Patents by Inventor Robert Younge
Robert Younge has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
-
Publication number: 20070233044Abstract: A robotic catheter manipulator includes a guide catheter including proximal and distal ends and lumen extending there through. A flexible bellows is secured at one end to the proximal end of the guide catheter and at the other end to a seal configured to receive a working catheter. In a loaded state, the working catheter is fixed relative to the seal. A ditherer is operatively connected to the seal for dithering the working catheter relative to the guide catheter when placed therein. The robotic catheter manipulator includes at least one force sensor for measuring the force applied to the working catheter by the ditherer. Force measurements may be translated into an estimated force that is experienced at the distal end of the working catheter which may then be displayed to the physician via a monitor or display.Type: ApplicationFiled: February 22, 2007Publication date: October 4, 2007Applicant: HANSEN MEDICAL, INC.Inventors: Daniel Wallace, Gregory Stahler, Alex Goldenberg, Gene Reis, Robert Younge, Mathew Clopp, David Camarillo, Toby King
-
Publication number: 20070197939Abstract: A method for estimating the force on a distal end of a working catheter includes positioning a portion of a robotically controlled guide catheter and working catheter into a body lumen wherein a distal end of the working catheter projects distally from a distal end of the guide catheter. The working catheter and guide catheter are dithered with respect to one another using a dithering device operatively connected to a proximal portion of the working catheter. The coupling may occur directly to the working catheter or via a seal such as a Touhy seal. The force experienced by the working catheter at a proximal region is measured through at least one dithering cycle. The force at the distal end of the working catheter is then estimated based on the measured force at the proximal region. The estimated force may be displayed to a physician on, for example, a monitor.Type: ApplicationFiled: February 22, 2007Publication date: August 23, 2007Applicant: HANSEN MEDICAL, INC.Inventors: Daniel Wallace, Gregory Stahler, Alex Goldenberg, Gene Reis, Robert Younge, Mathew Clopp, David Camarillo, Toby King
-
Publication number: 20070083098Abstract: Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.Type: ApplicationFiled: September 29, 2005Publication date: April 12, 2007Applicant: Intuitive Surgical INC.Inventors: John Stern, Robert Younge, David Gere, Gunter Niemeyer
-
Publication number: 20070043338Abstract: The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.Type: ApplicationFiled: July 3, 2006Publication date: February 22, 2007Applicant: HANSEN MEDICAL, INCInventors: Frederic Moll, Daniel Wallace, Gregory Stahler, David Moore, Daniel Adams, Kenneth Martin, Robert Younge, Michael Zinn, Gunter Niemeyer, David Lundmark
-
Publication number: 20070038080Abstract: A method of performing a surgical procedure on a patient is provided. The method typically comprises positioning a surgical work station of a robotically controlled surgical system and a patient on which a surgical procedure is to be performed in close proximity relative to each other, directing a field of view of an image capture device of the surgical work station at a surgical site on the patient, at which site the surgical procedure is to be performed, and introducing at least one robotically controlled surgical instrument on the surgical work station to the surgical site so that an end effector of the surgical instrument is within the field of view of the image capture device. The method typically further comprises displaying an image of the surgical site and the end effector on a display area of an image display at an operator control station of the surgical system.Type: ApplicationFiled: August 1, 2006Publication date: February 15, 2007Applicant: Intuitive Surgical INC.Inventors: J. Salisbury, Gunter Niemeyer, Robert Younge, Gary Guthart, David Mintz, Thomas Cooper
-
Publication number: 20070012135Abstract: Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.Type: ApplicationFiled: September 18, 2006Publication date: January 18, 2007Applicant: Intuitive Surgical INC.Inventors: Michael Tierney, Thomas Cooper, Chris Julian, Stephen Blumenkranz, Gary Guthart, Robert Younge
-
Publication number: 20060293643Abstract: A robotic catheter system includes a controller with a master input device, and an instrument driver in communication with the controller, the instrument driver configured for independently controlling each of number of desired motions of a flexible, elongate guide instrument in a body of a patient in response to control signals generated by the controller, the desired motions selected from the group comprising axial advancement, axial retraction, axial rotation, and radial bending. Integrated haptics capability may be provided, in which one or more motors provide tactile feedback to an operator through the master input device.Type: ApplicationFiled: July 6, 2005Publication date: December 28, 2006Inventors: Daniel Wallace, Robert Younge, Michael Zinn, Federico Barbagli, David Moore, Gregory Stahler, Daniel Adams, Frederic Moll, Kenneth Martin, Gunter Niemeyer
-
Publication number: 20060200026Abstract: A method comprises inserting a flexible instrument in a body; maneuvering the instrument using a robotically controlled system; predicting a location of the instrument in the body using kinematic analysis; generating a graphical reconstruction of the catheter at the predicted location; obtaining an image of the catheter in the body; and comparing the image of the catheter with the graphical reconstruction to determine an error in the predicted location.Type: ApplicationFiled: January 13, 2006Publication date: September 7, 2006Applicant: Hansen Medical, Inc.Inventors: Daniel Wallace, Robert Younge, Frederic Moll, Federico Barbagli
-
