COAXIAL CATHETER SYSTEM

• US 20070233045A1
• Filed: 06/13/2007
• Published: 10/04/2007
• Est. Priority Date: 02/15/2001
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Rogers, Gary, Weitzner, Barry, Solbjor, Albert
• Granted Patent: US 7,955,316 B2
• Time in Patent Office: Days
• US Class Current: 604/528
• CPC Class Codes: A61B 17/12045 double occlusion, e.g. during anastomosis
• CPC Class Codes: A61B 17/12136 Balloons
• CPC Class Codes: A61B 2017/12127 Double occlusion, e.g. for creating blood-free anastomosis site
• CPC Class Codes: A61B 2017/22075 with motorized advancing or retracting means
• CPC Class Codes: A61B 2017/3409 including needle or instrument drives
• 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 2090/0811 for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61M 2025/0004 having two or more concentrically arranged tubes for forming a concentric catheter system
• CPC Class Codes: A61M 2025/0008 having visible markings on its surface, i.e. visible to the naked eye, for any purpose, e.g. insertion depth markers, rotational markers or identification of type
• CPC Class Codes: A61M 2025/0175 having telescopic features, interengaging nestable members movable in relations to one another
• CPC Class Codes: A61M 2025/1015 having two or more independently movable balloons where the distance between the balloons can be adjusted, e.g. two balloon catheters concentric to each other forming an adjustable multiple balloon catheter system
• CPC Class Codes: A61M 2025/1052 for temporarily occluding a vessel for isolating a sector
• CPC Class Codes: A61M 2025/1059 having different inflatable sections mainly depending on the response to the inflation pressure, e.g. due to different material properties with different compartments A61M2025/1072
• CPC Class Codes: A61M 2025/1072 having balloons with two or more compartments
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/1002 characterised by balloon shape A61M25/1006, A61M25/1009 take precedence
• CPC Class Codes: A61M 25/1011 Multiple balloon catheters
• CPC Class Codes: A61M 25/10184 Means for controlling or monitoring inflation or deflation

Abstract

A robotic medical system for use with an intravascular catheter that delivers fluid within an anatomical vessel is provided. The robotic medical system comprises a user interface configured for receiving at least one command, an electromechanical driver configured for being coupled to the catheter, a fluid delivery controller coupled to the catheter, and an electric controller configured for directing the electromechanical driver to mechanically move the catheter within at least one degree-of-freedom and for directing the fluid delivery controller to deliver fluid to the catheter in response to the at least one command. The robotic medical system may further comprise a source of fluid and a fluid line configured for coupling the source of fluid to the catheter, and a manifold configured for fluidly interfacing with the catheter, in which case, the manifold has a fluid inlet port coupled to the fluid line.

Claims

1. A robotic medical system for use with an intravascular catheter that delivers fluid within an anatomical vessel, comprising:

a user interface configured for receiving at least one command;

an electromechanical driver configured for being coupled to the catheter;

a fluid delivery controller coupled to the catheter; and

an electric controller configured for directing the electromechanical driver to mechanically move the catheter within at least one degree-of-freedom and for directing the fluid delivery controller to deliver fluid to the catheter in response to the at least one command.

2. The robotic medical system of claim 1, further comprising the catheter.

3. The robotic medical system of claim 1, wherein the user interface includes at least one of a dial, joystick, wheel, and mouse.

4. The robotic medical system of claim 1, wherein the user interface is located remotely from the electromechanical driver.

5. The robotic medical system of claim 1, wherein the electrical controller is coupled to the electromechanical driver and the fluid controller via external cabling.

6. The robotic medical system of claim 1, wherein the electromechanical driver includes a catheter control configured for mechanically interfacing with the catheter, and a motor array configured for manipulating the catheter control.

7. The robotic medical system of claim 1, wherein the fluid is a contrast agent.

8. The robotic medical system of claim 1, wherein the fluid is a drug.

9. The robotic medical system of claim 1, further comprising a source of fluid and a fluid line configured for coupling the source of fluid to the catheter.

10. The robotic medical system of claim 9, wherein the fluid delivery controller includes a valve within the fluid line.

11. The robotic medical system of claim 9, further comprising a manifold configured for fluidly interfacing with the catheter, wherein the manifold has a fluid inlet port coupled to the fluid line.

12. The robotic medical system of claim 1, wherein the at least one degree-of-freedom comprises at least one of a linear translation and an axial rotation of the catheter.

13. The robotic medical system of claim 1, wherein the electromechanical driver is configured for being coupled to a guidewire in a coaxial arrangement with the catheter, and the electrical controller is configured for directing the electromechanical driver to linearly translate the catheter and the guidewire relative to each other in response to the at least one command.

14. A robotic medical system for use with an intravascular catheter that delivers fluid within an anatomical vessel, comprising:

a user interface configured for receiving at least one command;

an electromechanical driver configured for being coupled to the catheter;

a fluid delivery controller configured for being coupled to the catheter; and

an electric controller configured for directing the electromechanical driver to mechanically move the catheter within at least one degree-of-freedom and for directing the fluid delivery controller to selectively deliver a plurality of different fluids to the catheter in response to the at least one command.

