) | 2014-09-30 | 2022-12-27 | Auris Health, Inc. | Configurable robotic surgical system with virtual rail and flexible endoscope |
US20160097658A1 (en) * | 2014-10-06 | 2016-04-07 | Caterpillar Inc. | Fiber optic implement position determination system |
US11229487B2 (en) * | 2014-11-21 | 2022-01-25 | Think Surgical Inc. | Optical communication system |
US20200100848A1 (en) * | 2014-11-21 | 2020-04-02 | Think Surgical, Inc. | Visible light communication system for transmitting data between visual tracking systems and tracking markers |
US20210268235A1 (en) * | 2015-01-12 | 2021-09-02 | Intuitive Surgical Operations, Inc. | Devices, systems, and methods for anchoring actuation wires to a steerable instrument |
US10357324B2 (en) | 2015-02-20 | 2019-07-23 | Stryker Corporation | Sterile barrier assembly, mounting system, and method for coupling surgical components |
US11504203B2 (en) | 2015-02-20 | 2022-11-22 | Stryker Corporation | Sterile barrier assembly, mounting system, and method for coupling surgical components |
US11819636B2 (en) | 2015-03-30 | 2023-11-21 | Auris Health, Inc. | Endoscope pull wire electrical circuit |
US10702348B2 (en) | 2015-04-09 | 2020-07-07 | Auris Health, Inc. | Surgical system with configurable rail-mounted mechanical arms |
US11464587B2 (en) | 2015-05-15 | 2022-10-11 | Auris Health, Inc. | Surgical robotics system |
US10500001B2 (en) | 2015-05-15 | 2019-12-10 | Auris Health, Inc. | Surgical robotics system |
US11403759B2 (en) | 2015-09-18 | 2022-08-02 | Auris Health, Inc. | Navigation of tubular networks |
US10796432B2 (en) | 2015-09-18 | 2020-10-06 | Auris Health, Inc. | Navigation of tubular networks |
US10482599B2 (en) | 2015-09-18 | 2019-11-19 | Auris Health, Inc. | Navigation of tubular networks |
US10169875B2 (en) | 2015-09-18 | 2019-01-01 | Auris Health, Inc. | Navigation of tubular networks |
US11464591B2 (en) | 2015-11-30 | 2022-10-11 | Auris Health, Inc. | Robot-assisted driving systems and methods |
US10806535B2 (en) | 2015-11-30 | 2020-10-20 | Auris Health, Inc. | Robot-assisted driving systems and methods |
US10813711B2 (en) | 2015-11-30 | 2020-10-27 | Auris Health, Inc. | Robot-assisted driving systems and methods |
US10463439B2 (en) | 2016-08-26 | 2019-11-05 | Auris Health, Inc. | Steerable catheter with shaft load distributions |
US11701192B2 (en) | 2016-08-26 | 2023-07-18 | Auris Health, Inc. | Steerable catheter with shaft load distributions |
US11185455B2 (en) | 2016-09-16 | 2021-11-30 | Verb Surgical Inc. | Table adapters for mounting robotic arms to a surgical table |
US20180078440A1 (en) * | 2016-09-16 | 2018-03-22 | Verb Surgical Inc. | Linkage mechanisms for mounting robotic arms to a surgical table |
US11389360B2 (en) * | 2016-09-16 | 2022-07-19 | Verb Surgical Inc. | Linkage mechanisms for mounting robotic arms to a surgical table |
KR20190044585A (en) * | 2016-09-19 | 2019-04-30 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Positioning display system and associated method for remotely controllable arms |
KR102446102B1 (en) | 2016-09-19 | 2022-09-22 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Positioning indicator system and related method for remotely controllable arm |
US11076925B2 (en) | 2016-09-19 | 2021-08-03 | Intuitive Surgical Operations, Inc. | Positioning indicator system for a remotely controllable arm and related methods |
WO2018052796A1 (en) * | 2016-09-19 | 2018-03-22 | Intuitive Surgical Operations, Inc. | Positioning indicator system for a remotely controllable arm and related methods |
WO2018057633A1 (en) * | 2016-09-21 | 2018-03-29 | Intuitive Surgical Operations, Inc. | Systems and methods for instrument buckling detection |
US11980344B2 (en) | 2016-09-21 | 2024-05-14 | Intuitive Surgical Operations, Inc. | Systems and methods for instrument buckling detection |
US11771309B2 (en) | 2016-12-28 | 2023-10-03 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
US20240016553A1 (en) * | 2017-01-18 | 2024-01-18 | KB Medical SA | Robotic navigation of robotic surgical systems |
US11779408B2 (en) * | 2017-01-18 | 2023-10-10 | Globus Medical, Inc. | Robotic navigation of robotic surgical systems |
US20200030040A1 (en) * | 2017-01-18 | 2020-01-30 | KB Medical SA | Robotic navigation of robotic surgical systems |
US11529195B2 (en) * | 2017-01-18 | 2022-12-20 | Globus Medical Inc. | Robotic navigation of robotic surgical systems |
