Methods using a robotic catheter system

• US 20060100610A1
• Filed: 07/06/2005
• Published: 05/11/2006
• Est. Priority Date: 03/05/2004
• Status: Abandoned Application

• Current Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Stahler, Gregory J., Barbagli, Federico, Wallace, Daniel T., Martin, Kenneth M., Moll, Frederic H., Moore, David F., Adams, Daniel T., Zinn, Michael R., Younge, Robert G.
• Application Number:
  US11/176,598
• Publication Number:
  US 20060100610A1
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 10/06 Biopsy forceps , e.g. with cup-shaped jaws
• 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 18/00 Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00247 Making holes in the wall of the heart, e.g. laser Myocardial revascularization
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2018/00392 Transmyocardial revascularisation
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• 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 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/035 preventing further rotation
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3925 : ultrasonic
• CPC Class Codes: A61B 2090/397 : electromagnetic other than visible, e.g. microwave
• 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 34/25 : User interfaces for surgical systems
• 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 46/10 : specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 5/7285 : for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence
• CPC Class Codes: A61B 6/503 : for diagnosis of the heart
• CPC Class Codes: A61B 6/504 : for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 8/0891 : for diagnosis of blood vessels
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4254 : using sensors mounted on the probe
• CPC Class Codes: A61B 8/4461 : Features of the scanning mechanism, e.g. for moving the transducer within the housing of the probe
• CPC Class Codes: A61B 8/4466 : involving deflection of the probe
• CPC Class Codes: A61B 8/543 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 90/50 : Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: B33Y 80/00 : Products made by additive manufacturing

Abstract

A method using a robotic system to perform a procedure on a patient, includes moving a control interface provided on a master input device, generating control signals corresponding, at least in part, to movement of the interface, moving one or more drive elements of an instrument driver in response to the control signal, the one or more drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument. The method may further comprise providing tactile feedback through the interface.

Claims

1. A method using a robotic system to perform a procedure on a patient, comprising:

moving a control interface provided on a master input device

generating a control signal corresponding, at least in part, to the movement of the interface;

moving one or more drive elements of an instrument driver in response to the control signal, the one or more drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument; and

providing tactile feedback through the interface.

2. The method of claim 1, further comprising

determining a location or relative location of the guide instrument in the patient,

3. The method of claim 2, wherein the location or relative location is determined, at least in part, by using image data acquired by am imaging system.

4. The method of claim 2, wherein the location or relative location is determined, at least in part, by using position data acquired by a localization system.

5. The method of claim 2, further comprising determining a workspace limit of the guide instrument.

6. The method of claim 1, wherein the tactile feedback indicates that the guide instrument has contacted a tissue structure in the patient.

7. The method of claim 1, wherein the tactile feedback indicates that a surgical tool carried by the guide instrument has contacted a tissue structure in the patient.

8. The method of claim 1, wherein the tactile feedback represents a resistance imparted by a tissue structure in response to a force imparted by the guide instrument.

9. The method of claim 1, wherein the tactile feedback represents a resistance imparted by a tissue structure in response to a force imparted by a surgical tool carried by the guide instrument.

10. The method of claim 1, further comprising

detecting whether an operator has let go of the control interface, and

operating one or more motors to cause the control interface to remain in its then-existing position, or to move to a predetermined position, if the operator lets go of the interface.

11. The method of claim 1, further comprising

generating and displaying one or more views containing a graphical rendering of one or both of the guide instrument and an area in the patient'"'"'s body where the guide instrument is located.

12. The method of claim 11, wherein the one or more views comprise a primary navigation view and a secondary navigation view.

13. The method of claim 12, wherein the secondary view is approximately orthogonal to the primary view.

14. The method of claim 1, further comprising

acquiring and displaying one or more views containing image data of one or both of the guide instrument an area in the patient'"'"'s body where the guide instrument is located.

15. The method of claim 14, wherein the one or more views comprise a primary navigation view and a secondary navigation view.

16. The method of claim 15, wherein the secondary view is approximately orthogonal to the primary view.

17. The method of claim 1, further comprising synchronizing a coordinate system of the master input device with a coordinate system of an imaging system.

18. The method of claim 1, further comprising synchronizing a coordinate system of the master input device with a coordinate system of a localization system.

19. A method using a robotic system to perform a procedure on a patient, comprising:

generating a control signal corresponding, at least in part, to movement of a master input device;

moving one or more drive elements of an instrument driver in response to the control signal, the one or more drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument; and

generating and displaying one or more views containing images of one or both of the guide instrument and an area in the patient'"'"'s body where the guide instrument is located.

20. The method of claim 19, wherein the one or more views comprise a primary navigation view and a secondary navigation view.

21. The method of claim 20, wherein the secondary view is approximately orthogonal to the primary view.

22. The method of claim 19, wherein the images are acquired using an imaging system.

23. The method of claim 19, wherein the images are graphically rendered.

24. The method of claim 19, further comprising synchronizing a coordinate system of the master input device with a coordinate system of an imaging system.

25. The method of claim 19, further comprising synchronizing a coordinate system of the master input device with a coordinate system of a localization system.

26. The method of claim 19, further comprising

detecting whether an operator has let go of the master input device, and

operating one or more motors to cause the master input device to remain in its then-existing position, or to move to a predetermined position, if the operator lets go of the device.

27. The method of claim 19, the master input device comprising a multi-degree-of-freedom device having multiple joints, each joint having an associated encoder.

28. The method of claim 19, the master input device comprising

one or more motors;

a interface configured to be held and hand-controlled by an operator, and

integrated haptics capability in which the one or more motors provide tactile feedback to the operator through the interface.

29. A method using a robotic system to perform a procedure on a patient, comprising:

moving a control interface provided on a master input device, the master input device comprising a multi-degree-of-freedom device having multiple joints, each joint having an associated encoder;

generating a control signal corresponding, at least in part, to the movement of the interface; and

moving one or more drive elements of an instrument driver in response to the control signal, the instrument driver configured for independently controlling with the one or more drive elements each of number of desired motions of a flexible, elongate guide instrument in a body of a patient in response to the control signals, wherein the desired motions are selected from the group comprising axial advancement, axial retraction, axial rotation, and radial bending.

30. The method of claim 29, further comprising providing tactile feedback through the master input device.

31. The method of claim 30, further comprising determining a location or relative location of the guide instrument in the patient.

32. The method of claim 31, further comprising generating control signals that cause the instrument driver to move the guide instrument in two or more of the desired motions substantially simultaneously.

33. The method of claim 32, further comprising synchronizing a coordinate system of the master input device with a respective coordinate system of one or both of an imaging system and a localization system.