Catheter insertion system and method of fabrication

• US 10,376,672 B2
• Filed: 03/15/2013
• Issued: 08/13/2019
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Yu, Alan
• Primary Examiner(s): Mehta, Bhisma
• Assistant Examiner(s): Darb, Hamza A
• Application Number:
  US13/832,352
• Publication Number:
  US 20140276391A1
• Time in Patent Office: 2,342 Days
• CPC Class Codes: A61B 1/00133 Drive units for endoscopic tools inserted through or with the endoscope
• CPC Class Codes: A61B 1/0016 using motor drive units
• 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: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B

Abstract

A robotic instrument driver for elongate members includes a first carriage positionable on a bed and beside a patient access site for manipulating a first elongate member, and a second carriage positionable proximate the bed, the second carriage configured to articulate the first elongate member, wherein the second carriage is movable independent from the first carriage.

Claims

1. A robotic instrument driver for elongate members, the robotic instrument driver comprising:

a first pod positionable proximate a bed at a first location, the first pod comprising a first articulation mechanism configured to articulate one or more steering wires in a first elongate member to articulate the first elongate member, and further comprising a first active drive mechanism fixed relative to the first articulation mechanism and configured to insert or retract a second elongate member with respect to the first elongate member; and

a second pod positionable proximate the bed at a second location further moved from a patient access site than the first location, the second pod comprising a second articulation mechanism configured to articulate one or more steering wires in the second elongate member to articulate the second elongate member, and further comprising a second active drive mechanism fixed relative to the second articulation mechanism and configured to insert or retract a third elongate member with respect to the second elongate member,

wherein the second pod with the second articulation mechanism and the second active drive mechanism is moveable independently from the first pod with the first articulation mechanism and the first active drive mechanism,

wherein the first active drive mechanism is of a type that is different from the second active drive mechanism.

2. The robotic instrument driver of claim 1, further comprising a third active drive mechanism, positionable on the bed beside the patient access site, wherein the third active drive mechanism is configured to insert, retract, or roll the first elongate member.

3. The robotic instrument driver of claim 1, wherein the first pod and the second pod are each movable along a longitudinal axis of the bed.

4. The robotic instrument driver of claim 1, wherein the first pod is rotatable about a rotation axis that is approximately orthogonal to an advancement axis along which at least the first pod is moveable.

5. The robotic instrument driver of claim 1, wherein the first pod and the second pod are both positioned on a rail, and the rail is attached to the bed.

6. The robotic instrument driver of claim 1, further comprising an anti-buckling mechanism placed on or around the first elongate member.

7. The robotic instrument driver of claim 1, wherein the second pod is movable up and down along a Z-axis relative to a plane of the bed.

8. The robotic instrument driver of claim 1, wherein the first active drive mechanism and the second active drive mechanism are each selected from a group consisting of:

gripping pads, feed rollers, and a chuck mechanism.

9. A catheter surgical system coupled to a bed, the bed being configured to support a patient during a surgery, the system comprising:

a first pod configured to couple to the bed at a first location adjacent to where the patient is positioned during the surgery, wherein the first pod is configured to articulate one or more steering wires in a first elongate member to articulate the first elongate member and further configured to insert or retract a second elongate member with respect to the first elongate member; and

a second pod configured to couple to the bed at a second location adjacent to where the patient is positioned during the surgery, the second location being further moved from a patient access site than the first location, wherein the second pod is configured to articulate one or more steering wires in the second elongate member to articulate the second elongate member and is further configured to insert or retract a third elongate member with respect to the second elongate member;

wherein the second pod with a second articulation mechanism and a second active drive mechanism is moveable autonomously from the first pod,

wherein a first active drive mechanism of the first pod is of a type that is different from the second active drive mechanism.

10. The surgical system of claim 9, wherein:

the first pod comprises the first active drive mechanism configured to insert, retract, or roll the second elongate member and a first articulation mechanism configured to articulate the first elongate member during the surgery;

and

the first elongate member comprises a sheath.

11. The surgical system of claim 10, wherein the second pod is moveable vertically with respect to the bed.

12. The surgical system of claim 9, further comprising a third active drive mechanism positionable on the bed beside the patient access site, wherein the third active drive mechanism is configured to insert, retract, or roll the first elongate member.

13. The surgical system of claim 12, wherein the first pod is rotatable about a rotation axis that is approximately orthogonal to an advancement axis that extends between the first pod and the third active drive mechanism.

14. The surgical system of claim 9, wherein the first pod is movable along a longitudinal axis of the patient when the patient is positioned on the bed.

15. The surgical system of claim 9, further comprising a rail, wherein at least one of the first pod and the second pod is coupled to the bed by attaching to the rail, which is attached to the bed.

16. The surgical system of claim 15, wherein the first pod and the second pod are coupled to the rail such that they are moveably positionable with respect to the rail during the surgery.

17. A method of assembling a catheter insertion system, the method comprising:

providing a first pod, positionable at a first location proximate a patient surgical support structure and proximate a patient on the patient surgical support structure, wherein the first pod is configured to articulate one or more steering wires in a first elongate member to articulate the first elongate member and further configured to insert or retract a second elongate member with respect to the first elongate member; and

providing a second pod, positionable at a second location proximate the patient surgical support structure proximate the patient, the second location being further moved from a patient access site than the first location, wherein the second pod is configured to articulate one or more steering wires in the second elongate member to articulate the second elongate member and is further configured to insert or retract a third elongate member with respect to the second elongate member;

wherein the second pod with a second articulation mechanism and a second active drive mechanism is moveable independently from the first pod,

wherein a first active drive mechanism of the first pod is of a type that is different from the second active drive mechanism.

18. The method of claim 17, further comprising attaching the first pod and the second pod to a support rail that is attached to the patient surgical support structure.