MOTION COMPENSATING CATHETER DEVICE
First Claim
1. A catheter based system comprising:
- a catheter having a catheter guide-wire within a catheter sheath;
an actuator coupled to the guide-wire for moving the catheter guide-wire in the catheter sheath;
an end effector coupled to a remote end of the guide-wire;
a catheter control system connected to the actuator and adapted to control the actuator;
a location sensing system for sensing target tissue and the end effector locations and providing location data to the catheter control system; and
wherein the catheter control system controls the actuator as a function of the location data received from the location sensing system.
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Accused Products
Abstract
A catheter system allows for percutaneous intervention on the fast-moving structures inside the heart. The device consists of a steerable catheter sheath, an actuated, multi-degree of freedom moving catheter, and a catheter end effector, such as a fixation device. An actuator controls the motion of the catheter guide-wire in the catheter sheath to follow the motion of the target tissue. A control system controls the actuator and compensates for mechanical characteristics of the system including friction and backlash. A 3-D imaging system can be used to view the motion of the target tissue and the catheter end effector and produce 3-D imaging data. The 3-D imaging data can be used by the control system to track the target tissue and accurately position the end effector with respect to the moving target tissue allowing a clinician to repair the target tissue while it is moving. The system can be used to perform mitral valve annuloplasty wherein the actuated catheter compensates for the heart valve motion and an end effector fixation device is used to place fixation items, like anchors or staples, into the heart valve tissue to fix the annulus.
37 Citations
24 Claims
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1. A catheter based system comprising:
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a catheter having a catheter guide-wire within a catheter sheath; an actuator coupled to the guide-wire for moving the catheter guide-wire in the catheter sheath; an end effector coupled to a remote end of the guide-wire; a catheter control system connected to the actuator and adapted to control the actuator; a location sensing system for sensing target tissue and the end effector locations and providing location data to the catheter control system; and wherein the catheter control system controls the actuator as a function of the location data received from the location sensing system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for controlling a catheter system comprising:
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providing a catheter having a catheter guide-wire within a catheter sheath; providing an actuator, coupled to the guide-wire, for moving the catheter guide-wire within the catheter sheath; providing an end effector, coupled to a remote end of the guide-wire; receiving image data of target tissue and the end effector of the catheter; and controlling the actuator as a function of the image data. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification