ROBOTIC DRIVE FOR CATHETER
First Claim
1. Apparatus for controlling a steerable invasive probe having a handle, the apparatus comprising:
- a platform;
a jig, which is mounted on the platform and is configured to receive the handle, and which comprises at least a first gear that is positioned and shaped to rotate the handle about an axis of the probe and a second gear that is positioned and shaped to operate a control on the handle for deflecting a tip of the probe;
a drive module comprising one or more motors; and
a transmission, which is coupled to the drive module and to the jig so as to controllably rotate at least the first and second gears and to translate the platform along a direction parallel to the axis in order to advance and retract the probe.
1 Assignment
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Accused Products
Abstract
Apparatus for controlling a steerable invasive probe having a handle. The apparatus includes a platform and a jig, which is mounted on the platform and is configured to receive the handle. The jig includes at least a first gear that is positioned and shaped to rotate the handle about an axis of the probe and a second gear that is positioned and shaped to operate a control on the handle for deflecting a tip of the probe. A drive module includes one or more motors. A transmission is coupled to the drive module and to the jig so as to controllably rotate at least the first and second gears and to translate the platform along a direction parallel to the axis in order to advance and retract the probe.
33 Citations
22 Claims
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1. Apparatus for controlling a steerable invasive probe having a handle, the apparatus comprising:
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a platform; a jig, which is mounted on the platform and is configured to receive the handle, and which comprises at least a first gear that is positioned and shaped to rotate the handle about an axis of the probe and a second gear that is positioned and shaped to operate a control on the handle for deflecting a tip of the probe; a drive module comprising one or more motors; and a transmission, which is coupled to the drive module and to the jig so as to controllably rotate at least the first and second gears and to translate the platform along a direction parallel to the axis in order to advance and retract the probe. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An invasive medical system, comprising:
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a steerable invasive probe having an axis and a distal tip for insertion into a body of a subject, and comprising a handle and at least one control on the handle for controlling a deflection of the distal tip; a robotic drive, comprising; a platform; a jig, which is mounted on the platform and is configured to receive the handle, and which comprises at least a first gear that is positioned and shaped to rotate the handle about the axis of the probe and a second gear that is positioned and shaped to operate the at least one control; a drive module comprising one or more motors; and a transmission, which is coupled to the drive module and to the jig so as to controllably rotate at least the first and second gears and to translate the platform along a direction parallel to the axis in order to advance and retract the probe; and a control unit, which is coupled to control the drive module so as to move the probe inside the body. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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15. A method for controlling a steerable invasive probe having a handle, the method comprising:
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inserting the handle into a jig, which is mounted on a platform and which comprises at least a first gear that is positioned and shaped to rotate the handle about an axis of the probe and a second gear that is positioned and shaped to operate a control on the handle for deflecting a tip of the probe; and coupling a transmission to a drive module, comprising one or more motors, and to the jig so as to controllably rotate at least the first and second gears and to translate the platform along a direction parallel to the axis in order to advance and retract the probe. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22)
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Specification