Coaxial catheter system

• US 7,955,316 B2
• Filed: 06/13/2007
• Issued: 06/07/2011
• Est. Priority Date: 02/15/2001
• Status: Expired due to Fees

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Solbjor, Albert, Rogers, Gary S., Weitzner, Barry
• Primary Examiner(s): Sirmons; Kevin C.
• Assistant Examiner(s): Gilbert; Andrew M
• Application Number:
  US11/762,751
• Publication Number:
  US 20070233045A1
• Time in Patent Office: 1,455 Days
• Field of Search: 604/95.01, 604/95.04, 604/96.01, 604/99.04, 604/101.04, 604/103.03, 604/158, 604/159, 604/164.01, 604/164.02, 604/164.12, 604/528, 604/532
• US Class Current: 604/528
• CPC Class Codes: A61B 17/12045 double occlusion, e.g. during anastomosis
• CPC Class Codes: A61B 17/12136 Balloons
• CPC Class Codes: A61B 2017/12127 Double occlusion, e.g. for creating blood-free anastomosis site
• CPC Class Codes: A61B 2017/22075 with motorized advancing or retracting means
• CPC Class Codes: A61B 2017/3409 including needle or instrument drives
• 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 2090/0811 for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61M 2025/0004 having two or more concentrically arranged tubes for forming a concentric catheter system
• CPC Class Codes: A61M 2025/0008 having visible markings on its surface, i.e. visible to the naked eye, for any purpose, e.g. insertion depth markers, rotational markers or identification of type
• CPC Class Codes: A61M 2025/0175 having telescopic features, interengaging nestable members movable in relations to one another
• CPC Class Codes: A61M 2025/1015 having two or more independently movable balloons where the distance between the balloons can be adjusted, e.g. two balloon catheters concentric to each other forming an adjustable multiple balloon catheter system
• CPC Class Codes: A61M 2025/1052 for temporarily occluding a vessel for isolating a sector
• CPC Class Codes: A61M 2025/1059 having different inflatable sections mainly depending on the response to the inflation pressure, e.g. due to different material properties with different compartments A61M2025/1072
• CPC Class Codes: A61M 2025/1072 having balloons with two or more compartments
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/1002 characterised by balloon shape A61M25/1006, A61M25/1009 take precedence
• CPC Class Codes: A61M 25/1011 Multiple balloon catheters
• CPC Class Codes: A61M 25/10184 Means for controlling or monitoring inflation or deflation

Abstract

A robotic medical system for use with an intravascular catheter that delivers fluid within an anatomical vessel is provided. The robotic medical system comprises a user interface configured for receiving at least one command, an electromechanical driver configured for being coupled to the catheter, a fluid delivery controller coupled to the catheter, and an electric controller configured for directing the electromechanical driver to mechanically move the catheter within at least one degree-of-freedom and for directing the fluid delivery controller to deliver fluid to the catheter in response to the at least one command. The robotic medical system may further comprise a source of fluid and a fluid line configured for coupling the source of fluid to the catheter, and a manifold configured for fluidly interfacing with the catheter, in which case, the manifold has a fluid inlet port coupled to the fluid line.

Claims

1. A robotic medical system for use with a guide wire and an intravascular catheter that delivers fluid within an anatomical vessel, comprising:

a user interface accessible by a user and configured for receiving at least one command from the user, a form of the user interface comprising a shape other than a shape that resembles the guide wire and the catheter;

an electromechanical driver operably coupled to the guide wire and the catheter;

an electronic fluid delivery controller comprising a first valve and a second valve;

an electronic controller coupled between the user interface and the electromechanical driver and between the user interface and the fluid delivery controller, the same user interface being operable to control the electromechanical driver and the fluid delivery controller with the at least one command from the user;

a fluid feed line;

a first supply of a first fluid, the first supply being in fluid communication with the fluid feed line through the first valve;

a second supply of a second fluid, the first and second fluids being different fluids, the second supply being in fluid communication with the fluid feed line through the second valve;

a manifold, a fluid inlet port of the manifold fluidly interfacing with a fluid outlet of the fluid feed line, the catheter fluidly interfacing with the fluid outlet of the fluid feed line through the manifold; and

the user interface being configured to receive respective commands to control selective delivery of the first and second fluids to the catheter and to control mechanical movements of the catheter and the guidewire, the electronic controller being configured for directing the electromechanical driver to mechanically move the catheter and the guide wire with at least two degrees-of-freedom and for directing the fluid delivery controller to selectively deliver the first and second fluids through the fluid feed line to the catheter by controlling the first and second valves in response to the at least one command.

