Robotic catheter system and methods
First Claim
1. A method for performing an interventional procedure using a robotically controlled guide instrument coupled to an instrument drive assembly, the method comprising:
- manipulating a user interface of a master controller to actuate the drive assembly and thereby position a distal portion of the guide instrument at an interventional procedure site in a patient'"'"'s body; and
providing on a first display a graphically rendered image of the distal portion of the guide instrument overlaying an image of the interventional procedure site, wherein manipulation of the user interface causes a corresponding movement of the instrument model relative to the image in the first display.
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Accused Products
Abstract
A method for performing an interventional procedure using a robotically controlled guide instrument coupled to an instrument drive assembly, includes manipulating a user interface of a master controller to actuate the drive assembly and thereby position a distal portion of the guide instrument at an interventional procedure site in a patient'"'"'s body; and providing on a first display a graphically rendered image of the distal portion of the guide instrument overlaying an image of the interventional procedure site, wherein manipulation of the user interface causes a corresponding movement of the instrument model relative to the image in the first display.
590 Citations
13 Claims
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1. A method for performing an interventional procedure using a robotically controlled guide instrument coupled to an instrument drive assembly, the method comprising:
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manipulating a user interface of a master controller to actuate the drive assembly and thereby position a distal portion of the guide instrument at an interventional procedure site in a patient'"'"'s body; and
providing on a first display a graphically rendered image of the distal portion of the guide instrument overlaying an image of the interventional procedure site, wherein manipulation of the user interface causes a corresponding movement of the instrument model relative to the image in the first display. - View Dependent Claims (2, 3, 4, 5)
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6. A robotically controlled guide instrument system, comprising:
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an elongate flexible guide instrument;
a drive assembly coupled to a proximal portion of the guide instrument;
a master controller including a user interface that may be manipulated to actuate the drive assembly and thereby move a distal portion the guide instrument;
a first display; and
a controller configured to provide on the first display a graphically rendered image of the distal portion of the guide instrument overlaying an image of an interventional procedure site at which the distal portion of the guide instrument is positioned, wherein manipulation of the user interface causes a corresponding movement of the instrument model relative to the image in the first display. - View Dependent Claims (7, 8, 9, 10)
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11. A method for performing an interventional procedure using a robotically controlled guide instrument system, the instrument system including a guide instrument coupled to an instrument drive assembly, the method comprising:
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moving a user interface of a master controller to actuate the drive assembly and thereby move the guide instrument in a patient'"'"'s body;
determining a commanded location of the guide instrument based on kinematic and mechanical relationships of the instrument system and the relative movement of the user interface;
determining an actual location of the guide instrument following its movement in response to movement of the user interface; and
comparing the determined commanded location with the determined actual location of the guide instrument. - View Dependent Claims (12, 13)
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Specification