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Robotically controlled intravascular tissue injection system

  • US 8,311,626 B2
  • Filed: 07/21/2011
  • Issued: 11/13/2012
  • Est. Priority Date: 07/19/2004
  • Status: Active Grant
First Claim
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1. A robotic catheter system, comprising:

  • a controller including a master input device, an instrument driver in communication with the controller, an elongate flexible guide instrument operatively coupled to the instrument driver, an elongate flexible member extending through a lumen of the guide instrument, the system characterized in that it further comprises;

    a fluid injection needle carried by a distal portion of the flexible member, wherein the needle may be advanced from, or retracted into, a side of the flexible member; and

    an imaging device carried by the flexible member to provide a side-oriented field of view configured to capture images of at least a portion of the needle as it is advanced from the side of the flexible member.

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