Automatic guidewire maneuvering system and method

• US 20050197566A1
• Filed: 09/14/2004
• Published: 09/08/2005
• Est. Priority Date: 03/08/2004
• Status: Active Grant

• Current Assignee: ST JUDE MEDICAL INTERNATIONAL HOLDING S. R.L.
• Original Assignee: MediGuide Ltd (Abbott Laboratories)
• Inventors: Strommer, Gera, Sobe, Lior, Eichler, Uzi
• Granted Patent: US 8,055,327 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 1/00147 Holding or positioning arrangements
• CPC Class Codes: A61B 2017/00703 correcting for movement of heart, e.g. ECG-triggered
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2053 Tracking an applied voltage gradient
• 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 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61B 6/03 Computed tomography [CT] echo-tomography A61B8/14
• CPC Class Codes: A61B 6/541 involving acquisition triggered by a physiological signal
• CPC Class Codes: A61M 2025/0166 Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
• CPC Class Codes: A61M 2025/09183 having tools at the distal tip
• CPC Class Codes: A61M 2205/3515 using magnetic means
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/0133 Tip steering devices
• CPC Class Codes: A61M 25/0158 with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials
• CPC Class Codes: A61M 25/09041 : Mechanisms for insertion of guide wires

Abstract

Method for guiding a catheter within a lumen system of the body of a patient, the method including the procedures of receiving consecutive position inputs from a user to guide the catheter in real time within the lumen system, determining a user defined position for the tip of the catheter, constantly detecting the real time position of the tip of the catheter, determining continuously successive incremental paths along a trail defined by a plurality of user defined positions, and directing a moving mechanism to incrementally move the catheter within the lumen system along each of the incremental paths, each of the user defined positions being determined for each of the received consecutive position inputs, the successive incremental paths being determined between the real time position and the adjacent proceeding user defined position, according to a topological representation of the lumen system, the moving mechanism being directed to incrementally move the catheter from each of a plurality of real time positions, toward the adjacent proceeding user defined position.

Claims

1. Method for guiding a catheter within a lumen system of the body of a patient, the method comprising the procedures of:

receiving consecutive position inputs from a user, to guide said catheter in real time, within said lumen system;

determining a user defined position for the tip of said catheter, for each of said received consecutive position inputs;

constantly detecting the real time position of the tip of said catheter;

determining continuously successive incremental paths along a trail defined by said user defined positions, between said real time position and the adjacent proceeding user defined position, according to a topological representation of said lumen system; and

directing a moving mechanism to incrementally move said catheter within said lumen system along each of said incremental paths, from each of a plurality of real time positions, toward said adjacent proceeding user defined position.

2. The method according to claim 1, wherein said procedure of receiving is performed according to movements of a pointing device.

3. The method according to claim 2, wherein said pointing device is selected from the list consisting of:

mouse;

tablet and stylus;

cyber glove; and

joy stick.

4. The method according to claim 1, further comprising a procedure of performing a corrective movement for said catheter, when the tip of said catheter fails to reach said adjacent proceeding user defined position.