CATHETER INSERTION SYSTEM AND METHOD OF FABRICATION

• US 20190307987A1
• Filed: 06/25/2019
• Published: 10/10/2019
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Yu, Alan
• Granted Patent: US 11,413,428 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 1/00133 Drive units for endoscopic tools inserted through or with the endoscope
• CPC Class Codes: A61B 1/0016 using motor drive units
• 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 34/30 Surgical robots
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B

Abstract

A robotic instrument driver for elongate members includes a first carriage positionable on a bed and beside a patient access site for manipulating a first elongate member, and a second carriage positionable proximate the bed, the second carriage configured to articulate the first elongate member, wherein the second carriage is movable independent from the first carriage.

Claims

1-20. -20. (canceled)

21. A robotic instrument driver, comprising:

a first pod comprising a first articulation mechanism configured to articulate one or more steering wires in a first elongate member, the first pod further comprising a first active drive mechanism fixed relative to the first articulation mechanism, the first active drive mechanism configured to insert or retract a second elongate member with respect to the first elongate member; and

a second pod comprising a second articulation mechanism configured to articulate one or more steering wires in the second elongate member, and further comprising a second active drive mechanism fixed relative to the second articulation mechanism and configured to insert or retract a third elongate member with respect to the second elongate member,

wherein the first and second pod are each configured to be movable vertically and rotatable about a yaw axis.

22. The robotic instrument driver of claim 21, wherein the first active drive mechanism is of a type that is different from the second active drive mechanism.

23. The robotic instrument driver of claim 21, further comprising a third active drive mechanism, wherein the third active drive mechanism is configured to insert or retract the first elongate member.

24. The robotic instrument driver of claim 21, wherein the yaw axis is approximately orthogonal to an advancement axis along which at least the first pod is moveable.

25. The robotic instrument driver of claim 21, wherein the first pod and the second pod are both positioned on a rail, and the rail is attached to a bed.

26. The robotic instrument driver of claim 21 further comprising an anti-buckling device placed on or around the first elongate member.

27. The robotic instrument driver of claim 21, further comprising a third active drive mechanism, wherein the third active drive mechanism is configured to insert or retract the first elongate member.

28. The robotic instrument driver of claim 21, wherein the first and second pods are configured to be rotatable to align at least the first elongate member with an access site of a patient.

29. The robotic instrument driver of claim 21, wherein the first and second pods are configured to be vertically and rotatably adjustable to optimize the insertion angle of the first elongate member into a patient.

30. The robotic instrument driver of claim 21, wherein the first and second pods are configured to be moveable vertically or rotatable about the yaw axis in unison.

31. The robotic instrument driver of claim 21, wherein the second pod is movable independently from the first pod.

33. The robotic instrument driver of claim 31, wherein the first manipulation mechanism is of a type that is different from the second manipulation mechanism.

34. The robotic instrument driver of claim 31, further comprising a third manipulation mechanism, wherein the third manipulation mechanism is configured to insert or retract the first elongate member.

35. The robotic instrument driver of claim 31, wherein the yaw axis is approximately orthogonal to an advancement axis along which at least the first carriage is moveable.

36. The robotic instrument driver of claim 31, wherein the first carriage and the second carriage are both positioned on a rail, and the rail is attached to a bed.

37. The robotic instrument driver of claim 31, further comprising an anti-buckling device placed on or around the first elongate member.

38. The robotic instrument driver of claim 31, further comprising a third manipulation mechanism, wherein the third manipulation mechanism is configured to insert or retract the first elongate member.

39. The robotic instrument driver of claim 31, wherein the first and second carriages are configured to be rotatable to align the first elongate member with an access site of a patient.

40. The robotic instrument driver of claim 31, wherein the first and second carriages are configured to be vertically and rotatably adjustable to optimize the insertion angle of the first elongate member into a patient.

41. The robotic instrument driver of claim 31, wherein the first and second carriages are configured to be movable vertically or rotatable about a yaw axis in unison.

42. The robotic instrument driver of claim 31, wherein the second carriage is movable independently from the first carriage.

32. A system, comprising:

a first carriage comprising a first manipulation mechanism configured to advance or retract a second elongate member relative to a first elongate member;

a second carriage comprising a second manipulation mechanism configured to advance or retract a third elongate member relative to the second elongate member,

wherein the first carriage and second carriage are each configured to be movable vertically and rotatable about a yaw axis.

43. A method, comprising:

articulating, via a first articulation mechanism of a first pod, one or more steering wires in a first elongate member, the first pod further comprising a first active drive mechanism fixed relative to the first articulation mechanism, the first active drive mechanism configured to insert or retract a second elongate member with respect to the first elongate member;

articulating, via a second articulation mechanism of a second pod, one or more steering wires in the second elongate member, the second pod further comprising a second active drive mechanism fixed relative to the second articulation mechanism and configured to insert or retract a third elongate member with respect to the second elongate member; and

moving the second pod independently from the first pod, wherein the first and second pod are each configured to be movable vertically and rotatable to a yaw angle.