Publication number: 20060106493Abstract: Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.Type: ApplicationFiled: December 12, 2005Publication date: May 18, 2006Applicant: Intuitive Surgical INC.Inventors: Gunter Niemeyer, Gary Guthart, William Nowlin, Nitish Swarup, Gregory Toth, Robert Younge
-
Publication number: 20060100610Abstract: A method using a robotic system to perform a procedure on a patient, includes moving a control interface provided on a master input device, generating control signals corresponding, at least in part, to movement of the interface, moving one or more drive elements of an instrument driver in response to the control signal, the one or more drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument. The method may further comprise providing tactile feedback through the interface.Type: ApplicationFiled: July 6, 2005Publication date: May 11, 2006Inventors: Daniel Wallace, Robert Younge, Michael Zinn, Federico Barbagli, David Moore, Gregory Stahler, Daniel Adams, Frederic Moll, Kenneth Martin
-
Publication number: 20060095022Abstract: A methods using a robotic catheter system to perform a procedure on a patient includes generating a control signal corresponding to movement of a master input device, and moving a plurality of drive elements of an instrument driver in response to the control signal, the drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument distal end.Type: ApplicationFiled: July 6, 2005Publication date: May 4, 2006Inventors: Frederic Moll, Daniel Wallace, Robert Younge, David Moore, Michael Zinn, Kenneth Martin, Gunter Niemeyer
-
Publication number: 20060084945Abstract: A robotic medical system comprises an operator control station having a master input device, a catheter instrument, and an instrument driver in communication with the operator control station. The catheter instrument includes an elongate flexible catheter member, a flexible control element, such as, e.g., a cable, extending within the catheter member, and a proximal drivable assembly configured to axially move the control element relative to the catheter member to perform a kinematic function at a distal end of the catheter member, such as a deflection of the distal end of the catheter member. The instrument driver is configured to operate the drivable assembly to axially move the control element in response to control signals generated, at least in part, by the master input device.Type: ApplicationFiled: July 6, 2005Publication date: April 20, 2006Applicant: Hansen Medical, Inc.Inventors: Frederic Moll, Daniel Wallace, Robert Younge, Kenneth Martin, Gregory Stahler, David Moore, Daniel Adams, Michael Zinn, Gunter Niemeyer
-
Publication number: 20060057560Abstract: A method for modifying a geometry of a collagenous tissue mass includes heating the collagenous tissue mass to a temperature sufficient to cause denaturation, and introducing a biocompatible fixative, such as genepin, into the collagenous tissue mass.Type: ApplicationFiled: July 19, 2005Publication date: March 16, 2006Applicant: Hansen Medical, Inc.Inventors: Edwin Hlavka, Frederic Moll, Robert Younge, Daniel Wallace
-
Publication number: 20060030840Abstract: Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.Type: ApplicationFiled: March 7, 2005Publication date: February 9, 2006Applicants: Intuitive Surgical, Inc.Inventors: William Nowlin, Gary Guthart, Robert Younge, Thomas Cooper, Craig Gerbi, Stephen Blumenkranz, Dean Hoornaert
-
Publication number: 20050222554Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.Type: ApplicationFiled: March 4, 2005Publication date: October 6, 2005Inventors: Daniel Wallace, Frederic Moll, Robert Younge, Kenneth Martin, Gregory Stahler, David Moore, Daniel Adams, Michael Zinn, Gunter Niemeyer
-
Publication number: 20050149003Abstract: Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information maybe stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.Type: ApplicationFiled: December 17, 2004Publication date: July 7, 2005Applicant: INTUITIVE SURGICAL , INC.Inventors: Michael Tierney, Thomas Cooper, Chris Julian, Stephen Blumenkranz, Gary Guthart, Robert Younge
-
Publication number: 20050137478Abstract: A system and method for recording and depicting ultrasound images of a moving object are disclosed. In a preferred embodiment, ultrasound images are acquired as the field of view of an ultrasound probe is advanced across the tissues of interest during a resting period between periods of relatively large-scale heart cycle motion. A series of images acquired during a particular resting period may be represented as a three-dimensional volume image, and the comparison of volume images from adjacent cardiac resting periods enables three-dimensional volume image modulation analysis which may be presented for a user as a moving volume image of the objects of interest within the field of view.Type: ApplicationFiled: August 20, 2004Publication date: June 23, 2005Inventors: Robert Younge, Daniel Wallace
-
Publication number: 20050107808Abstract: Systems and methods are provided for performing a surgical procedure on a beating heart of a patient. Methods are provided which include positioning an end effector in close proximity to a surgical site on the heart, the end effector being mounted on a robotically controlled arm. The motion of the surgical site is monitored and end effector tracking command signals computed in response to the monitored motion of the surgical site. The tracking command signals are forwarded to actuators operatively associated with the robotically controlled arm to cause the arm to move the end effector generally to track motion of the surgical site. The method further includes inputting an end effector movement command signal, and forwarding the end effector movement command signal to the actuators to cause the end effector to move relative to the surgical site so as to perform at least part of the surgical procedure.Type: ApplicationFiled: December 28, 2004Publication date: May 19, 2005Applicant: Intuitive Surgical, Inc.Inventors: Philip Evans, Frederic Moll, Gary Guthart, William Nowlin, Rand Pendleton, Christopher Wilson, Andris Ramans, David Rosa, Volkmar Falk, Robert Younge