15. The robotic medical system of claim 14, further comprising the catheter.

16. The robotic medical system of claim 14, wherein the user interface includes at least one of a dial, joystick, wheel, and mouse.

17. The robotic medical system of claim 14, wherein the user interface is located remotely from the electromechanical driver.

18. The robotic medical system of claim 14, wherein the electrical controller is coupled to the electromechanical driver and the fluid controller via external cabling.

19. The robotic medical system of claim 14, wherein the electromechanical driver includes a catheter control configured for mechanically interfacing with the catheter, and a motor array configured for manipulating the catheter control.

20. The robotic medical system of claim 14, wherein the plurality of different fluids comprises a contrast agent and a drug.

21. The robotic medical system of claim 14, further comprising a plurality of sources of the different fluids and a plurality of fluid lines configured for coupling the sources of fluid to the catheter.

22. The robotic medical system of claim 21, wherein the fluid delivery controller includes a plurality of valves within the respective fluid lines.

23. The robotic medical system of claim 21, further comprising a common fluid line coupled to the fluid lines, and a manifold configured for fluidly interfacing with the catheter, wherein the manifold has a fluid inlet port coupled to the fluid lines via the common fluid line.

24. The robotic medical system of claim 21, further comprising a manifold configured for fluidly interfacing with the catheter, wherein the manifold has a plurality of ports respectively coupled to the fluid lines.

25. The robotic medical system of claim 14, wherein the at least one degree-of-freedom comprises at least one of a linear translation and an axial rotation of the catheter.

26. The robotic medical system of claim 14, wherein the electromechanical driver is configured for being coupled to a guidewire in a coaxial arrangement with the catheter, and the electrical controller is configured for directing the electromechanical driver to linearly translate the catheter and the guidewire relative to each other in response to the at least one command.

27. A robotic medical system for use with an intravascular catheter that delivers fluid within an anatomical vessel and a guidewire, comprising:

a manifold configured for interfacing with the catheter, the manifold having a port configured for receiving the guidewire in a coaxial arrangement with the catheter, the manifold having at least one fluid inlet port;

at least one source of fluid coupled to the at least one fluid inlet port;

a user interface configured for receiving at least one command;

an electromechanical driver configured for being coupled to the catheter;

a fluid delivery controller configured for being coupled to the catheter; and

an electric controller configured for directing the electromechanical driver to mechanically move the catheter within at least one degree-of-freedom and for directing the fluid delivery controller to deliver fluid from the at least one source of fluid into the at least one fluid inlet port of the manifold in response to the at least one command.

28. The robotic medical system of claim 27, further comprising the catheter and the guidewire.

29. The robotic medical system of claim 27, wherein the user interface includes at least one of a dial, joystick, wheel, and mouse.

30. The robotic medical system of claim 27, wherein the user interface is located remotely from the electromechanical driver and the fluid controller.

31. The robotic medical system of claim 27, wherein the electrical controller is coupled to the electromechanical driver and the fluid controller via external cabling.

32. The robotic medical system of claim 27, wherein the electromechanical driver includes a catheter control configured for mechanically interfacing with the catheter, and a motor array configured for manipulating the catheter control.

33. The robotic medical system of claim 27, wherein the fluid is a contrast agent.

34. The robotic medical system of claim 27, wherein the fluid is a drug.

35. The robotic medical system of claim 27, wherein the manifold has a gasket through which the guidewire extends.

36. The robotic medical system of claim 27, further comprising at least one fluid line coupling the at least one source of fluid to the at least one fluid inlet port of the manifold.

37. The robotic medical system of claim 36, wherein the fluid delivery controller includes at least one valve within the at least one fluid line.

38. The robotic medical system of claim 27, wherein the at least one source of fluid comprises a plurality of sources of different fluids, wherein the electric controller is configured for directing the fluid delivery controller to deliver the different fluids from the at least one source of fluid into the at least one fluid inlet port of the manifold.

39. The robotic medical system of claim 38, further comprising a plurality of fluid lines coupling the sources of fluid to the at least one fluid inlet port of the manifold.

40. The robotic medical system of claim 38, wherein the fluid delivery controller includes a plurality of valves within the respective fluid lines.

41. The robotic medical system of claim 38, further comprising a common fluid line coupled to the plurality of fluid lines, wherein the at least one fluid inlet port of the manifold is a single fluid inlet port coupled to the fluid lines via the common fluid line.

42. The robotic medical system of claim 38, wherein the manifold has a plurality of ports coupled to the respective fluid lines.

43. The robotic medical system of claim 27, wherein the at least one degree-of-freedom comprises at least one of a linear translation and an axial rotation of the catheter.

44. The robotic medical system of claim 27, wherein the electromechanical driver is configured for being coupled to the guidewire, and wherein the electrical controller is configured for directing the electromechanical driver to linearly translate the catheter and the guidewire relative to each other in response to the at least one command.

45. The robotic medical system of claim 44, wherein the electromechanical driver includes a catheter control configured for mechanically interfacing with the catheter, a guidewire control configured for mechanically interfacing with the guidewire, and a motor array configured for manipulating the catheter and guidewire controls.