System and method of automatic detection of obstructions for a robotic catheter system

• US 10,426,557 B2
• Filed: 04/04/2016
• Issued: 10/01/2019
• 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: Amiri, Atila, Sandhu, Kulbir S., Mark, Betty, Kirschenman, Mark B.
• Primary Examiner(s): Bosques, Edelmira
• Assistant Examiner(s): Darb, Hamza A
• Application Number:
  US15/089,791
• Publication Number:
  US 20160310220A1
• Time in Patent Office: 1,275 Days
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• 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 2018/00351 Heart
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2018/00642 with feedback, i.e. closed loop control
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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 2034/305 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 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• 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: A61B 90/06 Measuring instruments not otherwise provided for
• 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

Abstract

An obstruction detection system for a robotic catheter system including a robotic catheter manipulator assembly including one or more catheter manipulation bases and one or more sheath manipulation bases. Each manipulation base may be generally linearly movable on one or more tracks relative to the robotic catheter manipulator assembly. The obstruction detection system may include one or more obstruction detection sensors disposed on the track or on the manipulation bases to detect an obstruction along a path of motion of one or more manipulation bases. A software system may be provided for monitoring movement of the catheter and sheath manipulation bases, and/or a status of the obstruction detection sensors.

Claims

1. A robotic catheter system comprising:

a robotic catheter manipulator assembly comprising;

a support member having a longitudinal axis and comprising a catheter manipulation base configured for linear movement along the longitudinal axis of the support member and a sheath manipulation base configured for linear movement along the longitudinal axis of the support member;

a robotic catheter device cartridge removably mounted to the catheter manipulation base, wherein the robotic catheter device cartridge is configured to be generally linearly movable relative to the support member along the longitudinal axis of the support member, and wherein the robotic catheter device cartridge comprises a catheter; and

a robotic sheath device cartridge removably mounted to the sheath manipulation base, wherein the robotic sheath device cartridge is generally linearly movable relative to the support member along the longitudinal axis of the support member; and

an input control system for controlling operation of the robotic catheter manipulator assembly,

wherein one of the catheter manipulation base and the robotic catheter device cartridge includes at least one first element engageable with at least one complementary second element of the other one of the catheter manipulation base and the robotic catheter device cartridge, wherein linear movement of one of the first element and the second element is configured to cause corresponding linear movement of the other one of the first element and the second element and control deflection of the catheter by pulling a steering wire attached to the catheter and one of the first element and the second element, and wherein the linear movement of one of the first element and the second element is configured to laterally deflect a distal end of the catheter.

2. The robotic catheter system according to claim 1, further comprising a visualization system including at least one display for displaying a position of at least one of a first surgical instrument attached to the robotic first surgical instrument device cartridge and a second surgical instrument attached to the robotic second surgical instrument device cartridge.

3. The robotic catheter system according to claim 1, wherein at least one of the robotic catheter device cartridge and the robotic sheath device cartridge is rotatable relative to the robotic catheter manipulator assembly.

4. The robotic catheter system according to claim 1, wherein the catheter manipulation base and the sheath manipulation base are movable relative to each other.

5. The robotic catheter system according to claim 1, wherein one of the sheath manipulation base and the robotic sheath device cartridge includes at least one first element engageable with at least one complementary second element of the other one of the sheath manipulation base and the robotic sheath device cartridge, wherein linear movement of one of the first element and the second element is configured to cause corresponding linear movement of the other one of the first element and the second element and control deflection of the sheath by pulling a steering wire attached to the sheath and one of the first element and the second element.

6. The robotic catheter system according to claim 1, wherein the catheter manipulation base is disposed generally behind the sheath manipulation base to allow insertion of the catheter into the sheath.

7. The robotic catheter system according to claim 1, wherein the input control system includes at least one of an instrumented traditional catheter handle control, an oversized catheter model, an instrumented, user-wearable glove, and a traditional joystick.

8. The robotic catheter system according to claim 1, wherein the input control system includes haptic feedback based on one of actual sensed forces on a distal catheter tip, and impedance measured from the distal catheter tip.

9. The robotic catheter system according to claim 1, wherein the input control system includes active tensioning of steering wires attached to the catheter and sheath.

10. A robotic catheter system comprising:

a robotic manipulator assembly comprising;

a support member having a longitudinal axis and comprising a first surgical instrument manipulation base configured for linear movement along the longitudinal axis of the support member and a second surgical instrument manipulation base configured for linear movement along the longitudinal axis of the support member;

at least one robotic first surgical instrument device cartridge removably mounted to the first surgical instrument manipulation base, wherein the robotic first surgical instrument device cartridge is configured to be generally linearly movable relative to the support member along the longitudinal axis of the support member, and wherein the at least one robotic first surgical instrument device cartridge comprises a first surgical instrument; and

at least one robotic second surgical instrument device cartridge removably mounted to the second surgical instrument manipulation base, wherein the robotic second surgical instrument device cartridge is generally linearly movable relative to the support member along the longitudinal axis of the support member; and

an input control system for controlling operation of the robotic manipulator assembly,

wherein one of the first surgical instrument manipulation base and the first surgical instrument device cartridge includes at least one first element engageable with at least one complementary second element of the other one of the first surgical instrument manipulation base and the robotic first surgical instrument device cartridge, wherein linear movement of one of the first element and the second element is configured to cause corresponding linear movement of the other one of the first element and the second element and control deflection of the first surgical instrument by pulling a steering wire attached to the first surgical instrument and one of the first element and the second element, and wherein the linear movement of one of the first element and the second element is configured to laterally deflect a distal end of the catheter.

11. The robotic catheter system according to claim 10, further comprising a visualization system including at least one display for displaying a position of at least one of a first surgical instrument attached to the robotic first surgical instrument device cartridge and a second surgical instrument attached to the robotic second surgical instrument device cartridge.

12. The robotic catheter system according to claim 10, wherein at least one of the first surgical instrument device cartridge and the second surgical instrument device cartridge is rotatable relative to the robotic manipulator assembly.

13. The robotic catheter system according to claim 10, wherein the first surgical instrument manipulation base and the at least one second surgical instrument manipulation base are movable relative to each other.

14. The robotic catheter system according to claim 10, wherein the input control system includes at least one of an instrumented traditional catheter handle control, an oversized catheter model, an instrumented, user-wearable glove, and a traditional joystick.

15. The robotic catheter system according to claim 10, wherein the input control system includes haptic feedback based on one of actual sensed forces on a distal first surgical instrument tip, and impedance measured from the distal first surgical instrument tip.

16. The robotic catheter system according to claim 10, wherein the input control system includes active tensioning of steering wires attached to the first surgical instrument and the second surgical instrument.

17. The robotic catheter system according to claim 10, wherein the first surgical instrument and the second surgical instrument are each one of a transseptal needle, a catheter and a sheath.

18. The robotic catheter system of claim 10, wherein the respective ranges of linear movement along the longitudinal axis of the support member each have a length of approximately 8 inches.