ROBOTIC CATHETER SYSTEM INCLUDING HAPTIC FEEDBACK

• US 20100073150A1
• Filed: 07/22/2009
• Published: 03/25/2010
• Est. Priority Date: 09/24/2008
• 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., Olson, Eric S., Tegg, Troy T.
• Granted Patent: US 8,390,438 B2
• Time in Patent Office: Days
• US Class Current: 340/407.100
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• 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 2034/741 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 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• 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: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B

Abstract

A haptic feedback system for a robotic catheter system including a robotic catheter manipulator assembly including 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. The haptic feedback system may include a user interface device for controlling an operation associated with the catheter and/or sheath device cartridges, and a control system for evaluating a predetermined and/or a measured operational parameter of the haptic feedback system. The user interface device may provide haptic feedback to a user based on the evaluation by the control system.

Claims

1. A haptic feedback system for a robotic catheter system including a 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, the haptic feedback system comprising:

a user interface device for controlling an operation associated with at least one of the catheter and sheath device cartridges; and

a control system for evaluating at least one of a predetermined and a measured operational parameter of the haptic feedback system,

wherein the user interface device provides haptic feedback to a user based on the evaluation by the control system.

2. The haptic feedback system according to claim 1, wherein the user interface device is at least one of an instrumented catheter handle control, an oversized catheter model, a user-wearable glove, a joystick, and a haptic spaceball.

3. The haptic feedback system according to claim 1, wherein the operational parameter includes at least one of a type, attachment, detachment, speed of movement, and axial and angular positions of at least one of the catheter and sheath device cartridges relative to the manipulator assembly.

4. The haptic feedback system according to claim 1, wherein the user interface device is operatively connected to a catheter and sheath respectively connected to the catheter and sheath device cartridges.

5. The haptic feedback system according to claim 4, wherein the operational parameter includes at least one of a speed of movement, force, proximity, angle of attack and rotational orientation of at least one of the catheter and sheath relative to an endocardial wall.

6. The haptic feedback system according to claim 5, wherein the endocardial wall is computer generated.

7. The haptic feedback system according to claim 4, wherein the operational parameter includes a tension of a steering wire for manipulating at least one of the catheter and sheath.

8. The haptic feedback system according to claim 4, wherein the operational parameter is at least one of a temperature and texture of an endocardial wall relative to at least one of the catheter and sheath.

9. The haptic feedback system according to claim 1, wherein the user interface device is configured to provide at least one of virtual and augmented haptic feedback.

10. The haptic feedback system according to claim 9, wherein the virtual feedback directly correlates to the operational parameter.

11. The haptic feedback system according to claim 9, wherein the augmented feedback indirectly correlates to the operational parameter.

12. The haptic feedback system according to claim 1, wherein the haptic feedback includes at least one of active resistance, active push, active pull, vibration, and temperature variation of the user interface device.

13. The haptic feedback system according to claim 1, wherein the haptic feedback is user selectable.

14. The haptic feedback system according to claim 1, wherein at least one of a haptic type, mode and proportionality of the haptic feedback is user selectable.

15. A haptic feedback system for a robotic catheter system including a robotic catheter manipulator assembly including at least one removably mounted robotic catheter device cartridge and robotic sheath device cartridge, each cartridge being movable relative to the robotic catheter manipulator assembly, the haptic feedback system comprising:

a user interface device for controlling an operation of the robotic catheter system; and

a control system for evaluating at least one of a predetermined and a measured operational parameter of the haptic feedback system,

wherein the user interface device provides haptic feedback to a user based on the evaluation by the control system.

16. The haptic feedback system according to claim 15, wherein the user interface device is at least one of an instrumented catheter handle control, an oversized catheter model, a user-wearable glove, and a joystick.

17. The haptic feedback system according to claim 15, wherein the operational parameter includes at least one of a type, attachment, detachment, speed of movement, and axial and angular positions of at least one of the catheter and sheath device cartridges relative to the manipulator assembly.

18. The haptic feedback system according to claim 15, wherein the user interface device is operatively connected to a catheter and sheath respectively connected to the catheter and sheath device cartridges.

19. The haptic feedback system according to claim 18, wherein the operational parameter includes at least one of a speed of movement, force, proximity, angle of attack and rotational orientation of at least one of the catheter and sheath relative to an endocardial wall.

20. The haptic feedback system according to claim 19, wherein the endocardial wall is computer generated.

21. The haptic feedback system according to claim 18, wherein the operational parameter is at least one of a temperature and texture of an endocardial wall relative to at least one of the catheter and sheath.

22. The haptic feedback system according to claim 15, wherein the user interface device is configured to provide at least one of virtual and augmented haptic feedback.

23. The haptic feedback system according to claim 22, wherein the virtual feedback directly correlates to the operational parameter.

24. The haptic feedback system according to claim 22, wherein the augmented feedback indirectly correlates to the operational parameter.

25. The haptic feedback system according to claim 15, wherein the haptic feedback includes at least one of active resistance, active push, active pull, vibration, and temperature variation of the user interface device.

26. The haptic feedback system according to claim 15, wherein the haptic feedback is user selectable.

27. A method of providing haptic feedback for a robotic catheter system including a 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, the method comprising:

controlling an operation associated with at least one of the catheter and sheath device cartridges;

evaluating at least one of a predetermined and a measured operational parameter of the robotic catheter system; and

providing haptic feedback to a user based on the evaluation.

28. The method according to claim 27, wherein the operational parameter includes at least one of a type, attachment, detachment, speed of movement, and axial and angular positions of at least one of the catheter and sheath device cartridges relative to the manipulator assembly.

29. The method according to claim 27, wherein the operational parameter includes at least one of a speed of movement, force, proximity, angle of attack and rotational orientation of at least one of a catheter and sheath, respectively connected to the catheter and sheath device cartridges, relative to an endocardial wall.

30. The method according to claim 29, wherein the endocardial wall is computer generated.

31. The method according to claim 27, wherein the operational parameter is at least one of a temperature and texture of an endocardial wall relative to at least one of a catheter and sheath respectively connected to the catheter and sheath device cartridges.

32. The method according to claim 27, further comprising providing at least one of virtual and augmented haptic feedback.

33. The method according to claim 32, wherein the virtual feedback directly correlates to the operational parameter.

34. The method according to claim 32, wherein the augmented feedback indirectly correlates to the operational parameter.

35. The method according to claim 27, wherein the haptic feedback is user selectable.