Robotic catheter rotatable device cartridge

• US 8,317,745 B2
• Filed: 12/31/2008
• Issued: 11/27/2012
• Est. Priority Date: 03/27/2008
• Status: Expired due to Fees

• Current Assignee: St. Jude Medical, Atrial Fibrillation Division, Inc. (Abbott Laboratories)
• Original Assignee: St. Jude Medical, Atrial Fibrillation Division, Inc. (Abbott Laboratories)
• Inventors: Kirschenman, Mark B., Tegg, Troy T., Hauck, John A.
• Primary Examiner(s): Lucchesi, Nicholas
• Assistant Examiner(s): MATNEY, BROOKE MARIE
• Application Number:
  US12/347,842
• Publication Number:
  US 20090247944A1
• Time in Patent Office: 1,427 Days
• Field of Search: 604/95.04, 604/95.05, 604/264, 604/22, 606/41, 606/130, 424/422, 318/568.11, 600/145, 607/122
• US Class Current: 604/95.04
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00876 magnetic
• 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 2090/372 Details of monitor hardware
• 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 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61M 25/0097 characterised by the hub connectors A61M39/10
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B

Abstract

A robotic catheter rotatable device cartridge may include a housing member attachable to a drive mechanism for rotating the cartridge and a catheter attached to the cartridge along an axial direction of the catheter. A slider block may be generally slidable relative to the housing and engaged with one or more steering wires for controlling movement of the catheter in a transverse direction relative to the axial direction. The catheter may include the steering wire(s) engaged therewith and movable in the transverse direction when the slider block is linearly driven in a predetermined direction.

Claims

1. A robotic catheter rotatable device cartridge having a longitudinal axis, the cartridge comprising:

a housing member configured for removable attachment to a drive head and a drive mechanism configured to rotate both the cartridge and a catheter attached to the cartridge around the longitudinal axis of the cartridge;

a first slider block generally slidable relative to the housing along the longitudinal axis, wherein the first slider block is engaged with a first steering wire and is configured for engagement with a first portion of the drive head such that movement of the first portion of the drive head along the longitudinal axis is configured to cause corresponding movement of the first slider block along the longitudinal axis, and wherein the first slider block is configured to move linearly along the longitudinal axis to cause deflection of the catheter in a first direction transverse to the longitudinal axis, and

a second slider block generally slidable relative to the housing along the longitudinal axis, wherein the second slider block is engaged with a second steering wire and is configured for engagement with a second portion of the drive head such that movement of the second portion of the drive head along the longitudinal axis is configured to cause corresponding movement of the second slider block along the longitudinal axis, and wherein the second slider block is configured to move linearly along the longitudinal axis to cause deflection of the catheter in a second direction transverse to the longitudinal axis, wherein the second direction is different than the first direction.

2. The robotic catheter rotatable device cartridge according to claim 1, further comprising at least one magnetic mount in one of the housing and the drive head for engagement with a complementary surface on the other one of the housing and the drive head for releasable locking of the cartridge with the drive head.

3. The robotic catheter rotatable device cartridge according to claim 1, further comprising at least one recess in one of the housing and the drive head for engagement with at least one complementary locking detent on the other one of the housing and the drive head for releasable locking of the cartridge with the drive head.

4. The robotic catheter rotatable device cartridge according to claim 1, wherein the second direction is generally opposite the first direction.

5. The robotic catheter rotatable device cartridge according to claim 1, wherein the first slider block is linearly driveable to pull the first steering wire generally linearly along a length of the first steering wire and wherein the second slider block is linearly drivable to pull the second steering wire generally linearly along a length of the second steering wire.

6. A robotic catheter rotatable device cartridge having a longitudinal axis, the cartridge comprising:

a housing member configured for removable attachment to a drive head and a drive mechanism configured to rotate both the cartridge and a surgically insertable device attached to the cartridge around the longitudinal axis of the cartridge;

a first element generally linearly movable along the longitudinal axis, wherein the first element is engaged with a first steering wire and is configured for engagement with a first portion of the drive head such that movement of the first portion of the drive head along the longitudinal axis is configured to cause corresponding movement of the first element along the longitudinal axis, and wherein the first element is configured to move linearly along the longitudinal axis to cause deflection of the surgically insertable device in a first direction transverse to the longitudinal axis, and

a second element generally linearly movable along the longitudinal axis, wherein the second element is engaged with a second steering wire and is configured for engagement with a second portion of the drive head such that movement of the second portion of the drive head along the longitudinal axis is configured to cause corresponding movement of the second element along the longitudinal axis, and wherein the second element is configured to move linearly along the longitudinal axis to cause deflection of the surgically insertable device in a second direction transverse to the longitudinal axis, wherein the second direction is different than the first direction.

7. The robotic catheter rotatable device cartridge according to claim 6, further comprising at least one first engageable member on one of the housing and the drive head for engagement with at least one complementary engageable member on the other one of the housing and the drive head for releasable locking of the cartridge with the drive head.

8. The robotic catheter rotatable device cartridge according to claim 6, further comprising at least one magnetic mount in one of the housing and the drive head for engagement with a complementary surface on the other one of the housing and the drive head for releasable locking of the cartridge with the drive head.

9. The robotic catheter rotatable device cartridge according to claim 6, the second direction is generally opposite the first direction.

10. The robotic catheter rotatable device cartridge according to claim 6, wherein the first element is linearly driveable to pull the first steering wire generally linearly along a length of the first steering wire and wherein the second element is linearly drivable to pull the second steering wire generally linearly along a length of the second steering wire.

11. The robotic catheter rotatable device cartridge according to claim 6, wherein the first element is a slider block linearly slidable along a channel on or in the housing.

12. The robotic catheter rotatable device cartridge according to claim 6, wherein the surgically insertable device is one of a catheter, a sheath and a transseptal needle.

13. The robotic catheter rotatable device cartridge according to claim 6, wherein the linear moveability of the first element generally eliminates any backlash or discontinuities during driving of the surgically insertable device.

14. The robotic catheter rotatable device cartridge according to claim 6, wherein the cartridge is infinitely rotatable.

15. The robotic catheter rotatable device cartridge according to claim 6, further comprising integrated force sensors operatively connected to the cartridge for permitting active tensioning of the first steering wire and the second steering wire for controlling deflection of the surgically insertable device.

16. The robotic catheter rotatable device cartridge according to claim 6, further comprising integrated force sensors operatively connected to the cartridge for limiting stress on the surgically insertable device by limiting movement of the cartridge.