Christopher M Sewell

US Patent:

8317746, Nov 27, 2012

Filed:

Jul 22, 2009

Appl. No.:

12/507777

Inventors:

Christopher M. Sewell - Sunnyvale CA, US
Neal A. Tanner - Mountain View CA, US
Teresa Miller - Sunnyvale CA, US

Assignee:

Hansen Medical, Inc. - Mountain View CA

International Classification:

A61M 31/00

US Classification:

604 9504, 600114, 600146, 600424

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:

20090076476, Mar 19, 2009

Filed:

Aug 15, 2008

Appl. No.:

12/192974

Inventors:

Federico Barbagli - San Francisco CA, US
Christopher R. Carlson - Menlo Park CA, US
Neal A. Tanner - Mountain View CA, US
Christopher M. Sewell - Sunnyvale CA, US

Assignee:

Hansen Medical, Inc. - Mountain View CA

International Classification:

A61B 5/103
A61N 1/00
A61M 31/00

US Classification:

604500, 600587, 607122

Abstract:

A medical instrument system includes a controller and a guide instrument coupled to an instrument driver, the instrument driver configured to manipulate a distal end portion of the guide instrument in response to control signals generated by the controller. A force sensor is associated with the guide instrument or with a working instrument carried by the guide instrument, and generates force signals responsive to a force applied to a respective distal end portion of the guide instrument or working instrument. A position determining system generates position data indicative of a position of the respective guide or working instrument distal end portion associated with the force sensor, and a processor operatively coupled to the force sensor and position determining system processes respective force signals and position data to generate and display a geometric rendering of an internal body tissue surface based on sensed forces applied to the respective instrument distal end portion as the guide instrument is maneuvered within an interior region of a body containing the body surface.

US Patent:

20100125284, May 20, 2010

Filed:

Jul 22, 2009

Appl. No.:

12/507766

Inventors:

Neal A. Tanner - Mountain View CA, US
Christopher M. Sewell - 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:

20110015483, Jan 20, 2011

Filed:

Jul 16, 2009

Appl. No.:

12/504564

Inventors:

Federico Barbagli - San Francisco CA, US
Gregory J. Stahler - San Jose CA, US
Christopher M. Sewell - Sunnyvale CA, US
Christopher R. Carlson - Menlo Park CA, US

International Classification:

A61B 1/00

US Classification:

600108

Abstract:

A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The 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.

US Patent:

20110295247, Dec 1, 2011

Filed:

Jul 9, 2010

Appl. No.:

12/833929

Inventors:

Randall L. Schlesinger - San Mateo CA, US
Christopher R. Carlson - Menlo Park CA, US
Federico Barbagli - San Francisco CA, US
Bhaskar S. Ramamurthy - Los Altos CA, US
Matthew J. Roelle - Sunnyvale CA, US
Christopher M. Sewell - Sunnyvale CA, US
Daniel T. Wallace - Santa Cruz CA, US
Robert G. Younge - Portola Valley CA, US

Assignee:

Hansen Medical, Inc. - Mountain View CA

International Classification:

A61B 18/18
A61B 18/14

US Classification:

606 33, 606 41

Abstract:

Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. In one embodiment a robotic catheter system may comprise a controller including a master input device; and an electromechanically steerable elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion being configured to be interactively navigated adjacent internal tissue structures of a patient's body in response to signals from the controller; wherein the distal portion of the elongate instrument comprises an antenna operatively coupled to the controller, and wherein the controller is configured to determine the temperature of structures adjacent to the distal portion of the elongate instrument utilizing radiometry analysis.

US Patent:

20110295267, Dec 1, 2011

Filed:

Jul 9, 2010

Appl. No.:

12/833927

Inventors:

Neal A. Tanner - Mountain View CA, US
Federico Barbagli - San Francisco CA, US
Christopher R. Carlson - Menlo Park CA, US
Alex Goldenberg - San Francisco CA, US
Christopher M. Sewell - Sunnyvale CA, US
Daniel T. Wallace - Santa Cruz CA, US

Assignee:

Hansen Medical, Inc. - Mountain View CA

International Classification:

A61B 19/00

US Classification:

606130

Abstract:

Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic tissue structure traversal system may comprise a controller including a master input device, an electromechanically controlled elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion comprising a traversing tip and being configured to be interactively navigated about internal structures of a patient's body in response to signals from the controller; and a load sensor operatively coupled between the distal portion of the elongate instrument and the controller; wherein the controller is configured to automatically advance the traversing tip through a thickness of an internal structure by observing loads from the load sensor.

US Patent:

20120071894, Mar 22, 2012

Filed:

Jun 30, 2011

Appl. No.:

13/174455

Inventors:

Neal A. Tanner - Mountain View 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 robotically controlling flexible medical apparatus are described herein. In one embodiment, a robotic surgical system includes a flexible elongated member, a first member movably disposed around at least a portion of the flexible elongated member, a second member movably disposed around at least a portion of the first member, a drive assembly coupled to each of the flexible elongated member, the first member, and the second member, and a control interface for receiving an input command from a user, wherein the drive assembly is configured to automatically move one or both of the first member and the second member while maintaining the flexible elongated member at a fixed axial position in response to the received input command.

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.