Master/slave system for the manipulation of tubular medical tools

• US 6,096,004 A
• Filed: 07/10/1998
• Issued: 08/01/2000
• Est. Priority Date: 07/10/1998
• Status: Expired due to Term

• Current Assignee: Mitsubishi Electric Research Laboratories, Inc. (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Electric Information Technology Center America, Inc. (Mitsubishi Electric Corporation)
• Inventors: Meglan, Dwight Allan, Wendlandt, Jeffrey Michael, Morgan, Frederick Marshall
• Primary Examiner(s): Coggins, Wynn Wood
• Assistant Examiner(s): KLINE, ERIC E
• Application Number:
  US09/112,998
• Time in Patent Office: 753 Days
• Field of Search: 604/95, 604/65-67, 600/106, 395/80-91, 318/568.11, 901/14-16, 901/34
• US Class Current: 604/95.01
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/75 Manipulators having means for prevention or compensation of hand tremors
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• 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 master/slave system is used for performing a surgical procedure such as theterization of cardiac or peripheral vasculature. Movements of catheters or similar tools within a patient are remotely controlled by a surgeon, and the surgeon receives haptic or tactile feedback caused by the movement of the tools within the patient. The system employs a master actuator with cylindrical controls and a slave actuator that engages the tools. The master actuator and slave actuator are electrically coupled to electrical interface circuitry by drive signals and sense signals. A fluid system is coupled to the slave actuator by fluid-carrying tubes for the delivery of contrast and other solutions to be injected into the vasculature for improved imaging and also to pressurize the balloon on a balloon catheter. The master and slave actuators contain sensors that sense translation and rotation of the controls and tools with respect to their longitudinal axes, and provide sense signals indicative of these motions to the interface circuitry. The master and slave actuators also contain motors respectively engaging the controls and tools to cause translational and rotational movement of these components in response to the drive signals generated by the interface circuitry. The interface circuitry contains a processor executing a master/slave control program via which the relative positions of each control and the corresponding tool are made to track each other. The control program can optionally implement force scaling, position scaling, tremor reduction, and other features to enhance the system'"'"'s performance.

Claims

1. Apparatus for manipulating a generally cylindrical medical tool having a longitudinal axis and being adapted for insertion in a patient in a minimally invasive medical procedure, comprising:

at least one generally cylindrical control having a longitudinal axis, wherein the control may be manipulated by a user so as to cause translation of the control along the axis and rotation of the control about the axis;

a first actuator comprising sensors coupled to the control and motors mechanically engaging the control, the first actuator being operative to generate first electrical sensor signals indicative of the translational and rotational movement of the control in response to the translation and rotation of the control with respect to the axis thereof by the user, the first actuator also being operative to cause translation and rotation of the control with respect to the axis thereof in response to selective application of first electrical motor drive signals to the motors;

a second actuator comprising sensors adapted to be coupled to the tool and motors mechanically engaging the tool, the second actuator being operative to generate second electrical sensor signals indicative of the translational and rotational movement of the tool with respect to the axis thereof, the second actuator also being operative to cause translation and rotation of the tool with respect to the axis thereof in response to selective application of second electrical motor drive signals to the motors; and

an electronic interface operative to receive the first and second electrical sensor signals as inputs and to generate the first and second motor drive signals to cause movement of the tool in response to movement of the control by the user and to provide haptic feedback to the user via the control in response to movement of the tool inside the patient.

2. Apparatus according to claim 1, wherein the electronic interface includes a processor operative to execute a master-slave control program to cause the movement of the tool and to provide the haptic feedback to the user.

3. Apparatus according to claim 2, wherein the master-slave control program is a position-matching type of control program.

4. Apparatus according to claim 1, wherein the tool is a first catheter and the control is a first tubular control, and further comprising:

a second catheter concentric with the first catheter;

a second tubular control concentric with the first tubular control;

sensors within the first actuator coupled to the second tubular control and motors within the first actuator mechanically engaging the second tubular control; and

sensors within the second actuator coupled to the second catheter and motors within the second actuator mechanically engaging the second catheter;

and wherein (i) the first actuator is operative to generate third electrical sensor signals indicative of the translational and rotational movement of the second tubular control in response to the translation and rotation of the second tubular control with respect to the axis thereof by the user, (ii) the first actuator is also operative to cause translation and rotation of the second tubular control with respect to the axis thereof in response to selective application of third electrical motor drive signals to the motors, (iii) the second actuator is operative to generate fourth electrical sensor signals indicative of the translational and rotational movement of the second catheter with respect to the axis thereof, (iv) the second actuator is also operative to cause translation and rotation of the second catheter with respect to the axis thereof in response to selective application of fourth electrical motor drive signals to the motors, and (v) the electronic interface is operative to receive the third and fourth electrical sensor signals as inputs and to generate the third and fourth motor drive signals to cause movement of the second catheter in response to movement of the second tubular control by the user and to provide haptic feedback to the user in response to movement of the second catheter inside the patient.

5. Apparatus according to claim 4, further comprising:

a wire concentric with the second catheter;

a third tubular control concentric with the second tubular control;

sensors within the first actuator coupled to the third tubular control and motors within the first actuator mechanically engaging the third tubular control; and

sensors within the second actuator coupled to the wire and motors within the second actuator mechanically engaging the wire;

and wherein (i) the first actuator is operative to generate third electrical sensor signals indicative of the translational and rotational movement of the second tubular control in response to the translation and rotation of the second tubular control with respect to the axis thereof by the user, (ii) the first actuator is also operative to cause translation and rotation of the second tubular control with respect to the axis thereof in response to selective application of third electrical motor drive signals to the motors, (iii) the second actuator is operative to generate fourth electrical sensor signals indicative of the translational and rotational movement of the wire with respect to the axis thereof, (iv) the second actuator is also operative to cause translation and rotation of the wire with respect to the axis thereof in response to selective application of fourth electrical motor drive signals to the motors, and (v) the electronic interface is operative to receive the third and fourth electrical sensor signals as inputs and to generate the third and fourth motor drive signals to cause movement of the wire in response to movement of the second tubular control by the user and to provide haptic feedback to the user in response to movement of the wire inside the patient.

6. Apparatus according to claim 1, wherein the electronic interface is operative to carry out one or more of force scaling, position scaling, and tremor reduction in moving the tool in response to movement of the control by the user.

7. Apparatus according to claim 1, wherein the electronic interface is operative to provide a preprogrammed tool motion sequence is response to a control signal activated by the user.

8. Apparatus according to claim 1, wherein the tool is a catheter.

9. Apparatus according to claim 1, wherein the tool is a catheter, and further comprising:

a sealed fluid coupling mounted on the catheter at the end thereof outside the patient; and

a fluid system connected to the coupling for the delivery of a fluid to the catheter, the fluid system including a valve operable by the user to control fluid flow between the fluid system and the catheter.

10. A system for manipulating an object comprising:

a moveable controller;

a moveable physical object;

a sensor configured to detect movement of the moveable controller;

an input device configured to receive a user instruction;

a drive signal generator configured to generate first drive signals corresponding to the detected controller movement and to generate second drive signals based upon the received user instruction; and

an actuator configured to move the movable object in accordance with the generated first and the second drive signals.

11. A system according to claim 10, wherein:

the controller movement is in a direction;

the detected movement is a detected amount of controller movement in the direction;

the generated first drive signals correspond to the detected amount of controller movement; and

the movable object is moved in the direction and by an amount which is one of equal to and less than the detected amount of controller movement.

12. A system according to claim 10, wherein the movement of the controller is one of a translation and a rotation.

13. A system according to claim 10, wherein the object is moved in a predetermined sequence in accordance with the generated second drive signals.

14. A system for manipulating an object, comprising:

a movable controller;

a movable physical object;

a sensor configured to detect movement of the movable controller;

an input device configured to receive a user instruction;

a drive signal generator configured to generate first drive signals corresponding to the detected controller movement and second drive signals based upon the received user instruction;

an actuator configured to move the movable object in accordance with the generated first drive signals; and

a fluid valve configured to control a flow of fluid to the movable object in accordance with the generated second drive signals.

15. A system according to claim 14, wherein the fluid is controlled to flow in a predetermined manner in accordance with the generated second drive signals.

16. A system for manipulating an object, comprising:

a movable controller;

a movable physical object;

a first sensor configured to detect movement of the movable controller;

a second sensor configured to detect movement of the movable object; and

a drive signal generator configured to generate first drive signals corresponding to the detected controller movement and second drive signals corresponding to the detected object movement;

a first actuator configured to move the movable object in accordance with the generated first drive signals; and

a second actuator configured to move the movable controller in accordance with the generated second drive signals.

17. A system for manipulating an object, comprising:

a movable controller;

a movable physical object;

a first sensor configured to detect movement of the movable controller;

a second sensor configured to detect a resistance to movement of the movable object;

a drive signal generator configured to generate first drive signals corresponding to the detected controller movement and second drive signals corresponding to the detected resistance to the object movement;

a first actuator configured to move the movable object in accordance with the generated first drive signals; and

a second actuator is configured to resist the movement of the movable controller in accordance with the generated second drive signals.

18. A system for manipulating an object, comprising:

a movable controller;

a movable physical object;

a sensor configured to detect movement of the movable controller;

a drive signal generator configured to filter the detected controller movement and to generate drive signals corresponding to the filtered controller movement.

19. A method for manipulating an object, comprising the steps of:

detecting movement of a controller;

generating first drive signals corresponding to the detected controller movement;

generating second drive signals based on a user command; and

physically moving an object in accordance with the generated first and the generated second drive signals.

20. A method for manipulating an object, comprising the steps of:

detecting movement of a controller;

generating first drive signals corresponding to the detected controller movement;

physically moving an object in accordance with the generated first drive signals;

detecting the movement of the object;

generating second drive signals corresponding to the detected object movement; and

moving the controller in accordance with the generated second drive signals.

21. A method for manipulating an object, comprising the steps of:

detecting movement of a controller;

generating first drive signals corresponding to the detected controller movement;

physically moving an object in accordance with the generated first drive signals;

detecting a resistance to the movement of the object;

generating second drive signals corresponding to the detected resistance to the object movement; and

resisting the movement of the controller in accordance with the generated second drive signals.

22. A method for manipulating an object, comprising the steps of:

detecting movement of a controller;

generating first drive signals corresponding to the detected controller movement;

generating second drive signals based upon a user command;

physically moving an object in accordance with the generated first drive signals; and

controlling a flow of fluid to the object in accordance with the generated second drive signals.

23. A method for manipulating an object, comprising the steps of:

detecting movement of a controller;

filtering the detected controller movement;

generating drive signals so as to correspond to the filtered controller movement; and

physically moving an object in accordance with the generated drive signals.