Integrated catheter and guide wire controller

• US 10,688,283 B2
• Filed: 01/06/2017
• Issued: 06/23/2020
• Est. Priority Date: 03/13/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Wong, Serena H., Walker, Sean Paul, Park, June, Henderson, Richard
• Primary Examiner(s): Dougherty, Sean P
• Application Number:
  US15/400,656
• Publication Number:
  US 20170113019A1
• Time in Patent Office: 1,264 Days
• 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 2034/742 Joysticks
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61M 2205/502 User interfaces, e.g. screens or keyboards
• 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
• CPC Class Codes: A61M 25/09 Guide wires

Abstract

A device may operate a guide wire and be operable by a single operator digit. The device may include an insertion control device for advancing the guide wire in a forward and in a reverse direction and along a longitudinal axis of the guide wire; and a rotary device for rolling a guide wire about the longitudinal axis. A robotic instrument driver may be operatively coupled to the device and configured to control axial movement of the guide wire along the longitudinal axis according to input received from the insertion control device and to control rotational movement of the guide wire according to input received from the rotary device.

Claims

1. A robotic system for manipulating an elongate body, the system comprising:

an instrument driver operatively coupled to the elongate body; and

an operator workstation communicatively coupled to the instrument driver, wherein the operator workstation comprises a control device comprising;

a rotary member configured to receive a user input from an operator for controlling the elongate body,

wherein the rotary member is movable in two dimensions, wherein motion in a first dimension of the two dimensions causes the instrument driver to direct movement of the elongate body in a first degree of freedom and motion in a second dimension of the two dimensions causes the instrument driver to direct movement of the elongate body in a second degree of freedom,

wherein the control device comprises a velocity control mode in which the elongate body is configured to continuously move at a set velocity in the second degree of freedom based on a first signal from the rotary member indicative of user manipulation in a first direction of the second dimension, and

wherein the control device further comprises a position control mode in which the elongate body is configured to move at an adjustable velocity in the second degree of freedom controlled by a second signal from the rotary member indicative of user manipulation in a second direction of the second dimension.

2. The robotic system of claim 1, wherein the rotary member comprises a ball element held by a socket.

3. The robotic system of claim 2, wherein the ball element is infinitely rotatable within the socket in at least the two dimensions.

4. The robotic system of claim 2, wherein the socket contains a plurality of sensors for detecting rotation of the ball element about the two dimensions.

5. The robotic system of claim 4, further comprising a plurality of contact wheels coupled to the plurality of sensors, wherein the contact wheels are in contact with the ball element.

6. The robotic system of claim 4, wherein each of the plurality of sensors comprises at least one of optical sensors or Hall effect sensors.

7. The robotic system of claim 1, wherein the rotary member is a trackball.

8. The robotic system of claim 1, wherein the two dimensions comprise an X axis and a Y axis.

9. The robotic system of claim 1, wherein motion along the first dimension causes the instrument driver to rotate the elongate body about a longitudinal axis of the elongate body.

10. The robotic system of claim 1, wherein motion along the second dimension causes the instrument driver to at least one of advance or retract the elongate body along a longitudinal axis.

11. The robotic system of claim 1, wherein movement in the second degree of freedom comprises at least one of axial insertion or retraction of the elongate body.

12. The robotic system of claim 11, wherein motion of the rotary member in the second dimension beyond a preset degree of rotation causes the control device to transition from the relative position control mode to the velocity control mode.

13. The robotic system of claim 1, wherein the adjustable velocity of the elongate body is capped at a predefined velocity limit.

14. The robotic system of claim 10, wherein the control device comprises a relative or actual position control mode for controlling movement of the elongate body in the first degree of freedom, wherein movement in the first degree of freedom comprises rotation of the elongate body about the longitudinal axis.

15. The robotic system of claim 1, wherein the elongate body comprises a guidewire.

16. A method for manipulating an elongate body, the method comprising:

providing a robotic system, the system comprising;

an instrument driver operatively coupled to the elongate body; and

an operator workstation communicatively coupled to the instrument driver, wherein the operator workstation comprises a control device comprising a rotary member movable in two dimensions;

moving the rotary member of the control device in a first dimension of the two dimensions,

wherein motion in the first dimension of the two dimensions causes the instrument driver to direct movement of the elongate body in a first degree of freedom and motion in a second dimension of the two dimensions causes the instrument driver to direct movement of the elongate body in a second degree of freedom,

moving the rotary member of the control device in a velocity control mode to continuously move the elongate body at a set velocity in the second degree of freedom based on a first signal from the rotary member indicative of user manipulation in a first direction of the second dimension, and

moving the rotary member of the control device in a position control mode to move the elongate body at an adjustable velocity in the second degree of freedom controlled by a second signal from the rotary member indicative of user manipulation in a second direction of the second dimension.

17. The method of claim 16, wherein the rotary member comprises a ball element held by a socket.

18. The method of claim 17, wherein the ball element is infinitely rotatable within the socket in at least the two dimensions.

19. The method of claim 17, wherein the socket contains a plurality of sensors for detecting rotation of the ball element about the two dimensions.

20. The method of claim 19, wherein the system further comprises a plurality of contact wheels coupled to the plurality of sensors, and the contact wheels are in contact with the ball element.

21. The method of claim 19, wherein each of the plurality of sensors comprises at least one of optical sensors or Hall effect sensors.

22. The method of claim 16, wherein the rotary member is a trackball.

23. The method of claim 16, wherein the two dimensions comprise an X axis and a Y axis.

24. The method of claim 16, wherein motion along the first dimension causes the instrument driver to rotate the elongate body about a longitudinal axis of the elongate body.

25. The method of claim 16, wherein motion along the second dimension causes the instrument driver to at least one of advance or retract the elongate body along a longitudinal axis.

26. The method of claim 25, wherein the control device comprises a relative or actual position control mode for controlling movement of the elongate body in the first degree of freedom, wherein movement in the first degree of freedom comprises rotation of the elongate body about the longitudinal axis.

27. The method of claim 25, wherein movement in the second degree of freedom comprises at least one of axial insertion or retraction of the elongate body.

28. The method of claim 27, wherein the motion of the rotary member in the second dimension beyond a preset degree of rotation causes the control device to transition from the position control mode to the velocity control mode.

29. The method of claim 16, wherein the elongate body comprises a guidewire.

30. A robotic system for manipulating an elongate body, the system comprising:

an instrument driver operatively coupled to the elongate body; and

an operator workstation communicatively coupled to the instrument driver, wherein the operator workstation comprises a control device comprising;

a rotary member configured to receive a user input from an operator for controlling the elongate body,

wherein the rotary member is movable in two dimensions,

wherein motion in a first dimension of the two dimensions causes the instrument driver to direct movement of the elongate body in a first degree of freedom and motion in a second dimension of the two dimensions causes the instrument driver to direct movement of the elongate body in a second degree of freedom,

wherein motion along the second dimension causes the instrument driver to at least one of advance or retract the elongate body along a longitudinal axis,

wherein the control device comprises a relative position control mode and a velocity control mode for controlling movement of the elongate body in the second degree of freedom,

wherein movement in the second degree of freedom comprises at least one of axial insertion and retraction of the elongate body, and

wherein motion of the rotary member in the second dimension beyond a preset degree of rotation causes the control device to transition from the relative position control mode to the velocity control mode.