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

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Hlavka, Edwin J., Wallace, Daniel T., Moll, Frederic H.
• Primary Examiner(s): Cattungal, Sanjay
• Application Number:
  US13/188,312
• Publication Number:
  US 20120016291A1
• Time in Patent Office: 481 Days
• Field of Search: 600407-424, 600/437, 600473-480, 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, 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.

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, comprising a plurality of fluid injection needles carried on a distal end portion of the flexible member.

4. The system of claim 1, further comprising a helical anchor member that may be rotatably advanced from, and retracted into, a distal end portion of the guide instrument.

5. The system of claim 1, further comprising one or more lateral anchor members that may be deployed from a side of the fluid injection needle.

6. The system of claim 1, further comprising one or more anchor members that may be deployed from a side of the guide instrument.

7. 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.

8. The system of claim 1, further comprising a mechanical lever configured for actuating advancement and retraction of the fluid injection needle.

9. The system of claim 1, wherein the imaging device comprises one of an ultrasound array, CCD device, and an optical camera.

10. The system of claim 1, wherein the fluid injection needle comprises an electrode.