PROXIMITY SENSOR INTERFACE IN A ROBOTIC CATHETER SYSTEM
First Claim
1. An apparatus for use in a robotic control system for manipulating a medical device toward a target, comprising:
- an electronic control unit (ECU);
a computer-readable memory coupled to said ECU; and
control logic stored in said memory configured to be executed by said ECU, said control logic configured to produce an actuation control signal to control actuation of a manipulator assembly of the robotic control system so as to navigate the medical device in and with respect to a plurality of pre-defined proximity zones, said control logic being further configured to generate said actuation control signal based on a proximity signal indicative of at least one of a proximity metric and a contact metric related to a location of the medical device relative to tissue of a patient and in accordance with said pre-defined proximity zones.
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Accused Products
Abstract
A robotic catheter control system includes a proximity sensing function configured to generate a proximity signal that is indicative of the proximity of the medical device such as an electrode catheter to a nearest anatomic structure such as a cardiac wall. The control system includes logic that monitors the proximity signal during guided movement of the catheter to ensure that unintended contact with body tissue is detected and avoided. The logic includes a means for defining a plurality of proximity zones, such as a GREEN, YELLOW and RED designated zones, each having associated therewith a respective proximity (distance) criterion, with the RED zone being the nearest to the body tissue and the YELLOW zone being the next nearest to the body tissue. When the logic detects entry of the catheter into the RED zone, the logic terminates the operating power to the actuation units of the control system, to thereby stop movement of the catheter entirely. When the logic detects entry of the catheter into the YELLOW zone, the logic automatically reduces a pre-planned navigation speed of the catheter.
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Citations
20 Claims
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1. An apparatus for use in a robotic control system for manipulating a medical device toward a target, comprising:
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an electronic control unit (ECU); a computer-readable memory coupled to said ECU; and control logic stored in said memory configured to be executed by said ECU, said control logic configured to produce an actuation control signal to control actuation of a manipulator assembly of the robotic control system so as to navigate the medical device in and with respect to a plurality of pre-defined proximity zones, said control logic being further configured to generate said actuation control signal based on a proximity signal indicative of at least one of a proximity metric and a contact metric related to a location of the medical device relative to tissue of a patient and in accordance with said pre-defined proximity zones. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A robotic control and guidance system for manipulating a medical device in a body of a patient, comprising:
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an electronic control unit (ECU), a memory coupled to said ECU, and control logic stored in said memory configured to be executed by said ECU; a manipulator assembly including a plurality of electrically-operated actuation units configured to actuate a plurality of control members associated with said medical device in response to a plurality of actuation control signals; a proximity sensor configured to output a proximity signal indicative of the proximity of said medical device to body tissue; and said control logic being configured to produce said actuation control signals so as to navigate said medical device in and with respect to a plurality of proximity zones in the body of the patient based on said proximity signal. - View Dependent Claims (18, 19, 20)
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Specification