ROBOTIC CATHETER SYSTEM

• US 20090247993A1
• Filed: 12/31/2008
• Published: 10/01/2009
• Est. Priority Date: 03/27/2008
• Status: Active Grant

• Current Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Original Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Inventors: Kirschenman, Mark B., Hauck, John A.
• Granted Patent: US 8,343,096 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• 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 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2018/00351 Heart
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2018/00642 with feedback, i.e. closed loop control
• CPC Class Codes: A61B 2034/2055 Optical 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 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/741 Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• 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 34/37 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
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/06 Measuring instruments not otherwise provided for
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/0147 : with movable mechanical means, e.g. pull wires

Abstract

A robotic catheter system including one or more robotic catheter manipulator assemblies supported on a manipulator support structure. The robotic catheter manipulator assembly may include one or more removably mounted robotic catheter device cartridges and robotic sheath device cartridges, with each cartridge being generally linearly movable relative to the robotic catheter manipulator assembly. An input control system may be provided for controlling operation of the robotic catheter manipulator assembly. A visualization system may include one or more display monitors for displaying a position of a catheter and/or a sheath respectively attached to the robotic catheter and sheath device cartridges.

Claims

1. A robotic catheter system comprising:

at least one robotic catheter manipulator assembly supported on a manipulator support structure, the robotic catheter manipulator assembly including at least one removably mounted robotic catheter device cartridge and robotic sheath device cartridge, each cartridge being generally linearly movable relative to the robotic catheter manipulator assembly;

an input control system for controlling operation of the robotic catheter manipulator assembly; and

a visualization system including at least one display monitor for displaying a position of at least one of a catheter and a sheath respectively attached to the robotic catheter and sheath device cartridges.

2. The robotic catheter system according to claim 1, wherein the manipulator support structure includes an attachment assembly for attaching the robotic catheter manipulator assembly to an operation bed.

3. The robotic catheter system according to claim 1, wherein the manipulator support structure includes at least one retractable wheel for facilitating transport of the robotic catheter manipulator assembly.

4. The robotic catheter system according to claim 1, wherein the manipulator support structure includes at least one support arm for adjustably supporting the robotic catheter manipulator assembly.

5. The robotic catheter system according to claim 4, wherein the support arm adjustably positions the robotic catheter manipulator assembly in a plane disposed at an acute angle relative to a generally horizontally disposed operation bed.

6. The robotic catheter system according to claim 4, wherein the support arm adjustably positions the robotic catheter manipulator assembly in plane disposed generally orthogonal to a generally horizontally disposed operation bed.

7. The robotic catheter system according to claim 4, wherein the support arm adjustably positions the robotic catheter and sheath device cartridges for movement in a plane disposed at an acute angle relative to a generally horizontally disposed operation bed.

8. The robotic catheter system according to claim 4, wherein the support arm adjustably positions the robotic catheter and sheath device cartridges for movement in a plane disposed generally orthogonal to a generally horizontally disposed operation bed.

9. The robotic catheter system according to claim 1, wherein the robotic catheter manipulator assembly support structure is substantially fixedly disposed relative to an operation bed.

10. The robotic catheter system according to claim 1, further comprising a case for transport and sterile use of the robotic catheter manipulator assembly.

11. The robotic catheter system according to claim 1, further comprising a sterile shield for preventing contamination of the robotic catheter manipulator assembly.

12. The robotic catheter system according to claim 1, wherein the robotic catheter system is portable without lifting.

13. The robotic catheter system according to claim 1, wherein at least one of the catheter and sheath cartridges is rotatable relative to the robotic catheter manipulator assembly.

14. The robotic catheter system according to claim 1, wherein the robotic catheter manipulator assembly includes a support member including at least one catheter manipulation base and at least one sheath manipulation base movable relative to each other and to the support member, each respective manipulation base being releasably connectable to the catheter and sheath device cartridges.

15. The robotic catheter system according to claim 14, wherein one of the catheter manipulation base and the catheter device cartridge includes at least one first element engageable with at least one complementary second element slidably engaged with the other one of the catheter manipulation base and the catheter device cartridge for controlling movement of the catheter by pulling a steering wire attached to the catheter and one of the first and second elements.

16. The robotic catheter system according to claim 14, wherein one of the sheath manipulation base and the sheath device cartridge includes at least one first element engageable with at least one complementary second element slidably engaged with the other one of the sheath manipulation base and the sheath device cartridge for controlling movement of the sheath by pulling a steering wire attached to the sheath and one of the first and second elements.

17. The robotic catheter system according to claim 14, wherein the catheter and sheath manipulation bases are linearly movable relative to each other and to the support member.

18. The robotic catheter system according to claim 14, wherein the catheter manipulation base is disposed generally behind the sheath manipulation base to allow insertion of the catheter into the sheath.

19. The robotic catheter system according to claim 1, wherein the input control system includes at least one of a joystick, an instrumented glove, a mouse, a space-ball and a 3D input device.

20. The robotic catheter system according to claim 1, wherein the input control system includes haptic feedback based on one of actual sensed forces on a distal catheter tip, and impedance measured from the distal catheter tip.

21. The robotic catheter system according to claim 1, wherein the input control system includes haptic feedback based on virtual catheter tip proximity to virtual cardiac anatomy.

22. The robotic catheter system according to claim 1, wherein the visualization system includes an orientation vector display for showing direction of a thumb switch deflection for the input control system.

