ENDOSCOPIC ROBOTIC CATHETER SYSTEM
First Claim
1. A robotic catheter system, comprising:
- a. a robotically steerable catheter instrument comprising a housing and an elongate flexible body, the elongate flexible body defining one or more instrument lumens longitudinally therethrough;
b. an electromechanical instrument driver comprising a housing, a plurality of motors, and an instrument interface configured to removably engage the catheter instrument housing and transfer a plurality of steering actuations to the catheter instrument when engaged thereto;
c. an elongate medical instrument slidably positioned through one of the one or more instrument lumens;
d. an electromechanical device actuation assembly coupled to the proximal end of the elongate medical instrument and configured to actuate the medical instrument independently of steering actuations transferred to the robotically steerable catheter instrument; and
e. a controller configured to operate the instrument driver and device actuation assembly to respectively steer the catheter instrument and actuate the elongate medical instrument subject to commands imparted by an operator to a master input device operably coupled to the controller.
1 Assignment
0 Petitions
Accused Products
Abstract
A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.
143 Citations
45 Claims
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1. A robotic catheter system, comprising:
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a. a robotically steerable catheter instrument comprising a housing and an elongate flexible body, the elongate flexible body defining one or more instrument lumens longitudinally therethrough; b. an electromechanical instrument driver comprising a housing, a plurality of motors, and an instrument interface configured to removably engage the catheter instrument housing and transfer a plurality of steering actuations to the catheter instrument when engaged thereto; c. an elongate medical instrument slidably positioned through one of the one or more instrument lumens; d. an electromechanical device actuation assembly coupled to the proximal end of the elongate medical instrument and configured to actuate the medical instrument independently of steering actuations transferred to the robotically steerable catheter instrument; and e. a controller configured to operate the instrument driver and device actuation assembly to respectively steer the catheter instrument and actuate the elongate medical instrument subject to commands imparted by an operator to a master input device operably coupled to the controller. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45)
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Specification