Robotic catheter system

• US 10,342,953 B2
• Filed: 03/10/2017
• Issued: 07/09/2019
• Est. Priority Date: 05/06/2008
• Status: Active Grant

• Current Assignee: Corindus, Inc. (Siemens AG)
• Original Assignee: Corindus, Inc. (Siemens AG)
• Inventors: Wenderow, Tal, Bromander, Thomas, Kennedy, III, James J., Thompson, Stanley O., Taylor, Jon B., Lightcap, Jeffrey
• Primary Examiner(s): Farah, Ahmed M
• Application Number:
  US15/455,415
• Publication Number:
  US 20170274181A1
• Time in Patent Office: 851 Days
• Field of Search: 606 1, 606 7, 606130, 600101, 600434, 901 1, 901 19, 901 30, 901 41, 901 50
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/0147 with movable mechanical means, e.g. pull wires
• CPC Class Codes: A61M 25/09041 Mechanisms for insertion of guide wires

Abstract

A catheter system including a housing and a drive mechanism supported by the housing is provided. The drive mechanism includes an engagement structure configured to engage and to impart movement to a guide wire. The engagement structure defines a path for the guide wire, and the engagement structure is moveable between an engaged position in which the engagement structure engages the guide wire and a disengaged position in which the engagement structure does not engage the guide wire. The catheter system includes a biasing element configured to bias the engagement structure toward the engaged position, and the biasing element is aligned generally parallel to the path defined by the engagement structure.

Claims

1. A robotic catheter system, the system comprising:

a cassette including a housing, having a front end, a rear end, and a sidewall;

a first axial drive mechanism supported by the housing configured to impart axial movement to a guide wire, wherein the guide wire extends out of the rear end of the housing and exits the front end of the housing; and

a second axial drive mechanism configured to impart axial movement to a catheter device.

2. The robotic catheter system of claim 1, wherein the catheter device enters through the sidewall of the housing and exits the front end of the housing.

3. The robotic catheter system of claim 2, wherein the housing includes a first channel receiving the guide wire;

and a second channel configured to receive the catheter device, the second channel positioned at an acute angle relative to the first channel.

4. The robotic catheter system of claim 3, wherein the housing includes a recess, the second channel having an opening located within the recess.

5. The robotic catheter system of claim 4, wherein the recess is formed in the sidewall of the housing.

6. The robotic catheter system of claim 5, further including a cover movable from a closed position overlying the first channel to an open position exposing the first channel.

7. The robotic catheter system of claim 4, wherein the opening of the second channel is sized such that a hub located at a proximal end of the catheter device does not fit into the second channel.

8. The robotic catheter system of claim 7, wherein a portion of the hub is located within the recess.

9. The robotic catheter system of claim 4, wherein the recess includes a first sidewall section and a second sidewall section, wherein the first sidewall section and the second sidewall section extend from the sidewall of the housing toward the first channel.

10. The robotic catheter system of claim 9, further comprising a base plate and a top deck mounted to the base plate above the first axial drive mechanism, wherein sidewall sections of the base plate and the top deck form the first and second sidewall sections of the recess.

11. The robotic catheter system of claim 3, wherein the second channel is located at an acute angle relative to a longitudinal axis of the housing.

12. The robotic catheter system of claim 3, wherein the second channel constrains the catheter device along a predefined path from a first point where a longitudinal axis of the catheter device and a longitudinal axis of the guide wire are not coaxial to a point where the longitudinal axis of the catheter device and a longitudinal axis of a guiding catheter are co-axial.

13. The robotic catheter system of claim 1, wherein the cassette includes a Y-connector support removably supporting a Y-connector having a valve that permits insertion and removal of the guide wire and catheter device.

14. The robotic catheter system of claim 1, wherein the first axial drive mechanism includes a two belt drive.

15. The robotic catheter system of claim 1, further including a motor drive base comprising at least a first motor, the cassette being removably connected to the base, the motor operatively driving the first axial drive mechanism.

16. The robotic catheter system of claim 1, further including a cover movable from a closed position overlying the first channel to an open position exposing the first channel.

17. The robotic catheter system of claim 16, wherein the cover includes a restraint structure that acts to restrain movement of the guide wire when the first cover is in the closed position.

18. The robotic catheter system of claim 16, wherein when the cover is in the open position the axial drive mechanism is in a loading configuration.

19. A robotic catheter system comprising:

a cassette including a housing having a front end, a rear end, a sidewall;

the housing including a recess along the sidewall intermediate the front end and the rear end;

a first axial drive mechanism supported by the housing configured to impart axial movement to a guide wire;

a first channel being configured to receive the guide wire;

a second axial drive mechanism supported by the housing configured to impart axial movement to a catheter device;

a second channel configured to receive the catheter device, the second channel positioned at an angle relative to the first channel, the second channel having an opening located within the recess.

20. The cassette of claim 19, wherein the angle is an acute angle.

21. The cassette of claim 20, wherein the guide wire extends beyond the rear end and exits the front end of the housing.

22. A robotic catheter system comprising:

a cassette including a housing having a front end, a rear end, a sidewall;

the cassette including a recess along the sidewall intermediate the front end and the rear end;

a first axial drive mechanism supported by the housing configured to impart axial movement to a guide wire;

a first channel being configured to receive the guide wire;

wherein the guide wire extends out of the rear end of the housing and exits the front end of the housing a second axial drive mechanism supported by the housing configured to impart axial movement to a catheter device;

a second channel configured to receive the catheter device, the second channel positioned at an angle relative to the first channel, the second channel having an opening located within the recess.