Robotic catheter system and methods

• US 8,052,636 B2
• Filed: 07/03/2006
• Issued: 11/08/2011
• Est. Priority Date: 03/05/2004
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Stahler, Gregory J., Niemeyer, Gunter D., Wallace, Daniel T., Martin, Kenneth M., Moll, Frederic H., Moore, David F., Adams, Daniel T., Zinn, Michael R., Lundmark, David, Younge, Robert G.
• Primary Examiner(s): Cattungal; Sanjay
• Application Number:
  US11/481,433
• Publication Number:
  US 20070043338A1
• Time in Patent Office: 1,954 Days
• Field of Search: 600/101, 600/109, 600/114, 600/117, 600/118, 600/139, 600/146, 600/424, 606/130, 604/95.04, 604/164.12, 604/164.09
• US Class Current: 604/95.04
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/062 Needle manipulators
• CPC Class Codes: A61B 17/1114 of the digestive tract, e.g. bowels or oesophagus
• CPC Class Codes: A61B 17/42 Gynaecological or obstetrical instruments or methods ligaturing clamps or clips for the umbilical cord A61B17/122; curettage A61B17/320708; dilators A61M29/00
• CPC Class Codes: A61B 2017/00238 Type of minimally invasive operation A61B2017/00805 takes precedence
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00336 with a protective sleeve, e.g. retractable or slidable
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00743 Type of operation; Specification of treatment sites A61B2017/00238 takes precedence
• CPC Class Codes: A61B 2017/00805 Treatment of female stress urinary incontinence
• CPC Class Codes: A61B 2017/00827 Treatment of gastro-esophageal reflux
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• 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 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 46/10 : specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 50/13 : Trolleys, e.g. carts
• CPC Class Codes: A61B 50/15 : Mayo stands; Tables
• CPC Class Codes: B33Y 80/00 : Products made by additive manufacturing

Abstract

The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

Claims

1. An apparatus, comprising:

a flexible sheath instrument comprising a sheath instrument base removably coupleable to an instrument driver, said sheath instrument defining a sheath instrument working lumen;

a flexible guide instrument comprising a guide instrument base removably coupleable to the instrument driver, wherein said guide instrument is positionable in the sheath instrument working lumen and defines a guide instrument working lumen;

a tool positionable in said guide instrument working lumen, wherein said tool may be actuated by an actuator operatively coupled to the guide instrument base; and

an instrument driver having a sheath instrument interface configured for removably coupling to the sheath instrument base,

wherein said sheath instrument may be robotically controlled by the instrument driver via said sheath instrument interface,

wherein said instrument driver further comprises a guide instrument interface configured for removably coupling to the guide instrument base, such that movement of the guide instrument may be robotically controlled by the instrument driver via said guide instrument interface, and

wherein the guide instrument interface is translatable relative to the sheath instrument interface, such that the guide instrument is axially translatable relative to the sheath instrument.

2. The apparatus of claim 1, wherein said guide instrument is independently movable relative to said sheath instrument such that a distal end of said guide instrument may be extended out of, and retracted back into, a distal opening of said sheath instrument in communication with said sheath working lumen.

3. The apparatus of claim 1, wherein said tool comprises an electrode.

4. The apparatus of claim 1, wherein said tool comprises a grasper.

5. The apparatus of claim 1, wherein said tool comprises a scissor.

6. The apparatus of claim 1, wherein said tool comprises a needle.

7. The apparatus of claim 6, wherein said needle is retractable.

8. The apparatus of claim 1, wherein said tool comprises a collapsible basket.

9. The apparatus of claim 1, wherein said tool comprises an expandable balloon.

10. The apparatus of claim 1, wherein said tool comprises a staple applier.

11. The apparatus of claim 1, wherein said tool comprises a laser emitting element.

12. The apparatus of claim 1, wherein said tool comprises an ultrasound transducer.

13. The apparatus of claim 1, wherein said tool comprises a cryogenic cooling element.

14. The apparatus of claim 1, wherein said tool can be actuated to mechanically manipulate internal body tissue at an interventional procedure site.

15. The apparatus of claim 1, wherein said tool may be electromechanically actuated by said actuator.

16. The apparatus of claim 1, further comprising a respective localization sensor coupled to one or both of the sheath instrument and guide instrument.

17. A robotic medical instrument system, comprising:

a master input device;

an instrument driver;

a flexible sheath instrument comprising a sheath instrument base removably coupled to the instrument driver, the sheath instrument defining a sheath instrument working lumen;

a flexible guide instrument comprising a guide instrument base removably coupled to the instrument driver, the guide instrument positioned in the sheath instrument working lumen and defining a guide instrument working lumen;

a tool positioned in the guide instrument working lumen, wherein said tool may be actuated by an actuator operatively coupled to the guide instrument base, wherein each of said sheath instrument, guide instrument, and tool are independently controllable by the instrument driver in response to user commands entered through the master input device; and

the instrument driver comprises a sheath instrument interface configured for removably coupling to the sheath instrument base such that movement of the sheath instrument is controlled by the instrument driver via motion actuations transferred across the sheath instrument interface, the instrument driver comprises a guide instrument interface configured for removably coupling to the guide instrument base such that movement of the guide instrument is controlled by the instrument driver via motion actuations transferred across the guide instrument interface, and the guide instrument interface is translatable relative to the sheath instrument interface such that the guide instrument is axially translatable relative to the sheath instrument.

18. The apparatus of claim 17, wherein the tool is selected from the group comprising an electrode, a grasper, a scissor, a needle, a collapsible basket, a cauterizing tool, a scalpel, an expandable balloon, a staple applier, a laser emitting element, an ultrasound transducer, and a cryogenic cooling element.

19. The apparatus of claim 17, wherein the tool can be actuated to mechanically manipulate internal body tissue at an interventional procedure site.

20. The apparatus of claim 17, wherein the tool can be actuated to mechanically manipulate internal body tissue at an interventional procedure site.