Source: http://www.google.de/patents/US20070239120
Timestamp: 2018-01-21 18:43:26
Document Index: 294278037

Matched Legal Cases: ['art.\n2', 'art.\n3', 'art.\n5', 'art.\n9', 'art.\n10', 'art.\n12', 'art.\n15', 'art.\n16', 'art.\n19']

Patent US20070239120 - Flexible instrument - Google Patentsuche
A method of performing a medical procedure on a patient comprises conveying control signals from a remote controller to a drive unit, intravenously introducing the catheter into a heart of the patient (e.g., via the vena cava into the right atrium), and creating a puncture within a wall between two chambers...http://www.google.de/patents/US20070239120?utm_source=gb-gplus-sharePatent US20070239120 - Flexible instrument
Veröffentlichungsnummer US20070239120 A1
Anmeldenummer US 11/762,774
Prioritätsdatum 24. Febr. 1998
Auch veröffentlicht unter US7713190
Veröffentlichungsnummer 11762774, 762774, US 2007/0239120 A1, US 2007/239120 A1, US 20070239120 A1, US 20070239120A1, US 2007239120 A1, US 2007239120A1, US-A1-20070239120, US-A1-2007239120, US2007/0239120A1, US2007/239120A1, US20070239120 A1, US20070239120A1, US2007239120 A1, US2007239120A1
Erfinder David Brock, Woojin Lee, Gary Rogers, Barry Weitzner
Ursprünglich Bevollmächtigter Brock David L, Woojin Lee, Gary Rogers, Barry Weitzner
Patentzitate (99), Referenziert von (10), Klassifizierungen (57), Juristische Ereignisse (2)
US 20070239120 A1
conveying control signals from a remote controller to a drive unit;
operating the drive unit in accordance with the control signals to intravenously introduce the catheter into a heart of the patient; and
using the catheter to create a puncture within a wall between two chambers of the heart.
2. The method of claim 1, wherein the two chambers are the left and right atria of the heart.
3. The method of claim 1, wherein the drive unit is operated in accordance with the control signals received from the remote controller to create the puncture within the heart wall.
4. The method of claim 1, wherein the catheter is introduced within the vena cava into the right atrium of the heart.
5. The method of claim 1, further comprising operating the drive unit in accordance with the control signals received from the remote controller to advance the catheter from one of the two chambers to another of the two chambers through the puncture.
6. The method of claim 5, wherein the catheter has an expandable device, the method further comprising actuating the expandable device to anchor the catheter against the wall.
7. The method of claim 1, wherein the catheter is a guide catheter, and the method further comprises operating the drive unit in accordance with the control signals received from the remote controller to advance a working catheter within the guide catheter through the puncture.
8. The method of claim 7, wherein the working catheter has an end effector, and the method further comprises operating the drive unit in accordance with the control signals received from the remote controller to actuate the end effector within the heart.
9. The method of claim 8, wherein the end effector is actuated to repair a valve within the heart.
10. A method of performing a medical procedure on a patient, comprising:
intravenously introducing a guide catheter into a heart of the patient;
creating a puncture within a wall between two chambers of the heart; and
operating the drive unit in accordance with the control signals to advance a working catheter within the guide catheter through the puncture.
11. The method of claim 10, wherein the two chambers are the left and right atria of the heart.
12. The method of claim 11, wherein the working catheter is advanced from one of the two chambers to another of the two chambers through the puncture.
13. The method of claim 10, wherein the drive unit is operated in accordance with the control signals to create the puncture within the heart using the catheter.
14. The method of claim 10, wherein the guide catheter is introduced within the vena cava into the right atrium of the heart.
15. The method of claim 10, further comprising operating the drive unit in accordance with the control signals received from the remote controller to intravenously introduce the guide catheter into the heart.
16. The method of claim 10, further comprises operating the drive unit in accordance with the control signals received from the remote controller to advance the guide catheter through the puncture.
17. The method of claim 16, wherein the guide catheter has an expandable device, the method further comprising actuating the expandable device to anchor the guide catheter against the wall.
18. The method of claim 10, wherein the working catheter has an end effector, and the method further comprises operating the drive unit in accordance with the control signals received from the remote controller to actuate the end effector within the heart.
19. The method of claim 18, wherein the end effector is actuated to repair a valve within the heart.
The following describes the mathematical mapping of the physician's command input to the motion of the catheter system. FIG. 13 schematically illustrates the various degrees of freedom by which the catheter can be manipulated, particularly the axial and lateral rotations, or the translation motion allowing independent control of the tool position within the surgical space, as well as axial rotation of the tool. For example, the system of FIG. 6 provides a physician with seven independent command inputs, including position (.chi..sub.i, .gamma..sub.i, z.sub.i), orientation (.theta..sub.i, .omega..sub.i, .psi..sub.i) and tool grip angle .alpha..sub.1. The controller calculates the position of the five (5) independent degrees-of-freedom of the catheter system, given by (.chi..sub.c, .theta..sub.c, .omega..sub.c, .psi..sub.c, .alpha..sub.c), by determining the position (x, y, z) of the tool, given by .chi.=.chi..sub.c+r cos omega..sub.c, .gamma.=−r sin .omega..sub.c sin .theta..sub.c, z=r sin .omega..sub.c cos .theta..sub.c.psi.=.psi..sub.c.alpha.=.alpha..sub.c, where .chi..sub.c, .theta..sub.c, .omega..sub.c, .psi..sub.c, .alpha..sub.c are the independent inputs to the catheter system, and r is the distance from the lateral joint to tip of the mini-tool. The resulting position is .chi..sub.c=.chi.−r cos .psi..sub.c, .theta..sub.c, =tan .sup.−1 (−y/z), .omega..sub.c,=sin .sup.−1 (z/r cos .theta..sub.c), .psi..sub.c=.omega., .alpha..sub.c.alpha. If .lamda. is chosen as a scaling value, the following mapping between command input and independent catheter input is x.sub.c=.lamda.x.sub.i−r cos .omega..sub.c.theta..sub.c=tan .sup.−1 (−y.sub.i/z.sub.i), .omega..sub.c=sin .sup.−1 (.lamda.z.sub.i/r cos .theta..sub.c), .psi..sub.c=.psi., .alpha..sub.c=.alpha. It is noted that the axial rotation and grip position are not scaled.
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US-Klassifikation 604/272
Internationale Klassifikation A61M25/06, B25J9/10, B25J3/04, A61B17/04, A61B5/00, A61B17/28, A61B19/00, A61B17/00, A61B5/04
Unternehmensklassifikation A61B2034/2059, A61B34/30, A61B34/70, A61B2034/2051, A61B2034/301, A61B2034/742, A61B90/36, A61B90/361, A61B34/10, A61B2090/506, A61B2034/715, A61B34/72, A61B34/20, A61B34/71, A61B2090/378, A61B34/35, A61B34/77, A61B34/37, A61B2090/365, A61B2034/744, A61B2034/305, A61B2017/00477, A61B2017/00088, A61B5/015, A61B2017/2927, A61B2017/00331, A61B17/3462, A61B2017/2939, A61B17/29, B25J9/104, A61B17/0483, A61B2017/003, B25J3/04, A61B2017/00026, A61B17/0469, A61B5/4893, A61B17/00234, A61B5/0084, A61B17/3421
Europäische Klassifikation A61B19/52, A61B19/22B, A61B19/52H12, A61B19/22, A61B17/04H, A61B17/04E, B25J9/10C, B25J3/04
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25. Dez. 2017 FEPP