2. The robotic medical system of claim 1, further comprising the catheter.

3. The robotic medical system of claim 1, wherein the user interface includes at least one of a dial, a joystick, a wheel, and a mouse.

4. The robotic medical system of claim 1, wherein the user interface is located remotely from the electromechanical driver.

5. The robotic medical system of claim 1, wherein the electronic controller is coupled to the electromechanical driver and the fluid controller via external cabling.

6. The robotic medical system of claim 1, wherein the electromechanical driver includes a catheter control configured for mechanically interfacing with the catheter, and a motor array configured for manipulating the catheter control.

7. The robotic medical system of claim 1, wherein the first fluid comprises a contrast agent and the second fluid comprises a drug.

8. The robotic medical system of claim 1, wherein the at least two degrees-of-freedom comprises linear translation and axial rotation.

9. The robotic medical system of claim 1, wherein the catheter and the guidewire are in a coaxial arrangement, and the electronic controller is configured for directing the electromechanical driver to linearly translate and rotate the catheter and the guidewire relative to each other in response to the at least one command.

21. The robotic medical system of claim 9, further comprising the guidewire.

10. A robotic medical system for use with a guidewire and an intravascular catheter that delivers fluid within an anatomical vessel and a guidewire, comprising:

a manifold that fluidly interfaces with the catheter, the manifold having a first port configured for receiving the guidewire in a coaxial arrangement with the catheter and a gasket through which the guidewire extends and through which the guidewire can move while maintaining a fluid tight seal, the manifold having at least one fluid inlet port;

a first supply of a first fluid;

a second supply of a second fluid;

a fluid feed line, the catheter fluidly interfacing with the fluid feed line through the at least one fluid inlet port of the manifold;

an electronic fluid delivery controller comprising a first valve and a second valve, the first supply being in fluid communication with the fluid feed line through the first valve, and the second supply being in fluid communication with the fluid feed line through the second valve;

a user interface accessible by a user and configured for receiving at least one command from the user, a form of the user interface comprising a shape other than a shape that resembles the guide wire and the catheter;

an electromechanical driver operably coupled to the guide wire and the catheter; and

an electronic controller coupled between the user interface and the electromechanical driver and between the user interface and the fluid delivery controller, the same user interface being operable to control the electromechanical driver and the fluid delivery controller with the at least one command from the user,

the user interface being configured to receive respective commands to control selective delivery of the first and second fluids to the catheter and to control mechanical movements of the catheter and the guidewire, the electronic controller being configured for directing the electromechanical driver to mechanically move the guide wire and the catheter with at least one degree-of-freedom and for directing the fluid delivery controller to selectively deliver fluid from the first and second fluid supplies and into the at least one fluid inlet port of the manifold by controlling the first and second valves in response to the at least one command.

11. The robotic medical system of claim 10, further comprising the catheter and the guidewire.

12. The robotic medical system of claim 10, wherein the user interface includes at least one of a dial, a joystick, a wheel, and a mouse.

13. The robotic medical system of claim 10, wherein the user interface is located remotely from the electromechanical driver and the fluid controller.

14. The robotic medical system of claim 10, wherein the electronic controller is coupled to the electromechanical driver and the fluid controller via external cabling.

15. The robotic medical system of claim 10, wherein the electromechanical driver includes a catheter control configured for mechanically interfacing with the catheter, and a motor array configured for manipulating the catheter control.