US12053144B2 (en) | 2017-03-31 | 2024-08-06 | Auris Health, Inc. | Robotic systems for navigation of luminal networks that compensate for physiological noise |
US11490782B2 (en) | 2017-03-31 | 2022-11-08 | Auris Health, Inc. | Robotic systems for navigation of luminal networks that compensate for physiological noise |
US10349986B2 (en) | 2017-04-20 | 2019-07-16 | Warsaw Orthopedic, Inc. | Spinal implant system and method |
US11730351B2 (en) | 2017-05-17 | 2023-08-22 | Auris Health, Inc. | Exchangeable working channel |
US10716461B2 (en) | 2017-05-17 | 2020-07-21 | Auris Health, Inc. | Exchangeable working channel |
US11759266B2 (en) | 2017-06-23 | 2023-09-19 | Auris Health, Inc. | Robotic systems for determining a roll of a medical device in luminal networks |
US10022192B1 (en) | 2017-06-23 | 2018-07-17 | Auris Health, Inc. | Automatically-initialized robotic systems for navigation of luminal networks |
US10159532B1 (en) | 2017-06-23 | 2018-12-25 | Auris Health, Inc. | Robotic systems for determining a roll of a medical device in luminal networks |
US11278357B2 (en) | 2017-06-23 | 2022-03-22 | Auris Health, Inc. | Robotic systems for determining an angular degree of freedom of a medical device in luminal networks |
US11395703B2 (en) | 2017-06-28 | 2022-07-26 | Auris Health, Inc. | Electromagnetic distortion detection |
US11832889B2 (en) | 2017-06-28 | 2023-12-05 | Auris Health, Inc. | Electromagnetic field generator alignment |
US11832913B2 (en) | 2017-10-04 | 2023-12-05 | Mako Surgical Corp. | Sterile drape assembly for surgical robot |
US11096754B2 (en) | 2017-10-04 | 2021-08-24 | Mako Surgical Corp. | Sterile drape assembly for surgical robot |
US10555778B2 (en) | 2017-10-13 | 2020-02-11 | Auris Health, Inc. | Image-based branch detection and mapping for navigation |
US11850008B2 (en) | 2017-10-13 | 2023-12-26 | Auris Health, Inc. | Image-based branch detection and mapping for navigation |
US11058493B2 (en) | 2017-10-13 | 2021-07-13 | Auris Health, Inc. | Robotic system configured for navigation path tracing |
US11969217B2 (en) | 2017-10-13 | 2024-04-30 | Auris Health, Inc. | Robotic system configured for navigation path tracing |
US11510736B2 (en) | 2017-12-14 | 2022-11-29 | Auris Health, Inc. | System and method for estimating instrument location |
US11160615B2 (en) | 2017-12-18 | 2021-11-02 | Auris Health, Inc. | Methods and systems for instrument tracking and navigation within luminal networks |
US11389250B2 (en) * | 2017-12-29 | 2022-07-19 | Erhan Ilhan Konukseven | Position detection system by fiber Bragg grating based optical sensors in surgical fields |
US11744670B2 (en) | 2018-01-17 | 2023-09-05 | Auris Health, Inc. | Surgical platform with adjustable arm supports |
US11712173B2 (en) | 2018-03-28 | 2023-08-01 | Auris Health, Inc. | Systems and methods for displaying estimated location of instrument |
US11109920B2 (en) | 2018-03-28 | 2021-09-07 | Auris Health, Inc. | Medical instruments with variable bending stiffness profiles |
US11950898B2 (en) | 2018-03-28 | 2024-04-09 | Auris Health, Inc. | Systems and methods for displaying estimated location of instrument |
US10898277B2 (en) | 2018-03-28 | 2021-01-26 | Auris Health, Inc. | Systems and methods for registration of location sensors |
US10827913B2 (en) | 2018-03-28 | 2020-11-10 | Auris Health, Inc. | Systems and methods for displaying estimated location of instrument |
US11576730B2 (en) | 2018-03-28 | 2023-02-14 | Auris Health, Inc. | Systems and methods for registration of location sensors |
US10524866B2 (en) | 2018-03-28 | 2020-01-07 | Auris Health, Inc. | Systems and methods for registration of location sensors |
EP3552540A1 (en) | 2018-04-10 | 2019-10-16 | Biosense Webster (Israel) Ltd. | Catheter localization using fiber optic shape sensing combined with current location |
US11793580B2 (en) | 2018-05-30 | 2023-10-24 | Auris Health, Inc. | Systems and methods for location sensor-based branch prediction |
US10905499B2 (en) | 2018-05-30 | 2021-02-02 | Auris Health, Inc. | Systems and methods for location sensor-based branch prediction |
US10898286B2 (en) | 2018-05-31 | 2021-01-26 | Auris Health, Inc. | Path-based navigation of tubular networks |
US11503986B2 (en) | 2018-05-31 | 2022-11-22 | Auris Health, Inc. | Robotic systems and methods for navigation of luminal network that detect physiological noise |
US10898275B2 (en) | 2018-05-31 | 2021-01-26 | Auris Health, Inc. | Image-based airway analysis and mapping |
