Robotically controlled intravascular tissue injection system

• US 20060111692A1
• Filed: 08/12/2005
• Published: 05/25/2006
• Est. Priority Date: 07/19/2004
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Wallace, Daniel T., Moll, Frederic H., Hlavka, Edwin J.
• Granted Patent: US 8,005,537 B2
• Time in Patent Office: Days
• US Class Current: 604/890.100
• 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 17/3478 Endoscopic needles, e.g. for infusion biopsy needles A61B10/0233; catheters with injection needles A61M25/0067
• CPC Class Codes: A61B 18/1477 Needle-like probes
• 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 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2017/00292 mounted on or guided by flexible, e.g. catheter-like, means
• CPC Class Codes: A61B 2018/1425 Needle
• 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 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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

Abstract

A robotic catheter system includes a controller including a master input device and instrument driver in communication with the controller. An elongate flexible guide instrument is operatively coupled to the instrument driver. A fluid injection needle may be advanced from, or retracted into, a distal portion of the guide instrument.

Claims

1. A robotic catheter system, comprising:

a controller including a master input device;

an instrument driver in communication with the controller;

an elongate flexible guide instrument operatively coupled to the instrument driver; and

a fluid injection needle carried by the guide instrument, wherein the needle may be advanced from, or retracted into, a distal portion of the guide instrument.

2. The system of claim 1, wherein the fluid injection needle is carried on an elongate flexible member.

3. The system of claim 1, the fluid injection needle comprising an internal lumen in fluid communication,with a fluid source, and having one or more injection ports in communication with the internal lumen.

4. The system of claim 2, comprising a plurality of fluid injection needles carried on a distal end portion of the elongate member.

5. The system of claim 2, further comprising a helical anchor member that may be rotatably advanced from, and retracted into, a distal end portion of the guide instrument.

6. The system of claim 2, further comprising one or more lateral anchor members that may be deployed from a side of the fluid injection needle.

7. The system of claim 2, further comprising an elongate tubular sheath that may be advanced over the elongate member.

8. The system of claim 7, further comprising one or more anchor members that may be deployed from a side of the tubular sheath.

9. The system of claim 1, further comprising a source of RF energy selectively electrically coupled to the fluid injection needle, whereby RF energy may be delivered to tissue proximate the needle.

10. A method of performing an intra-cardiac procedure using a robotic system, the system including a master input device, an instrument driver in communication with the input device, and an elongate flexible guide instrument operatively coupled with the instrument driver, the method comprising:

positioning the guide instrument in a blood vessel accessing a heart chamber;

manipulating the master input device to generate one or more control signals communicated to the instrument driver for positioning the guide instrument proximate a wall of the heart; and

advancing a needle from the guide instrument into tissue of the heart wall.

11. The method of claim 10, further comprising advancing an anchor member into the wall tissue, thereby securing the guide instrument to the heart wall.

12. The method of claim 11, wherein the anchor member has a helical shape and is rotatably advanced into the heart wall tissue.

13. The method of claim 10, wherein the blood vessel is the inferior vena cava.

14. The method of claim 10, wherein the blood vessel is the superior vena cava.

15. The method of claim 11, wherein the anchor member is advanced prior to the needle, and wherein the needle is advanced along an axis defined by the anchor member.

16. The method of claim 10, further comprising deploying one or more lateral anchor members from a side wall of the needle into the heart wall tissue.

17. The method of claim 16, further comprising advancing an elongate tubular sheath from a distal end opening in the guide instrument, over the needle, into the heart wall tissue.

18. The method of claim 17, wherein the sheath has a tapered distal end to facilitate advancement over the needle through the heart wall tissue.

19. The method of claim 17, further comprising deploying one or more lateral anchor members from a side wall of the sheath into the heart wall tissue.

20. The method of claim 10, further comprising

(a) deploying one or more first lateral anchor members from a side of the needle into the heart wall tissue;

(b) advancing a tubular sheath over the needle through the heart wall tissue;

(c) deploying one or more second lateral anchor members from a side of the tubular sheath into the heart wall tissue;

(d) withdrawing the first lateral anchor members back into the needle;

(e) further advancing the needle into the heart wall tissue;

(f) extending the one or more first lateral anchor members from the needle into the heart wall tissue;

(g) withdrawing the one or more second lateral anchor members into the sheath; and

(h) further advancing the sheath over the needle through the heart wall tissue.

21. The method of claim 20, further comprising repeating each of steps (a) to

(h) one or more times.

22. The method of claim 17, wherein the needle and tubular sheath are bendable.

23. The method of claim 17, further comprising

withdrawing the needle from the heart wall tissue through the sheath and into the guide instrument,

extending a distal end of a cinch member out of a distal opening of the sheath, the cinch member distal end comprising an expanding anchor mechanism configured to secure the cinch member to the heart wall tissue, and

withdrawing the sheath over the cinch member and into the guide instrument.

24. The method of claim 10, further comprising delivering tissue ablation energy to the heart wall tissue via the fluid injection needle.