Robotic catheter system

• US 10,231,788 B2
• Filed: 10/08/2015
• Issued: 03/19/2019
• Est. Priority Date: 03/27/2008
• Status: Active Grant

• Current Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Original Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Inventors: Olson, Eric S., Hauck, John A., Patronik, Nicholas A., Kirschenman, Mark B., Shaquer, Cem M., Ganji, Yusof
• Primary Examiner(s): Price, Nathan R
• Assistant Examiner(s): Snyder, Melissa A
• Application Number:
  US14/878,183
• Publication Number:
  US 20160106957A1
• Time in Patent Office: 1,258 Days
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/303 specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/741 Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61M 2205/33 Controlling, regulating or measuring
• CPC Class Codes: A61M 2205/505 Touch-screens; Virtual keyboard or keypads; Virtual buttons; Soft keys; Mouse touches
• CPC Class Codes: A61M 2210/125 Heart
• CPC Class Codes: A61M 25/0147 : with movable mechanical means, e.g. pull wires

Abstract

A robotic system for manipulating a catheter with a plurality of steering wires longitudinally situated within a length of the catheter includes a user interface configured to display a view of an anatomical model and to receive one or more user inputs; a catheter manipulator assembly configured to linearly actuate one or more control members of a catheter; and a robotic controller configured to provide a view of an anatomical model to the user interface; accept one or more user inputs from the user interface; register the one or more user inputs to a coordinate system associated with the anatomical model; compute one or more actuator commands from the one or more registered inputs; and cause the catheter manipulator assembly to linearly actuate one or more control members of a catheter in accordance with the computed actuator commands.

Claims

1. A method of determining the path of a robotically manipulated catheter within an anatomical model, the method comprising:

selecting a plurality of target points within the anatomical model;

determining a minimum transverse distance between each of the plurality of points and an anatomical surface in the anatomical model, wherein the minimum transverse distance automatically circumnavigates an anatomical feature in the anatomical model;

defining allowable catheter movement speeds as a function of the minimum transverse distance;

registering the current position of a robotically manipulated catheter within the anatomical model; and

specifying a destination point for the robotically manipulated catheter, wherein the destination point comprises one of the plurality of target points

moving the robotically manipulated catheter to the destination point, wherein the robotically manipulated catheter is moved to the destination point within the allowable catheter movement speeds.

2. The method according to claim 1, further comprising computing a projected travel time based on the current catheter position, the destination point, and the allowable catheter speed function.

3. The method according to claim 2, further comprising determining a preferred trajectory for the catheter to minimize total travel time.

4. The method according to claim 1, wherein moving the robotically manipulated catheter comprises using optimized path planning routines and a closed-loop positioning control.

5. The method according to claim 1, further comprising performing a treatment after the robotically manipulated catheter is moved to the destination point.

6. The method according to claim 5, further comprising pulling the robotically manipulated catheter across a surface of the anatomical model while performing the treatment.

7. The method according to claim 1, wherein the destination point comprises a location on a surface of the anatomical model.

8. The method according to claim 7, further comprising moving the robotically manipulated catheter to the destination point, and wherein the robotically manipulated catheter makes contact with the surface of the anatomical model at an oblique angle.

9. The method according to claim 1, wherein the destination point comprises a location a fixed distance from a surface of the anatomical model.

10. The method according to claim 1, further comprising a user selecting the plurality of target points.

11. The method according to claim 10, wherein the plurality of target points are selected using a multi-touch interface.

12. A method of automatically moving a robotically manipulated catheter within an anatomical model, the method comprising:

determining at least one target location;

determining a minimum transverse distance between a starting location and the at least one target location, wherein the minimum transverse distance automatically circumnavigates an anatomical feature in the anatomical model;

determining a minimum distance between the starting location and an anatomical surface of the anatomical model;

defining allowable catheter movement speeds as a function of the minimum distance;

registering the current position of a robotically manipulated catheter within the anatomical model; and

determining a preferred trajectory for the catheter between the starting location and the at least one target location to minimize total travel time

moving the robotically manipulated catheter to the at least one target location, wherein the robotically manipulated catheter is moved to the at least one target location within the allowable catheter movement speeds.

13. The method according to claim 12, wherein the preferred trajectory is determined based on a projected travel time of the robotically manipulated catheter.

14. The method according to claim 12, further comprising performing a treatment after the robotically manipulated catheter is moved to a final location of the at least one target location.

15. The method according to claim 12, wherein the at least one target location comprises at least one location on a surface of the anatomical model.

16. A method of automatically moving a robotically manipulated catheter within an anatomical model, the method comprising:

determining a target location;

determining a minimum transverse distance between a starting location and the target location, wherein the minimum transverse distance automatically circumnavigates an anatomical feature in the anatomical model;

determining a minimum distance between the starting location and an anatomical surface of the anatomical model;

defining an allowable catheter movement speed as a function of the minimum distance;

registering the current position of a robotically manipulated catheter within the anatomical model;

computing a projected travel time based on the starting location, the target location, and the allowable catheter movement speed; and

determining a preferred trajectory for the catheter between the starting location and the at least one target location

moving the robotically manipulated catheter to the target location.

17. The method according to claim 16, further comprising performing a treatment after the robotically manipulated catheter is moved to the target location.