MODEL CATHETER INPUT DEVICE
First Claim
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1. An input device for a robotic catheter system, comprising:
- a sheath handle comprising a first shaft, the first shaft defining a passageway therein; and
a catheter handle comprising a second shaft, the second shaft at least partially disposed within the passageway defined by the first shaft;
wherein each of the sheath handle and the catheter handle is coupled to a plurality of respective guide wires, the guide wires configured such that movement of the handles causes a corresponding tension response in one or more of the plurality of guide wires.
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Abstract
An input device for a robotic medical system includes a sheath handle, comprising a flexible shaft defining a lumen therein. The input device also includes a catheter handle comprising a second flexible shaft which is at least partially disposed within the lumen of the first shaft. The sheath handle and the catheter handle are each coupled to a plurality of respective guide wires, which are configured such that movement of the handles causes a corresponding tension response in one or more of the plurality of guide wires. Sensors are connected to the guide wires to measure the movement of the sheath handle and the catheter handle.
177 Citations
22 Claims
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1. An input device for a robotic catheter system, comprising:
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a sheath handle comprising a first shaft, the first shaft defining a passageway therein; and a catheter handle comprising a second shaft, the second shaft at least partially disposed within the passageway defined by the first shaft; wherein each of the sheath handle and the catheter handle is coupled to a plurality of respective guide wires, the guide wires configured such that movement of the handles causes a corresponding tension response in one or more of the plurality of guide wires. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A catheter controller, comprising:
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an input device and a control system; the control system configured to receive control signals in response to movement of the input device, and to transmit corresponding motion commands to a catheter; wherein the input device is configured such that displacement of the input device within a deflection plane results in a corresponding deflection of the distal end of at least one of a catheter and a sheath in a deflection plane. - View Dependent Claims (21, 22)
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Specification