ROBOTIC CATHETER SYSTEM

• US 20110230896A1
• Filed: 05/27/2011
• Published: 09/22/2011
• Est. Priority Date: 03/05/2004
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Wallace, Daniel T., Moll, Frederic H., Adams, Daniel T., Zinn, Michael R., Stahler, Gregory J., Niemeyer, Gunter D., Martin, Kenneth M., Moore, David F., Younge, Robert G.
• Granted Patent: US 8,394,054 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 10/06 Biopsy forceps , e.g. with cup-shaped jaws
• CPC Class Codes: A61B 2017/00247 Making holes in the wall of the heart, e.g. laser Myocardial revascularization
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00309 Cut-outs or slits
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2018/00392 Transmyocardial revascularisation
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2090/035 preventing further rotation
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3925 ultrasonic
• CPC Class Codes: A61B 2090/397 electromagnetic other than visible, e.g. microwave
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/35 : for telesurgery
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• 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: A61B 46/10 : specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 5/066 : Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/283 : Invasive
• CPC Class Codes: A61B 5/6852 : Catheters
• CPC Class Codes: A61B 5/6885 : Monitoring or controlling sensor contact pressure
• CPC Class Codes: A61B 5/7285 : for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence
• CPC Class Codes: A61B 5/746 : Alarms related to a physiological condition, e.g. details of setting alarm thresholds or avoiding false alarms alarms per se G08B
• CPC Class Codes: A61B 6/4423 : related to hygiene or sterilisation
• CPC Class Codes: A61B 6/503 : for diagnosis of the heart
• CPC Class Codes: A61B 6/504 : for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 8/0891 : for diagnosis of blood vessels
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4254 : using sensors mounted on the probe
• CPC Class Codes: A61B 8/4461 : Features of the scanning mechanism, e.g. for moving the transducer within the housing of the probe
• CPC Class Codes: A61B 8/4466 : involving deflection of the probe
• CPC Class Codes: A61B 8/543 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 90/50 : Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61M 25/0113 : Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/09041 : Mechanisms for insertion of guide wires

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 guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide 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.

Claims

1. A robotic instrument system, comprising:

an elongate instrument;

a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move the instrument; and

a haptic input device in communication with the controller and configured for generating instrument motion commands in response to a directional movement of the input device,

wherein the controller compares a desired instrument movement corresponding to instrument motion commands received from the input device against one or more instrument workspace limitations and, if the desired instrument movement contravenes a instrument workspace limitation, transmits a workspace limitation signal to the input device in response to the respective instrument motion command,

wherein the input device, upon receiving such workspace limitation signal from the controller, imparts a detectable resistance to further movement of the input device in a same relative direction.

2. The system of claim 1, wherein the one or more workspace limitations include mechanical characteristics of the instrument.

3. The system of claim 1, wherein the one or more workspace limitations include a range of motion of the instrument.

4. The system of claim 3, wherein the motion is insertion of the instrument.

5. The system of claim 3, wherein the motion is bending of the instrument.

6. The system of claim 1, wherein the one or more workspace limitations include one or both of a trajectory and a spatial position of the instrument.

7. The system of claim 1, wherein the one or more workspace limitations include user-implemented limitations.

8. A robotic instrument system, comprising:

an elongate instrument;

a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move the instrument; and

a haptic input device in communication with the controller and configured for generating instrument motion commands in response to a directional movement of the input device,

wherein the controller compares a desired instrument movement corresponding to instrument motion commands received from the input device to a predetermined range of instrument movement and, if the desired instrument movement is outside of the predetermined instrument movement range, transmits a haptic limitation signal to the input device in response to the respective instrument motion command,

wherein the input device, upon receiving such haptic limitation signal from the controller, imparts a detectable resistance to further movement of the input device in a same relative direction.

9. The system of claim 8, wherein the predetermined range of instrument motion corresponds to a planned trajectory of the instrument.

10. The system of claim 8, wherein the predetermined range of instrument motion defines a haptic groove.

11. A robotic instrument system, comprising:

an elongate instrument;

a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move the instrument; and

a haptic input device in communication with the controller and configured for generating instrument motion commands in response to a directional movement of the input device,

wherein the controller compares a desired instrument movement corresponding to instrument motion commands received from the input device to a desired instrument trajectory and, if the desired instrument movement is outside of the desired instrument trajectory, transmits a haptic limitation signal to the input device in response to the respective instrument motion command,

wherein the input device, upon receiving such haptic limitation signal from the controller, imparts a detectable resistance to further movement of the input device in a same relative direction.

12. The system of claim 11, wherein the desired instrument trajectory is determined based on a targeted location on a tissue structure.

13. The system of claim 11, wherein the desired instrument trajectory defines a haptic gravity well.