User interface for remote control catheterization

• US 8,257,302 B2
• Filed: 05/10/2005
• Issued: 09/04/2012
• Est. Priority Date: 05/10/2005
• Status: Active Grant

• Current Assignee: Corindus, Inc. (Siemens AG)
• Original Assignee: Corindus, Inc. (Siemens AG)
• Inventors: Beyar, Rafael, Linder, Doron, Wenderow, Tal, Zilberberg, Eyal
• Primary Examiner(s): Shumate, Victoria P
• Application Number:
  US11/920,209
• Publication Number:
  US 20090221958A1
• Time in Patent Office: 2,674 Days
• Field of Search: 604/95.01, 600/106, 600/114, 600/117, 600/137, 600144-146, 600/152, 606/1, 434/262
• US Class Current: 604/95.01
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• 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 2034/742 Joysticks
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61M 25/0133 Tip steering devices

Abstract

A remote control catheterization system comprising: a propelling device, which controllably inserts a flexible, elongate probe into the body of a patient; and a control unit, in communication with the propelling device, and comprising user controls which are operated by a user of the system remote from the patient to control insertion of the probe into the body by the propelling device, wherein the user controls include an intuitive user interface comprising a handle that can be moved longitudinally, forward and back along a longitudinal axis, and also can be moved rotationally, in rotation around the longitudinal axis; the intuitive user interface comprising motion sensors that detect longitudinal motion and rotational motion of the handle and convert them to signals; and signal communication circuitry that communicates the signals to the control unit for commanding the propelling device to move the probe in respective direction and distance as the handle.

Claims

1. A remote control catheterization system comprising:

a propelling device, which controllably inserts a flexible, elongate probe into the body of a patient; and

a control unit, in communication with the propelling device, and comprising user controls which are operated by a user of the system remote from the patient to control insertion of the probe into the body by the propelling device,

wherein the user controls include an intuitive user interface comprising a handle that can be moved longitudinally, forward and back along a single longitudinal axis, and also can be moved rotationally, in rotation around the longitudinal axis;

the intuitive user interface comprising motion sensors that detect longitudinal motion and rotational motion of the handle and convert them to signals; and

signal communication circuitry that communicates the signals to the control unit for commanding the propelling device to move the probe;

in the same direction and distance as the handle,

the intuitive user interface including a fail-safe mechanism that, when activated, allows communication between the intuitive user interface and the control console and that, when deactivated, prevents the communication, and

wherein, the handle is a longitudinal member being horizontal in an operative position and being in a non-horizontal orientation in a non-operative position, the handle being operatively connected to a first contact that moves with the handle as the handle is moved from a horizontal to a non-horizontal orientation, the fail-safe mechanism including a second contact that does not move with the handle as the handle is moved from a horizontal to a non-horizontal orientation, the fail safe mechanism being implemented as two contacts in the handle that are activated when brought into contact, as the handle is moved from a horizontal to a non-horizontal position.

2. The system of claim 1 wherein the intuitive user interface is further provided with positioners that move the handle longitudinally, forward and back along its longitudinal axis, and move it rotationally, in rotation around its longitudinal axis, and wherein:

the remote control catheterization system includes at least one sensor that detects forces acting longitudinally or rotationally upon the probe and communicates this feedback information to a control console;

the control console is adapted to convert the feedback to commands for the positioners and send the commands to the signal communication circuits; and

the signal communication circuits are adapted to receive the commands from the processing device and send them to the positioners, which apply longitudinal or rotational forces upon the handle that replicate the longitudinal or rotational forces experienced by the probe.

3. The system of claim 2 wherein the intuitive user interface is further equipped with operator-controlled amplification circuitry that can adjust the ratio of handle movement command sent to the probe and the force feedback from the probe to the handle.

4. The system of claim 1 wherein the fail-safe mechanism is implemented as a switch that is activated when the handle is lifted up.

5. The system of claim 1 wherein the intuitive user interface is further equipped with a support base, the second contact being fixed relative to the support base, the handle and first contact being operatively pivoted to the base about a pivot.

6. The system of claim 1 wherein the intuitive user interface is further equipped with operator-controlled switches that move the handle in precise, operator-defined steps.