16. The robotic medical system of claim 10, wherein at least one of the first and second fluids is a contrast agent.

17. The robotic medical system of claim 10, wherein at least one of the first and second fluids is a drug.

18. The robotic medical system of claim 10, wherein the at least one degree-of-freedom comprises at least one of a linear translation and an axial rotation.

19. The robotic medical system of claim 10, wherein the electromechanical driver is operably coupled to the guidewire, and wherein the electronic controller is configured for directing the electromechanical driver to linearly translate the catheter and the guidewire relative to each other in response to the at least one command.

20. The robotic medical system of claim 19, wherein the electromechanical driver includes a catheter control configured for mechanically interfacing with the catheter, a guidewire control configured for mechanically interfacing with the guidewire, and a motor array configured for manipulating the catheter and guidewire controls.

22. A robotic medical system for use with a coaxial arrangement of a guidewire and an intravascular catheter that delivers fluid within an anatomical vessel, the system comprising:

a user interface configured for receiving at least one command from a user;

a first drive mechanism configured for receiving the catheter, the first drive mechanism comprising a first gripping mechanism in which the catheter is secured;

a second drive mechanism configured for receiving the guidewire, the second drive mechanism comprising a second gripping mechanism in which the guidewire is secured;

a linear drive arrangement mechanically coupled to the first and second drive mechanisms, the linear drive arrangement comprising a drive screw drive arrangement or a rack and pinion drive arrangement;

a motor array;

an electronic fluid delivery controller fluidly coupled to the catheter; and

an electronic controller coupled between the user interface and the motor array and between the user interface and the fluid delivery controller, the same user interface being operable to control the motor array and the fluid delivery controller with the at least one command from the user,

the electronic controller being configured to direct the motor array to cause the first drive mechanism to axially rotate the catheter and to controllably bend the catheter, to cause the second drive mechanism to axially rotate the guidewire, to cause the linear drive mechanism to linearly translate the first and second drive mechanisms relative to each other, and to direct the fluid delivery controller to deliver fluid to the catheter in response to the at least one command received from the user at the user interface.

23. The robotic medical system of claim 22, wherein the user interface includes at least one of a dial, a joystick, a wheel, and a mouse located remotely relative to the motor array.

24. The robotic medical system of claim 22, further comprising a single housing containing the motor array and linear drive arrangement, wherein the first and second drive mechanisms are mounted to the single housing.

25. The robotic medical system of claim 24, wherein the first and second drive mechanisms are mounted to an external side of the single housing.

26. The robotic medical system of claim 22, wherein the motor array has a first pulley and a second pulley, the robotic medical system further comprising a first belt wrapped around the first gripping mechanism and the first pulley, and a second belt wrapped around the second gripping mechanism and the second pulley.

28. The robotic medical system of claim 22, wherein the user interface manipulated by the user to control axial rotation and linear translation of the catheter and the user interface has a shape and size that differs from the shape and size of the catheter and the guidewire.

29. The robotic medical system of claim 22, the user interface comprising a non-telescoping user interface.

27. A robotic medical system for use with a coaxial arrangement of a guidewire and an intravascular catheter that delivers fluid within an anatomical vessel, the system comprising:

a touch screen user interface configured for receiving at least one command from a user;

a first drive mechanism configured for receiving the catheter;

a second drive mechanism configured for receiving the guidewire;

a linear drive arrangement mechanically coupled to the first and second drive mechanisms;

a motor array;

an electronic fluid delivery controller fluidly coupled to the catheter; and

an electronic controller coupled between the touch screen interface and the motor array and between the touch screen interface and the fluid delivery controller, the same touch screen interface being operable to control the motor array and the fluid delivery controller with the at least one command from the user;

the electronic controller being configured to direct the motor array to cause the first drive mechanism to axially rotate the catheter and to controllably bend the catheter, to cause the second drive mechanism to axially rotate the guidewire, to cause the linear drive mechanism to linearly translate the first and second drive mechanisms relative to each other, and to direct the fluid delivery controller to deliver fluid to the catheter in response to the at least one command received from the user at the user interface.