23. The robotic catheter system according to claim 1, wherein the input control system includes active tensioning of steering wires attached to the catheter and sheath.

24. The robotic catheter system according to claim 1, wherein the input control system includes pre-defined speed zones for varying speed of movement of the catheter and sheath in predetermined areas in the anatomy of a patient.

25. A robotic catheter system comprising:

at least one robotic manipulator assembly supported on a manipulator support structure, the robotic manipulator assembly including at least one removably mounted robotic first surgical instrument device cartridge and robotic second surgical instrument device cartridge, each cartridge being generally linearly movable relative to the robotic manipulator assembly;

an input control system for controlling operation of the robotic manipulator assembly; and

a visualization system including at least one display for displaying a position of at least one of a first and second surgical instrument respectively attached to the robotic first and second surgical instrument device cartridges.

26. The robotic catheter system according to claim 25, wherein the manipulator support structure includes an attachment assembly for attaching the robotic manipulator assembly to an operation bed.

27. The robotic catheter system according to claim 25, wherein the manipulator support structure includes at least one retractable wheel for facilitating transport of the robotic manipulator assembly.

28. The robotic catheter system according to claim 25, wherein the manipulator support structure includes at least one support arm for adjustably supporting the robotic manipulator assembly.

29. The robotic catheter system according to claim 28, wherein the support arm adjustably positions the robotic manipulator assembly in a plane disposed at an acute angle relative to a generally horizontally disposed operation bed.

30. The robotic catheter system according to claim 28, wherein the support arm adjustably positions the robotic manipulator assembly in plane disposed generally orthogonal to a generally horizontally disposed operation bed.

31. The robotic catheter system according to claim 28, wherein the support arm adjustably positions the robotic first and second surgical instrument device cartridges for movement in a plane disposed at an acute angle relative to a generally horizontally disposed operation bed.

32. The robotic catheter system according to claim 28, wherein the support arm adjustably positions the robotic first and second surgical instrument device cartridges for movement in a plane disposed generally orthogonal to a generally horizontally disposed operation bed.

33. The robotic catheter system according to claim 25, wherein the robotic manipulator assembly support structure is substantially fixedly disposed relative to an operation bed.

34. The robotic catheter system according to claim 25, further comprising a case for transport and sterile use of the robotic manipulator assembly.

35. The robotic catheter system according to claim 25, further comprising a sterile shield for preventing contamination of the robotic manipulator assembly.

36. The robotic catheter system according to claim 25, wherein the robotic catheter system is portable without lifting.

37. The robotic catheter system according to claim 25, wherein at least one of the first and second surgical instrument device cartridges is rotatable relative to the robotic manipulator assembly.

38. The robotic catheter system according to claim 25, wherein the robotic manipulator assembly includes a support member including at least one first surgical instrument manipulation base and at least one second surgical instrument manipulation base movable relative to each other and to the support member, each respective manipulation base being releasably connectable to the first and second surgical instrument device cartridges.

39. The robotic catheter system according to claim 38, wherein one of the first surgical instrument manipulation base and the first surgical instrument device cartridge includes at least one first element engageable with at least one complementary second element slidably engaged with the other one of the first surgical instrument manipulation base and the first surgical instrument device cartridge for controlling movement of the first surgical instrument by pulling a steering wire attached to the first surgical instrument and one of the first and second elements.

40. The robotic catheter system according to claim 38, wherein one of the second surgical instrument manipulation base and the second surgical instrument device cartridge includes at least one first element engageable with at least one complementary second element slidably engaged with the other one of the second surgical instrument manipulation base and the second surgical instrument device cartridge for controlling movement of the second surgical instrument by pulling a steering wire attached to the second surgical instrument and one of the first and second elements.

41. The robotic catheter system according to claim 38, wherein the first and second surgical instrument manipulation bases are linearly movable relative to each other and to the support member.

42. The robotic catheter system according to claim 38, wherein the first surgical instrument manipulation base is disposed generally behind the second surgical instrument manipulation base to allow insertion of the first surgical instrument into the second surgical instrument.

43. The robotic catheter system according to claim 25, wherein the input control system includes at least one of a joystick, an instrumented glove, a mouse, a space-ball and a 3D input device.

44. The robotic catheter system according to claim 25, wherein the input control system includes haptic feedback based on one of actual sensed forces on a distal first surgical instrument tip, and impedance measured from the distal first surgical instrument tip.

45. The robotic catheter system according to claim 25, wherein the input control system includes haptic feedback based on virtual first surgical instrument tip proximity to virtual cardiac anatomy.

46. The robotic catheter system according to claim 25, wherein the visualization system includes an orientation vector display for showing direction of a thumb switch deflection for the input control system.

47. The robotic catheter system according to claim 25, wherein the input control system includes active tensioning of steering wires attached to the first and second surgical instruments.

48. The robotic catheter system according to claim 25, wherein the input control system includes pre-defined speed zones for varying speed of movement of the first and second surgical instruments in predetermined areas in the anatomy of a patient.

49. The robotic catheter system according to claim 25, wherein the first and second surgical instrument are one of a transseptal needle, a catheter and a sheath.

50. The robotic catheter system according to claim 25, wherein the manipulator support structure is an integrated system including a RF generator, a saline pump and saline bags.

51. The robotic catheter system according to claim 25, wherein the robotic manipulator assembly includes a cartridge override for at least one of preventing and disabling movement of the cartridges.