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Robotic surgical system and method for automated creation of ablation lesions

  • US 10,258,285 B2
  • Filed: 12/29/2006
  • Issued: 04/16/2019
  • Est. Priority Date: 05/28/2004
  • Status: Active Grant
First Claim
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1. A method of ablating tissue, comprising the steps of:

  • analyzing areas of ablated tissue to identify at least a first ablated area and a second ablated area separated by a gap of unablated tissue;

    robotically moving a catheter to a treatment area near a tissue surface, said catheter having an ablation electrode located near a distal end of the catheter;

    monitoring proximity or degree of contact between the catheter and the tissue surface;

    robotically advancing the catheter to contact a point in the first ablated area;

    automatically robotically moving the catheter to a point in the second ablated area in a way that maintains contact between the catheter and the tissue surface, thereby defining a path along the gap between the first ablated area and the second ablated area;

    activating the ablation electrode to ablate the tissue after the catheter reaches the point in the second ablated area; and

    automatically robotically withdrawing the catheter along the path along the gap between the first ablated area and the second ablated area from the point in the second ablated area to the point in the first ablated area while the ablation electrode is active,thereby ablating the tissue along the path along the gap between the first ablated area and the second ablated area.

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