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Robotic catheter system and methods

  • US 8,108,069 B2
  • Filed: 01/10/2008
  • Issued: 01/31/2012
  • Est. Priority Date: 01/10/2007
  • Status: Active Grant
First Claim
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1. A robotic instrument system, comprising:

  • one or more controllers;

    a first support structure;

    a first instrument drive assembly operatively coupled to at least one of the one or more controllers, and detachably coupled to said first support structure, said first instrument drive assembly comprising one or more motors configured to operate a first instrument assembly;

    a first instrument assembly detachably coupled to said first instrument drive assembly, said first instrument assembly comprising a first elongate, flexible guide instrument configured to be steered within a lumen of a patient'"'"'s body;

    a second support structure;

    a second instrument drive assembly operatively coupled to at least one of the one or more controllers, and detachably coupled to said second support structure, said second instrument drive assembly comprising one or more motors configured to operate a second instrument assembly; and

    a second instrument assembly detachably coupled to said second instrument drive assembly, said second instrument assembly comprising a second elongate, flexible guide instrument configured to be steered within a lumen of the patient'"'"'s body,wherein the one or more controllers are configured to selectively actuate respective motors in the first and second instrument drive assemblies to thereby selectively move respective distal end portions of the respective first and second elongate, flexible guide instruments in response to control signals generated, at least in part, by one or more input devices coupled to the one or more controllers, andwherein said first instrument assembly further comprises a first elongate sheath instrument, and said second instrument assembly further comprises a second elongate sheath instrument, the first and second elongate, flexible guide instruments being carried in a coaxial configuration in the respective first and second elongate sheath instruments, and said first and second instrument drive assemblies comprise respective drive elements configured to independently operate the respective first and second elongate sheath instruments and first and second elongate, flexible guide instruments, wherein each of the first and second elongate, flexible guide instruments is configured to move relative to each of the first and second elongate sheath instruments, respectively.

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