Robotically controlled intravascular tissue injection system

• US 8,005,537 B2
• Filed: 08/12/2005
• Issued: 08/23/2011
• Est. Priority Date: 07/19/2004
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Wallace, Daniel T., Moll, Frederic H., Hlavka, Edwin J.
• Primary Examiner(s): Cattungal; Sanjay
• Application Number:
  US11/202,925
• Publication Number:
  US 20060111692A1
• Time in Patent Office: 2,202 Days
• Field of Search: 600407-411, 600/424, 600/473, 600/476, 600/427, 600/101, 600/109, 600/114, 600/117, 600/118, 600/139, 600/146, 606/130, 604/21, 604/97.02, 604121-124
• US Class Current: 604/21
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/3478 Endoscopic needles, e.g. for infusion biopsy needles A61B10/0233; catheters with injection needles A61M25/0067
• CPC Class Codes: A61B 18/1477 Needle-like probes
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2017/00292 mounted on or guided by flexible, e.g. catheter-like, means
• CPC Class Codes: A61B 2018/1425 Needle
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A robotic catheter system includes a controller including a master input device and instrument driver in communication with the controller. An elongate flexible guide instrument is operatively coupled to the instrument driver. A fluid injection needle may be advanced from, or retracted into, a distal portion of the guide instrument.

Claims

1. A robotic catheter system, comprising:

a controller including a master input device;

an instrument driver in communication with the controller, the instrument driver having a guide instrument interface including one or more motor-actuated guide instrument drive elements responsive to control signals generated, at least in part, by the master input device;

an elongate flexible guide instrument having a base and a distal end portion, the guide instrument base operatively coupled to the guide instrument interface, the guide instrument comprising one or more guide instrument control elements mechanically coupled to the respective one or more guide instrument drive elements and secured to the distal end portion of the guide instrument, wherein the one or more guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end portion may be controlled by the master input device;

a fluid injection needle carried by the guide instrument, wherein the needle may be advanced from, or retracted into, the distal end portion of the guide instrument; and

a robotically controlled mechanical device operatively coupled to the master input device and mechanically coupled to the fluid injection needle at or near the guide instrument base for advancing or withdrawing the fluid injection needle relative to the guide instrument in response to respective user commands received via the master input device.

2. The system of claim 1, the fluid injection needle comprising an internal lumen in fluid communication with a fluid source, and having one or more injection ports in communication with the internal lumen.

3. The system of claim 1, further comprising a source of RF energy selectively electrically coupled to the fluid injection needle, whereby RF energy may be delivered to tissue proximate the needle.

4. The system of claim 1, wherein the robotically controlled mechanical device is a part of the instrument driver.

5. The system of claim 1, wherein the fluid injection needle is carried in an axial lumen of the guide instrument.

6. The system of claim 5, further comprising an additional fluid injection needle carried on a distal end portion of the elongate member.

7. The system of claim 5, further comprising a helical anchor member operatively coupled to the master input device, wherein the helical anchor member may be rotatably advanced from, and retracted into, a distal end portion of the guide instrument in response to respective user commands received via the master input device.

8. The system of claim 5, further comprising one or more lateral anchor members operatively coupled to the master input device, wherein the helical anchor member may be deployed from a side of the fluid injection needle in response to respective user commands received via the master input device.

9. The system of claim 5, further comprising an elongate tubular sheath that may be advanced over the elongate member.

10. The system of claim 9, further comprising one or more anchor members operatively coupled to the master input device, wherein the anchor members may be deployed from or into a side of the tubular sheath in response to respective user commands received via the master input device.

11. A robotic catheter system, comprising:

a controller including a master input device;

an instrument driver in communication with the controller, the instrument driver having a guide instrument interface including one or more motor-actuated guide instrument drive elements responsive to control signals generated, at least in part, by the master input device;

an elongate flexible guide instrument having a base and a distal end portion, the guide instrument base operatively coupled to the guide instrument interface, the guide instrument comprising one or more guide instrument control elements mechanically coupled to the respective one or more guide instrument drive elements and secured to the distal end portion of the guide instrument, wherein the one or more guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end portion may be controlled by the master input device;

a fluid injection needle carried by the guide instrument, wherein the needle may be advanced from, or retracted into, the distal end portion of the guide instrument; and

a helical anchor member operatively coupled to the master input device, wherein the helical anchor member is configured to be rotatably advanced out of, and retracted into, the distal end portion of the guide instrument circumferentially around and over the fluid injection needle in response to respective user commands received via the master input device.

12. The system of claim 11, further comprising one or more lateral anchor members that may be deployed from a side of the fluid injection needle.

13. The system of claim 11, further comprising a source of RF energy selectively electrically coupled to the fluid injection needle.

14. The system of claim 11, further comprising a mechanical device coupled to the fluid injection needle at or near a proximal portion end of the elongate flexible guide instrument for advancing the fluid injection needle relative to the guide instrument in response to a user command received via the master input device.

15. The system of claim 14, wherein the mechanical device comprises a robotic device.

16. The system of claim 15, wherein the robotic device is a part of the instrument driver.

17. The system of claim 11, wherein the fluid injection needle is carried in an axial lumen of the guide instrument.

18. The system of claim 17, further comprising an elongate tubular sheath that may be advanced over the elongate member.

19. The system of claim 18, further comprising one or more anchor members operatively coupled to the master input device, wherein the anchor members may be deployed from or into a side of the tubular sheath in response to respective user commands received via the master input device.