Robotic catheter system input device
First Claim
1. An input device for a robotic medical system including a medical instrument, the input device comprising:
- a handle configured to be rotatable about a center axis and to be longitudinally displaceable along the center axis; and
a deflection control element disposed on or about the handle and configured to selectively control deflection of a distal end of said medical instrument within a deflection plane;
wherein longitudinal displacement of the handle causes or results in a corresponding longitudinal motion of the medical instrument;
rotation of the handle causes or results in a corresponding rotation of the deflection plane; and
the longitudinal displacement and rotation of the handle are detected or sensed electronically.
2 Assignments
0 Petitions
Accused Products
Abstract
An input device (101) for a robotic medical system (10) includes a handle (102) configured to be rotatable about a center axis, and to be longitudinally displaceable along the center axis. The input device (101) also includes a deflection control element disposed on the handle (102), 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 (102) may cause or result in a corresponding longitudinal motion of the flexible medical instrument. Rotation of the handle (102) may cause or result in a corresponding rotation of the deflection plane. Longitudinal displacement and rotation of the handle (102) may be detected or sensed electronically. The handle (102) can be easily replaced with a device that mimicks the performance of one or more novel, known or traditional handles.
217 Citations
34 Claims
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1. An input device for a robotic medical system including a medical instrument, the input device comprising:
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a handle configured to be rotatable about a center axis and to be longitudinally displaceable along the center axis; and a deflection control element disposed on or about the handle and configured to selectively control deflection of a distal end of said medical instrument within a deflection plane; wherein longitudinal displacement of the handle causes or results in a corresponding longitudinal motion of the medical instrument;
rotation of the handle causes or results in a corresponding rotation of the deflection plane; and
the longitudinal displacement and rotation of the handle are detected or sensed electronically. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 31, 32, 33, 34)
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22. A catheter input device, comprising:
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a joystick input device; and a control system, the control system configured to receive a control signal in response to movement of the joystick input device and to transmit a corresponding motion-related command to a catheter; wherein the joystick input device is configured such that displacement of the joystick input device along a first axis results in a corresponding advancement or retraction of at least one of a catheter and a sheath, and displacement of the joystick input device along a second axis results in a corresponding deflection of the distal end of at least one of a catheter and a sheath along a deflection plane. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30)
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Specification