32. The robotic medical system of claim 27, further comprising a single housing containing the motor array and linear drive arrangement, wherein the first and second drive mechanisms are mounted to the single housing.

33. The robotic medical system of claim 27, wherein the first and second drive mechanisms are mounted to an external side of the single housing.

34. The robotic medical system of claim 27, wherein the motor array has a first pulley and a second pulley, the first drive mechanism comprises a first gripping mechanism in which the catheter is secured, and the second drive mechanism comprises a second gripping mechanism in which the guidewire is secure, the robotic medical system further comprising a first belt wrapped around the first gripping mechanism and the first pulley, and a second belt wrapped around the second gripping mechanism and the second pulley.

35. The robotic medical system of claim 27, wherein the linear drive arrangement is a belt/pulley drive arrangement.

30. A robotic medical system for use with a coaxial arrangement of a guidewire and an intravascular catheter that delivers fluid within an anatomical vessel, the system comprising:

a fluid feed line;

a first supply of a first fluid;

a second supply of a second fluid different than the first fluid;

a manifold, a fluid inlet port of the manifold fluidly interfacing with a fluid outlet of the fluid feed line, the catheter fluidly interfacing with the fluid outlet of the fluid feed line through the manifold,

a user interface configured for receiving at least one command from a user;

a first drive mechanism configured for receiving the catheter;

a second drive mechanism configured for receiving the guidewire;

a linear drive arrangement mechanically coupled to the first and second drive mechanisms;

a motor array;

an electronic fluid delivery controller fluidly coupled to the catheter, the fluid delivery controller comprising a first valve and a second valve, the first supply being in fluid communication with the fluid feed line through the first valve, and the second supply being in fluid communication with the fluid feed line through the second valve; and

an electronic controller coupled between the user interface and the motor array and between the user interface and the fluid delivery controller, the same user interface being operable to control the motor array and the fluid delivery controller with the at least one command from the user,

the electronic controller being configured to direct the motor array to cause the first drive mechanism to axially rotate the catheter and to controllably bend the catheter, to cause the second drive mechanism to axially rotate the guidewire, to cause the linear drive mechanism to linearly translate the first and second drive mechanisms relative to each other, and to direct the fluid delivery controller to deliver fluid to the catheter in response to the at least one command received from the user at the user interface wherein the electronic controller is further configured to direct the fluid delivery controller to selectively deliver the first and second fluids through the fluid feed line and the manifold to the catheter by controlling the first and second valves in response to the at least one command.

31. A robotic medical system for use with an intravascular catheter that delivers fluid within an anatomical vessel, comprising:

a fluid feed line;

a first supply of a first fluid;

a second supply of a second fluid different than the first fluid;

a manifold, a fluid inlet port of the manifold fluidly interfacing with a fluid outlet of the fluid feed line, the catheter fluidly interfacing with the fluid outlet of the fluid feed line through the manifold;

a user interface configured for receiving at least one command from a user;

a drive mechanism including a plurality of motors and a connector configured for laterally receiving the catheter;

an electronic fluid delivery controller fluidly coupled to the catheter, the fluid delivery controller comprising a first valve and a second valve, the first supply being in fluid communication with the fluid feed line through the first valve, the second supply being in fluid communication with the fluid feed line through the second valve;

an electronic controller coupled between the user interface and the drive mechanism and between the user interface and the fluid delivery controller, the same user interface being operable to control the drive mechanism and the fluid delivery controller,

the electronic controller being configured to direct a first motor of the plurality of motors to cause the drive mechanism to rotate and/or translate the catheter seated in the connector, to direct a second motor of the plurality of motors to cause controllable bending of the catheter seated in the connector, and to direct the fluid delivery controller to selectively delivery different fluids from respective fluid sources, through a fluid feed line in communication with the fluid source, and to the catheter in response to the at least one command received from the user at the user interface and further configured to direct the fluid delivery controller to selectively deliver the first and second fluids through the fluid feed line to the catheter by controlling the first and second valves in response to the at least one command.