US11759090B2 (en) | 2018-05-31 | 2023-09-19 | Auris Health, Inc. | Image-based airway analysis and mapping |
US11864850B2 (en) | 2018-05-31 | 2024-01-09 | Auris Health, Inc. | Path-based navigation of tubular networks |
US11779400B2 (en) | 2018-08-07 | 2023-10-10 | Auris Health, Inc. | Combining strain-based shape sensing with catheter control |
US10898276B2 (en) | 2018-08-07 | 2021-01-26 | Auris Health, Inc. | Combining strain-based shape sensing with catheter control |
US11779421B2 (en) | 2018-09-26 | 2023-10-10 | Auris Health, Inc. | Articulating medical instruments |
US11179212B2 (en) | 2018-09-26 | 2021-11-23 | Auris Health, Inc. | Articulating medical instruments |
US11806096B2 (en) | 2018-12-04 | 2023-11-07 | Mako Surgical Corp. | Mounting system with sterile barrier assembly for use in coupling surgical components |
US11986257B2 (en) | 2018-12-28 | 2024-05-21 | Auris Health, Inc. | Medical instrument with articulable segment |
US11617627B2 (en) | 2019-03-29 | 2023-04-04 | Auris Health, Inc. | Systems and methods for optical strain sensing in medical instruments |
US11717147B2 (en) | 2019-08-15 | 2023-08-08 | Auris Health, Inc. | Medical device having multiple bending sections |
US11207141B2 (en) | 2019-08-30 | 2021-12-28 | Auris Health, Inc. | Systems and methods for weight-based registration of location sensors |
US11944422B2 (en) | 2019-08-30 | 2024-04-02 | Auris Health, Inc. | Image reliability determination for instrument localization |
US11147633B2 (en) | 2019-08-30 | 2021-10-19 | Auris Health, Inc. | Instrument image reliability systems and methods |
US11324558B2 (en) | 2019-09-03 | 2022-05-10 | Auris Health, Inc. | Electromagnetic distortion detection and compensation |
US11864848B2 (en) | 2019-09-03 | 2024-01-09 | Auris Health, Inc. | Electromagnetic distortion detection and compensation |
US11963798B2 (en) | 2019-11-14 | 2024-04-23 | Medtronic, Inc. | Optical force sensor with a catheter/sheath |
US12011233B2 (en) | 2019-11-26 | 2024-06-18 | Arizona Board Of Regents On Behalf Of Arizona State University | System and method for determining position of a steerable assembly within tissue of an animal body |
EP4064955A4 (en) * | 2019-11-26 | 2023-11-22 | Arizona Board of Regents on behalf of Arizona State University | System and method for determining position of a steerable assembly within tissue of an animal body |
US11602372B2 (en) | 2019-12-31 | 2023-03-14 | Auris Health, Inc. | Alignment interfaces for percutaneous access |
US11950872B2 (en) | 2019-12-31 | 2024-04-09 | Auris Health, Inc. | Dynamic pulley system |
US11660147B2 (en) | 2019-12-31 | 2023-05-30 | Auris Health, Inc. | Alignment techniques for percutaneous access |
US11298195B2 (en) | 2019-12-31 | 2022-04-12 | Auris Health, Inc. | Anatomical feature identification and targeting |
Also Published As
Publication number | Publication date |
---|---|
WO2008097540A2 (en) | 2008-08-14 |
WO2008097853A2 (en) | 2008-08-14 |
US20090036900A1 (en) | 2009-02-05 |
US9566201B2 (en) | 2017-02-14 |
US20120253332A1 (en) | 2012-10-04 |
US20120241576A1 (en) | 2012-09-27 |
WO2008097540A3 (en) | 2009-01-15 |
US20080245946A1 (en) | 2008-10-09 |
US20130269109A1 (en) | 2013-10-17 |
US20080195081A1 (en) | 2008-08-14 |
US8146874B2 (en) | 2012-04-03 |
WO2008097853A3 (en) | 2008-11-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20080218770A1 (en) | Robotic surgical instrument and methods using bragg fiber sensors | |
JP7271774B2 (en) | Systems and methods for compensating compression of medical devices | |
US20220152356A1 (en) | Flexible instrument with nested conduits | |
US11617627B2 (en) | Systems and methods for optical strain sensing in medical instruments | |
JP7072688B2 (en) | Flexible instrument with grooved maneuverable tube | |
US20220133414A1 (en) | Shape sensor systems with redundant sensing | |
US20210212783A1 (en) | Flexible instrument with embedded actuation conduits | |
CN108784702B (en) | Shape sensor system for tracking interventional instruments and method of use | |
US20210393349A1 (en) | Systems and methods for device verification and sensor calibration | |
US20230226684A1 (en) | High stiffness bar with internal actuators and internal cabling |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: HANSEN MEDICAL, INC., CALIFORNIA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:MOLL, FREDERIC H.;SCHLESINGER, RANDALL L.;REEL/FRAME:020952/0033;SIGNING DATES FROM 20080417 TO 20080426 |
|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |