Robotic surgical system

• US 20070185486A1
• Filed: 12/29/2006
• Published: 08/09/2007
• Est. Priority Date: 05/28/2004
• Status: Active Grant

• Current Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Original Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Inventors: Tegg, Troy, Hauck, John, Belhe, Kedar, Schweitzer, Jeffrey, Johnson, Mark, Essington, James
• Granted Patent: US 9,782,130 B2
• Time in Patent Office: Days
• US Class Current: 606/41
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• 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 2034/742 Joysticks
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/3784 both receiver and transmitter being in the instrument or receiver being also transmitter
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 5/6885 Monitoring or controlling sensor contact pressure
• 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

Abstract

A robotic surgical system includes a track, a catheter holding device including a catheter receiving portion translatably associated with the track, a translation servo mechanism to control translation of the catheter holding device relative to the track, a catheter deflection control mechanism, a deflection servo mechanism to control the catheter deflection control mechanism, and a controller to control at least one of the servo mechanisms. The catheter receiving portion is adapted for quick installation and removal of a catheter. The catheter receiving portion may be rotatable, with a rotation servo mechanism to control the rotatable catheter receiving portion. The controller controls at least one of the deflection and rotation servo mechanisms to maintain a substantially constant catheter deflection as the catheter rotates. An introducer, which may be steerable, and an expandable, collapsible sterile tube may also be provided.

Claims

1. A robotic surgical system, comprising:

a track;

a catheter holding device translatably associated with said track, said catheter holding device including a catheter receiving portion;

a translation servo mechanism operatively coupled to said catheter holding device and adapted to control translation of said catheter holding device relative to said track;

a catheter deflection control mechanism;

a deflection servo mechanism operatively coupled to said catheter deflection control mechanism and adapted to control said catheter deflection control mechanism; and

a controller operatively coupled to at least one of said translation servo mechanism and said deflection servo mechanism, wherein said controller is adapted to control said at least one of said translation servo mechanism and said deflection servo mechanism.

2. The system according to claim 1, wherein said catheter receiving portion is adapted for quick installation and removal of a catheter.

3. The system according to claim 1, wherein said catheter receiving portion comprises a rotatable catheter receiving portion, and wherein said system further comprises a rotation servo mechanism operatively coupled to said rotatable catheter receiving portion and adapted to control said rotatable catheter receiving portion.

4. The system according to claim 3, wherein said controller is operatively coupled to said rotation servo mechanism and said deflection servo mechanism, and wherein said controller is adapted to control at least one of said deflection servo mechanism and said rotation servo mechanism to maintain a substantially constant catheter deflection as said catheter receiving portion rotates.

5. The system according to claim 4, wherein said controller controls both of said deflection servo mechanism and said rotation servo mechanism to maintain a substantially constant catheter deflection as said catheter receiving portion rotates.

6. The system according to claim 3, wherein said catheter receiving portion is rotatable at least about 360 degrees.

7. The system according to claim 1, wherein said catheter holding device includes said catheter deflection control mechanism.

8. The system according to claim 1, wherein said catheter holding device is slideable relative to said track.

9. The system according to claim 1, wherein said catheter holding device is translatably associated with said track via a screw mechanism.

10. The system according to claim 9, wherein said screw mechanism comprises a worm gear.

11. The system according to claim 9, wherein said screw mechanism comprises a lead screw.

12. The system according to claim 9, wherein said screw mechanism comprises a ball screw.

13. The system according to claim 1, wherein said catheter holding device is translatably mounted on said track.

14. The system according to claim 1, further comprising a carriage translatably mounted on said track, and wherein said catheter holding device is mounted on said carriage such that said catheter holding device translates relative to said track with said carriage.

15. The system according to claim 14, wherein at least one of said catheter deflection control mechanism and said deflection servo mechanism are mounted on said carriage.

16. The system according to claim 1, wherein a translation range of said catheter holding device relative to said track is about 10 cm.

17. The system according to claim 1, further comprising a catheter, said catheter comprising:

a distal end and a proximal end;

a catheter control handle near said proximal end; and

at least one pull wire extending from said catheter control handle to said distal end,

wherein said catheter control handle is received in said catheter receiving portion such that said catheter translates relative to said track with said catheter holding device, thereby providing a first degree of freedom to said catheter, and

wherein said catheter is operatively coupled to said catheter deflection control mechanism such that actuation of said catheter deflection control mechanism causes said distal end of said catheter to deflect, thereby providing a second degree of freedom to said catheter.