7. The system of claim 1 wherein the intuitive user interface is further equipped with operator-controlled switches for controlling the handle'"'"'s stiffness.

8. The system of claim 1 wherein the intuitive user interface is further equipped with operator-controlled switches for controlling the ratio of handle speed to catheter speed.

9. The system of claim 1 wherein the intuitive user interface is further equipped with operator-controlled switches that send control signals via the signal communication circuits to command probe operations, including:

inflating a balloon;

injecting contrast agent; and

deploying a stent.

10. The system of claim 1 wherein the elongated probe is a catheter.

11. The system of claim 1 wherein the elongate probe is a stent delivery device.

12. The system of claim 1 wherein the elongate probe is an angioplasty insertion and inflation device.

13. The system of claim 1 wherein the elongate probe is a guide wire insertion device and the handle is horizontal and has a cylindrical shape.

14. A remote control catheterization system comprising:

a propelling device, which controllably inserts a flexible, elongate probe into the body of a patient; and

a control unit, in communication with the propelling device, and comprising user controls which are operated by a user of the system remote from the patient to control insertion of the probe into the body by the propelling device

wherein the user controls include an intuitive user interface comprising a handle that can be moved longitudinally, forward and back along a single longitudinal axis, and also can be moved rotationally, in rotation around the longitudinal axis;

the intuitive user interface comprising motion sensors that detect longitudinal motion and rotational motion of the handle and convert them to signals; and

signal communication circuitry that communicates the signals to the control unit for commanding the propelling device to move the probe;

in the same direction and distance as the handle; and

a return mechanism that, upon operator release of the handle, returns the handle to an initial longitudinal and rotational position, wherein the probe remains-fixed when the handle returns to the initial longitudinal and rotation position.

15. The system of claim 14 where the return mechanism may be selectively engaged by operator-controlled switching to determine whether the probe moves as the handle returns to its original longitudinal and rotational position.

16. A method for catheterization comprising:

inserting an elongate, flexible probe into a body passage;

feeding a portion of the probe outside the body into a propelling device, which advances the probe through the body passage; and

controlling the propelling device to advance the probe from a location remote from the body, wherein;

controlling the propelling device comprises operating an intuitive user interface comprising a handle that is moved longitudinally, forward and back along a single longitudinal axis, and also moved rotationally, in rotation around the longitudinal axis; and

detecting via motion sensors longitudinal and rotational positions of the handle and converting them to position signals;

communicating the position signals to a control console, via communication circuitry, thereby commanding the propelling device to move the probe the same direction and distance as the handle was moved; and

returning, upon operator release of the handle, the handle to its original longitudinal and rotational position, and providing a control for a user to determine whether the probe moves as the handle returns to its original longitudinal and rotational position.

17. The method of claim 16 further comprising positioners, wherein the positioners are configured to move the handle longitudinally, forward and back along its longitudinal axis, and rotationally, in rotation around its longitudinal axis, and:

detecting, by means of sensors, forces acted longitudinally and rotationally upon the probe and communicating this feedback information to the control console;

converting, via the control console, the feedback to commands for the positioners and sending the commands to the signal communication circuits; and

receiving, via the signal communication circuits, commands from a processing device and sending them to the positioners, the positioners applying longitudinal or rotational forces upon the handle that replicate the longitudinal or rotational forces experienced by the probe.

18. The method of claim 16 further comprising enabling, via activation of a fail-safe mechanism, communication between the intuitive user interface and the control console and disabling, via release of the fail-safe mechanism, that communication.

19. The method of claim 16 further comprising adjusting, via operator-controlled amplification circuits, the ratio of handle movement command sent to the probe and the force feedback from the probe to the handle.

20. The method of claim 16 further comprising moving, via operator-controlled switches, the handle in precise, operator-defined steps.

21. The method of claim 16 further comprising controlling, via operator-controlled switches, the handle'"'"'s stiffness.

22. The method of claim 16 further comprising sending, via operator-controlled switches, control signals via the signal communication circuits to command probe operations, including:

inflating a balloon;

injecting contrast agent; and

inserting a stent.

23. The method of claim 16 further comprising processing both the longitudinal and rotational position signals simultaneously.