ENDOSCOPIC ROBOTIC CATHETER SYSTEM
First Claim
1. A robotic instrument system, comprising:
- a. an operator workstation comprising one or more displays and one or more input devices;
b. a controller operatively coupled to the operator workstation;
c. an instrument driver operatively coupled to the controller, the instrument driver comprising one or more motors operatively coupled to an instrument interface and being operably coupled to and supported by a lockably mobile instrument driver base configured to rest upon a floor of an operating room adjacent a patient; and
d. an elongate flexible guide instrument having a longitudinal axis and a base portion operably coupled to the instrument interface;
wherein the controller is configured to selectively actuate the one or more motors to thereby selectively move a distal end portion of the guide instrument in response to control signals generated, at least in part, by the one or more input devices.
1 Assignment
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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.
134 Citations
26 Claims
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1. A robotic instrument system, comprising:
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a. an operator workstation comprising one or more displays and one or more input devices; b. a controller operatively coupled to the operator workstation; c. an instrument driver operatively coupled to the controller, the instrument driver comprising one or more motors operatively coupled to an instrument interface and being operably coupled to and supported by a lockably mobile instrument driver base configured to rest upon a floor of an operating room adjacent a patient; and d. an elongate flexible guide instrument having a longitudinal axis and a base portion operably coupled to the instrument interface; wherein the controller is configured to selectively actuate the one or more motors to thereby selectively move a distal end portion of the guide instrument in response to control signals generated, at least in part, by the one or more input devices. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A flexible instrument assembly, comprising:
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a. an elongate flexible body defining a plurality of integrated instrument lumens longitudinally therethrough, as well as an interchangeable working instrument lumen therethrough which is positioned approximately coincident with the longitudinal axis of the elongate flexible body; b. an instrument housing coupled to a proximal portion of the elongate body; c. a plurality of radially spaced-apart control wires coupled to a distal end portion of the elongate flexible body, the control wires extending proximally through a wall of the elongate body and out at least one opening defined by the proximal end of said elongate body; and d. a plurality of control wire interface assemblies carried in the instrument housing, each interface assembly comprising a pulley that is rotatable relative to the housing, the guide instrument control wires each having a proximal end extending out of the at least one opening defined by the proximal end of the elongate body and wound onto a respective pulley, such that movement of the guide instrument distal end may be controlled by rotational movement of the one or more pulleys. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification