Robotic catheter system and methods
First Claim
1. An apparatus comprising:
- a flexible sheath instrument comprising a first instrument base removably coupleable to an instrument driver, said sheath instrument defining a sheath instrument working lumen;
a flexible guide instrument comprising a second instrument base removably coupleable to the instrument driver, said guide instrument positioned in the sheath instrument working lumen, and wherein said guide instrument defines a guide instrument working lumen; and
a tool positioned in said guide instrument working lumen;
wherein each of said sheath instrument, guide instrument, and tool are independently controllable relative to each other.
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Accused Products
Abstract
The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.
575 Citations
26 Claims
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1. An apparatus comprising:
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a flexible sheath instrument comprising a first instrument base removably coupleable to an instrument driver, said sheath instrument defining a sheath instrument working lumen;
a flexible guide instrument comprising a second instrument base removably coupleable to the instrument driver, said guide instrument positioned in the sheath instrument working lumen, and wherein said guide instrument defines a guide instrument working lumen; and
a tool positioned in said guide instrument working lumen;
wherein each of said sheath instrument, guide instrument, and tool are independently controllable relative to each other. - View Dependent Claims (2, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 18, 19, 20, 21, 22, 24)
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4. (canceled)
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16. (canceled)
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23. (canceled)
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25. A system, comprising:
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an instrument driver;
a flexible sheath instrument comprising a first instrument base removably coupleable to the instrument driver, the sheath instrument defining a sheath instrument working lumen;
a flexible guide instrument comprising a second instrument base removably coupleable to the instrument driver, the guide instrument positioned in the sheath instrument working lumen and defining a guide instrument working lumen; and
a tool positioned in the guide instrument working lumen and operationally coupled to the instrument driver, wherein the tool can be actuated to mechanically manipulate internal body tissue at an interventional procedure site, and wherein each of said sheath instrument, guide instrument, and tool are independently controllable by the instrument driver.
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26. A system, comprising:
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a master input device;
an instrument driver;
a flexible sheath instrument comprising a first instrument base removably coupleable to the instrument driver, the sheath instrument defining a sheath instrument working lumen;
a flexible guide instrument comprising a second instrument base removably coupleable to the instrument driver, the guide instrument positioned in the sheath instrument working lumen and defining a guide instrument working lumen; and
a tool positioned in the guide instrument working lumen and operationally coupled to the instrument driver, wherein each of said sheath instrument, guide instrument, and tool are independently controllable by the instrument driver in response to user commands entered through the master input device.
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Specification