18. The system according to claim 17, wherein said catheter receiving portion comprises a rotatable catheter receiving portion, and wherein said catheter rotates with said catheter receiving portion, thereby providing a third degree of freedom to said catheter.

19. The system according to claim 17, wherein said catheter control handle includes a catheter deflection actuator, and wherein said catheter deflection actuator is operatively coupled to said catheter deflection control mechanism to selectively tension said at least one pull wire.

20. The system according to claim 17, wherein said at least one pull wire comprises at least four pull wires.

21. The system according to claim 17, further comprising an expandable and collapsible tubular shaft substantially surrounding at least a portion of said catheter for maintaining a substantially sterile field about said catheter outside a patient'"'"'s body.

22. The system according to claim 21, wherein said tubular shaft comprises a plurality of telescoping tubular elements.

23. The system according to claim 1, further comprising an introducer.

24. The system according to claim 23, wherein a proximal end of said introducer is stationary.

25. The system according to claim 23, wherein said introducer is designed to extend into a patient such that a distal end of said introducer is proximate a target site.

26. The system according to claim 25, wherein said distal end of said introducer is steerable via a robotic control system, said robotic control system comprising at least one servo mechanism adapted to control said distal end of said introducer in at least one degree of freedom.

27. The system according to claim 26, wherein said robotic control system comprises three servo mechanisms adapted to control said distal end of said introducer in three degrees of freedom.

28. A robotic surgical system, comprising:

a track;

a carriage mounted on said track;

a translation servo mechanism operatively coupled to said carriage and adapted to control movement of said carriage relative to said track;

a catheter holding device including a catheter deflection mechanism and a rotatable catheter receiving portion, wherein said catheter holding device is mounted on said carriage such that said catheter holding device moves relative to said track with said carriage;

a rotation servo mechanism operatively coupled to said catheter holding device and adapted to control rotation of said catheter receiving portion;

a deflection servo mechanism operatively coupled to said catheter deflection mechanism and adapted to control deflection of a catheter that may be received in said catheter receiving portion;

a controller coupled to at least said rotation servo mechanism and said deflection servo mechanism, wherein said controller simultaneously controls said deflection servo mechanism and said rotation servo mechanism to maintain a substantially constant catheter deflection during rotation of said catheter receiving portion;

an introducer designed to extend into a patient such that a distal end of said introducer is proximate a target site; and

a telescoping tube for creating a sterile field between said catheter holding device and a proximal end of said introducer.

29. The system according to claim 28, further comprising a catheter received in the catheter receiving portion such that said catheter will translate relative to said track with said catheter holding device and rotate about its axis as said catheter receiving portion rotates, wherein said catheter is operatively coupled to said catheter deflection mechanism such that actuation of said catheter deflection mechanism causes a distal end of said catheter to deflect.

30. The method according to claim 28, wherein said introducer is steerable via a robotic control system including at least one servo mechanism to control said introducer in at least one degree of freedom.

31. A method of manufacturing a surgical system, the method comprising:

translatably associating a catheter holding device with a track, the catheter holding device including a rotatable catheter receiving portion;

operatively coupling a translation servo mechanism to the catheter holding device to control translation of the catheter holding device relative to the track;

operatively coupling a rotation servo mechanism to the catheter holding device for controlling rotation of the catheter receiving portion about its axis;

providing a catheter deflection control mechanism;

operatively coupling a deflection servo mechanism to the catheter deflection control mechanism to control the catheter deflection control mechanism; and

coupling a controller to at least the deflection servo mechanism and the rotation servo mechanism, wherein the controller controls at least one of the deflection servo mechanism and the rotation servo mechanism in order to maintain a substantially constant catheter deflection as the catheter receiving portion rotates.

32. The method according to claim 31, wherein the controller simultaneously controls both of the deflection servo mechanism and the rotation servo mechanism to maintain a substantially constant catheter deflection as the catheter receiving portion rotates.

