Robotic catheter system input device
First Claim
1. An input device for a robotic medical system including a medical instrument with a distal end, the input device comprising the following:
- a handle configured to be rotatable about an axis and to be longitudinally displaceable along the axis;
a first sensor configured to detect axial rotation of the handle;
a second sensor configured to detect longitudinal displacement of the handle along the axis; and
a deflection control element disposed on or about the handle and configured to selectively control deflection of said distal end of said medical instrument within a deflection plane;
wherein longitudinal displacement of the handle results in a corresponding longitudinal motion of said medical instrument;
rotation of the handle results in a corresponding rotation of the deflection plane; and
the longitudinal displacement and rotation of the handle are detected electronically.
1 Assignment
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Accused Products
Abstract
An input device for a robotic medical system includes a handle configured to be rotatable about a center axis, and to be longitudinally displaceable along the center axis. The input device also includes a deflection control element disposed on the handle and configured to selectively control deflection of the distal end of a flexible medical instrument electrically coupled to the input device. Longitudinal displacement of the handle may cause or result in a corresponding longitudinal motion or deflection of the flexible medical instrument. Rotation of the handle may cause or result in a corresponding rotation of the deflection plane. Longitudinal displacement and rotation of the handle may be detected or sensed electronically.
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Citations
24 Claims
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1. An input device for a robotic medical system including a medical instrument with a distal end, the input device comprising the following:
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a handle configured to be rotatable about an axis and to be longitudinally displaceable along the axis; a first sensor configured to detect axial rotation of the handle; a second sensor configured to detect longitudinal displacement of the handle along the axis; and a deflection control element disposed on or about the handle and configured to selectively control deflection of said distal end of said medical instrument within a deflection plane; wherein longitudinal displacement of the handle results in a corresponding longitudinal motion of said medical instrument;
rotation of the handle results in a corresponding rotation of the deflection plane; and
the longitudinal displacement and rotation of the handle are detected electronically. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A device for controlling the robotic movement of a catheter, the device comprising the following:
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a joystick input device including a first sensor configured to detect motion in a first manner and a second sensor configured to detect motion in a second manner; and a control system configured to receive a control signal from the first and second sensors and to transmit a corresponding motion-related command to a catheter manipulation mechanism; wherein the control system is configured to relate displacement of the joystick input device in the first manner to a corresponding advancement or retraction of at least one of a catheter and a sheath, and displacement of the joystick input device in the second manner to a corresponding deflection of the distal end of at least one of a catheter and a sheath along a deflection plane. - View Dependent Claims (19, 20, 21, 22, 23, 24)
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Specification