Robotic catheter system
1 Assignment
0 Petitions
Accused Products
Abstract
A robotic system for manipulating a catheter with a plurality of steering wires longitudinally situated within a length of the catheter includes a user interface configured to display a view of an anatomical model and to receive one or more user inputs; a catheter manipulator assembly configured to linearly actuate one or more control members of a catheter, and a robotic controller configured to provide a view of an anatomical model to the user interface; accept one or more user inputs from the user interface; register the one or more user inputs to a coordinate system associated with the anatomical model; compute one or more actuator commands from the one or more registered inputs; and cause the catheter manipulator assembly to linearly actuate one or more control members of a catheter in accordance with the computed actuator commands.
4 Citations
40 Claims
-
1-20. -20. (canceled)
-
21. A method of determining the path of a robotically manipulated catheter within an anatomical model, the method comprising:
-
determining a minimum transverse distance between multiple data points in the anatomical model and an anatomical feature; defining allowable catheter movement speeds as a function of a determined minimum transverse distance; registering the current position of a robotically manipulated catheter within the anatomical model; and specifying a destination point for the robotically manipulated catheter. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 10, 31, 32)
-
-
33. A method of automatically moving a robotically manipulated catheter within an anatomical model, the method comprising:
-
determining at least one target location; determining a minimum transverse distance between a starting location and the at least one target location; defining allowable catheter movement speeds as a function of a determined minimum transverse distance; registering the current position of a robotically manipulated catheter within the anatomical model; and determining a preferred trajectory for the catheter between the starting location and the at least one target location to minimize total travel time. - View Dependent Claims (34, 35, 36, 37)
-
-
38. A method of automatically moving a robotically manipulated catheter within an anatomical model, the method comprising:
-
determining a target location; determining a minimum transverse distance between a starting location and the target location; registering the current position of a robotically manipulated catheter within the anatomical model; computing a projected travel time based on the starting location, the target location, and an allowable catheter speed function; and determining a preferred trajectory for the catheter between the starting location and the at least one target location. - View Dependent Claims (39, 40)
-
Specification