Teresa A Miller

US Patent:

20120191107, Jul 26, 2012

Filed:

Jun 30, 2011

Appl. No.:

13/174536

Inventors:

Neal A. Tanner - Mountain View CA, US
Teresa Miller - Sunnyvale CA, US
Christopher M. Sewell - Los Alamos NM, US
Sean P. Walker - Mountain View CA, US

International Classification:

A61B 19/00

US Classification:

606130

Abstract:

Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.

US Patent:

20130072944, Mar 21, 2013

Filed:

Nov 15, 2012

Appl. No.:

13/678280

Inventors:

HANSEN MEDICAL, INC. - Mountain View CA, US
Neal A. Tanner - Burnet TX, US
Teresa Miller - Sunnyvale CA, US

Assignee:

HANSEN MEDICAL, INC. - Mountain View CA

International Classification:

A61B 19/00

US Classification:

606130

Abstract:

Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed.

US Patent:

20200163726, May 28, 2020

Filed:

Jan 17, 2020

Appl. No.:

16/746728

Inventors:

- Redwood City CA, US
Teresa Miller - Palo Alto CA, US
Christopher M. Sewell - Los Alamos NM, US
Sean P. Walker - Mountain View CA, US

International Classification:

A61B 34/20
A61B 34/30
A61B 8/12
A61B 6/00
A61B 34/37
G06T 19/00
A61B 8/00
A61B 6/12
A61B 46/10
A61B 34/00
A61B 34/35

Abstract:

Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.

US Patent:

20150142013, May 21, 2015

Filed:

Jan 23, 2015

Appl. No.:

14/603836

Inventors:

- Mountain View CA, US
Teresa Miller - Palo Alto CA, US
Christopher M. Sewell - Los Alamos NM, US
Sean P. Walker - Fremont CA, US

International Classification:

A61B 19/00

US Classification:

606130

Abstract:

Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.

US Patent:

20140276933, Sep 18, 2014

Filed:

Mar 14, 2013

Appl. No.:

13/828342

Inventors:

Hansen Medical, Inc. - , US
Francis Macnamara - Mountain View CA, US
Neal Tanner - Mountain View CA, US
Teresa Miller - Palo Alto CA, US
Kamini Balaji - San Francisco CA, US
Greg Stahler - San Jose CA, US
Chris Carlson - Menlo Park CA, US
Dave Camarillo - Aptos CA, US
Jeff Alvarez - San Mateo CA, US

Assignee:

Hansen Medical, Inc. - Mountain View CA

International Classification:

A61B 19/00

US Classification:

606130

Abstract:

A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter. The present embodiment further contemplates a robotic surgical method for the articulation of a steerable catheter wherein an input device is manipulated to communicate a desired catheter position to a control computer and motor torque commands are outputted to an instrument driver. The robotic system may further comprise a torque sensor. The robotic system may also incorporate closed loop feedback in which data from the torque measuring device is used to ensure that the torque in the motor or tension in the pull-wire closely matches the motor torque command from the control computer.