33. The method according to claim 31, wherein the step of translatably associating a catheter holding device with a track comprises:

translatably mounting a carriage on the track; and

mounting the catheter holding device on the carriage such that the catheter holding device translates relative to the track with the carriage.

34. The method according to claim 33, further comprising mounting each of the rotation servo mechanism, the catheter deflection control mechanism, and the deflection servo mechanism on the carriage.

35. The method according to claim 31, further comprising:

receiving a catheter in the catheter receiving portion such that the catheter translates relative to the track with the catheter holding device, and such that the catheter rotates with the catheter receiving portion; and

operatively coupling the catheter to the catheter deflection control mechanism such that actuation of the catheter deflection control mechanism causes deflection of a distal end of the catheter.

36. The method according to claim 31, further comprising creating a sterile field substantially surrounding at least a portion of the catheter outside a patient'"'"'s body.

37. The method according to claim 36, wherein the step of creating a sterile field substantially surrounding at least a portion of the catheter outside a patient'"'"'s body comprises providing an expandable and collapsible tubular shaft surrounding at least a portion of the catheter.

38. The method according to claim 37, wherein the step of providing an expandable and collapsible tubular shaft comprises providing a telescoping tubular shaft.

39. A method of controlling a catheter to treat tissue, the method comprising:

providing a robotic catheter control system, the robotic catheter control system comprising;

a translatable catheter holding device including a catheter receiving portion;

a translation mechanism adapted to control translation of the catheter holding device;

a deflection mechanism adapted to control deflection of the catheter; and

a robotic controller operatively coupled to the translation mechanism and the deflection mechanism and adapted to control the translation mechanism and the deflection mechanism;

receiving the catheter in the catheter receiving portion such that the catheter translates with the catheter holding device;

operatively coupling the catheter to the deflection mechanism such that actuation of the deflection control mechanism causes deflection of the catheter; and

robotically navigating the catheter to one or more locations within a patient by actuating one or more of the translation mechanism and the deflection mechanism.

40. The method according to claim 39, further comprising:

operatively coupling a rotation mechanism to said catheter receiving portion to control rotation of said catheter receiving portion, and

wherein the step of robotically navigating the catheter to one or more locations within a patient comprises robotically navigating the catheter to one or more locations within a patient by actuating one or more of the translation mechanism, the deflection mechanism, and the rotation mechanism.

41. The method according to claim 40, further comprising actuating the deflection mechanism to maintain a substantially constant deflection of a distal end of the catheter during rotation of the catheter.

42. A robotic surgical system to control a first medical device in at least two degrees of freedom and a second medical device in at least two degrees of freedom, said robotic surgical system comprising:

a first holding device adapted to receive the first medical device therein;

a second holding device adapted to receive the second medical device therein;

a first robotic control system including at least two servo mechanisms, wherein said first robotic control system is operatively coupled to said first holding device and adapted to control the first medical device in at least two degrees of freedom;

a second robotic control system including at least two servo mechanisms, wherein said second robotic control system is operatively coupled to said second holding device and adapted to control the second medical device in at least two degrees of freedom; and

at least one controller operatively coupled to said first robotic control system and said second robotic control system, wherein said at least one controller is adapted to cooperatively control the first and second medical devices in at least two degrees of freedom each.

43. A method of calibrating a robotically controlled catheter, the catheter having a distal end capable of deflection, comprising:

providing a robotic control input to the catheter to deflect the distal end of the catheter;

measuring a deflection of the distal end of the catheter;

associating the measured deflection of the distal end of the catheter with the robotic control input; and

generating a calibration data set, the calibration data set comprising a plurality of associated measured deflections and robotic control inputs.

44. The method according to claim 43, further comprising repeating the following steps for a plurality of deflections of the distal end of the catheter between a first extreme and a second extreme:

providing a robotic control input to the catheter to deflect the distal end of the catheter;

measuring a deflection of the distal end of the catheter; and

associating the measured deflection of the distal end of the catheter with the robotic control input.

45. The method according to claim 43, wherein the distal end of the catheter may be advanced beyond a distal end of an introducer, and wherein the calibration data set comprises a plurality of associated measured deflections and robotic control inputs for a given advancement of the distal end of the catheter beyond the distal end of the introducer.