Robotic catheter system

• US 8,343,096 B2
• Filed: 12/31/2008
• Issued: 01/01/2013
• Est. Priority Date: 03/27/2008
• Status: Active Grant

• 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., Hauck, John A.
• Primary Examiner(s): Lucchesi, Nicholas
• Assistant Examiner(s): MATNEY, BROOKE MARIE
• Application Number:
  US12/347,811
• Publication Number:
  US 20090247993A1
• Time in Patent Office: 1,462 Days
• Field of Search: 604/95.04, 604/264, 604/95.05, 604/22, 606/41, 606/130, 600/141, 600/145, 424/422, 318/568.11, 607/122
• US Class Current: 604/95.04
• 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 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2018/00351 Heart
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2018/00642 with feedback, i.e. closed loop control
• CPC Class Codes: A61B 2034/2055 Optical 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 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/741 Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• 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
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/06 Measuring instruments not otherwise provided for
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/0147 : with movable mechanical means, e.g. pull wires

Abstract

A robotic catheter system including one or more robotic catheter manipulator assemblies supported on a manipulator support structure. The robotic catheter manipulator assembly may include one or more removably mounted robotic catheter device cartridges and robotic sheath device cartridges, with each cartridge being generally linearly movable relative to the robotic catheter manipulator assembly. An input control system may be provided for controlling operation of the robotic catheter manipulator assembly. A visualization system may include one or more display monitors for displaying a position of a catheter and/or a sheath respectively attached to the robotic catheter and sheath device cartridges.

Claims

1. A robotic catheter system comprising:

a robotic catheter manipulator assembly comprising;

a support member having a longitudinal axis and comprising a catheter manipulation base configured for linear movement along the longitudinal axis of the support member and a sheath manipulation base configured for linear movement along the longitudinal axis of the support member;

a robotic catheter device cartridge removably mounted to the catheter manipulation base, wherein the robotic catheter device cartridge is configured to be generally linearly movable relative to the support member along the longitudinal axis of the support member; and

a robotic sheath device cartridge removably mounted to the sheath manipulation base, wherein the robotic sheath device cartridge is generally linearly movable relative to the support member along the longitudinal axis of the support member;

wherein at least one of the robotic catheter device cartridge and the robotic sheath device cartridge comprises a locking pin or recess and at least one of the catheter manipulation base and the sheath manipulation base comprises a complementary locking pin or recess to secure at least one of the robotic catheter device cartridge to the catheter manipulation base and the robotic sheath device cartridge to the sheath manipulation base;

an input control system for controlling operation of the robotic catheter manipulator assembly; and

a visualization system including at least one display monitor for displaying a position of at least one of a catheter attached to the robotic catheter device cartridge and a sheath attached to the robotic sheath device cartridge.

2. The robotic catheter system according to claim 1, further comprising a manipulator support structure configured to support the robotic catheter manipulator assembly, wherein the manipulator support structure includes an attachment assembly for attaching the robotic catheter manipulator assembly to an operation bed.

3. The robotic catheter system according to claim 1, further comprising a manipulator support structure configured to support the robotic catheter manipulator assembly, wherein the manipulator support structure includes at least one retractable wheel for facilitating transport of the robotic catheter manipulator assembly.

4. The robotic catheter system according to claim 1, further comprising a manipulator support structure configured to support the robotic catheter manipulator assembly, wherein the manipulator support structure includes at least one support arm for adjustably supporting the robotic catheter manipulator assembly.

5. The robotic catheter system according to claim 4, wherein the support arm adjustably positions the robotic catheter manipulator assembly in a plane disposed at an acute angle relative to a generally horizontally disposed operation bed.

6. The robotic catheter system according to claim 4, wherein the support arm adjustably positions the robotic catheter manipulator assembly in a plane disposed generally orthogonal to a generally horizontally disposed operation bed.

7. The robotic catheter system according to claim 4, wherein the support arm adjustably positions the robotic catheter device cartridge and the robotic sheath device cartridge for movement in a plane disposed at an acute angle relative to a generally horizontally disposed operation bed.

8. The robotic catheter system according to claim 4, wherein the support arm adjustably positions the robotic catheter device cartridge and the robotic sheath device cartridge for movement in a plane disposed generally orthogonal to a generally horizontally disposed operation bed.

9. The robotic catheter system according to claim 1, wherein the robotic catheter manipulator assembly support structure is substantially fixedly disposed relative to an operation bed.

10. The robotic catheter system according to claim 1, further comprising a case for transport and sterile use of the robotic catheter manipulator assembly.

11. The robotic catheter system according to claim 1, further comprising a sterile shield for preventing contamination of the robotic catheter manipulator assembly.

12. The robotic catheter system according to claim 1, wherein the robotic catheter system is portable without lifting.

13. The robotic catheter system according to claim 1, wherein at least one of the robotic catheter device cartridge and the robotic sheath device cartridge is rotatable relative to the robotic catheter manipulator assembly.

14. The robotic catheter system according to claim 1, wherein the catheter manipulation base and the sheath manipulation base are movable relative to each other.

15. The robotic catheter system according to claim 1, wherein one of the catheter manipulation base and the robotic catheter device cartridge includes at least one first element engageable with at least one complementary second element of the other one of the catheter manipulation base and the robotic catheter device cartridge, wherein linear movement of one of the first element and the second element is configured to cause corresponding linear movement of the other one of the first element and the second element and control deflection of the catheter by pulling a steering wire attached to the catheter and one of the first element and the second element.

16. The robotic catheter system according to claim 1, wherein one of the sheath manipulation base and the robotic sheath device cartridge includes at least one first element engageable with at least one complementary second element of the other one of the sheath manipulation base and the robotic sheath device cartridge, wherein linear movement of one of the first element and the second element is configured to cause corresponding linear movement of the other one of the first element and the second element and control deflection of the sheath by pulling a steering wire attached to the sheath and one of the first element and the second element.

17. The robotic catheter system according to claim 1, wherein the catheter manipulation base is disposed generally behind the sheath manipulation base to allow insertion of the catheter into the sheath.

18. The robotic catheter system according to claim 1, wherein the input control system includes at least one of a joystick, an instrumented glove, a mouse, a space-ball and a 3D input device.

19. The robotic catheter system according to claim 1, wherein the input control system includes haptic feedback based on one of actual sensed forces on a distal catheter tip, and impedance measured from the distal catheter tip.

20. The robotic catheter system according to claim 1, wherein the input control system includes haptic feedback based on virtual catheter tip proximity to virtual cardiac anatomy.

21. The robotic catheter system according to claim 1, wherein the visualization system includes an orientation vector display for showing direction of a thumb switch deflection for the input control system.

22. The robotic catheter system according to claim 1, wherein the input control system includes active tensioning of steering wires attached to the catheter and sheath.

23. The robotic catheter system according to claim 1, wherein the input control system includes pre-defined speed zones for varying speed of movement of the catheter and sheath in predetermined areas in the anatomy of a patient.

24. A robotic catheter system comprising:

a robotic manipulator assembly comprising;

a support member having a longitudinal axis and comprising a first surgical instrument manipulation base configured for linear movement along the longitudinal axis of the support member and a second surgical instrument manipulation base configured for linear movement along the longitudinal axis of the support member;

at least one robotic first surgical instrument device cartridge removably mounted to the first surgical instrument manipulation base, wherein the robotic first surgical instrument device cartridge is configured to be generally linearly movable relative to the support member along the longitudinal axis of the support member; and

at least one robotic second surgical instrument device cartridge removably mounted to the second surgical instrument manipulation base, wherein the robotic second surgical instrument device cartridge is generally linearly movable relative to the support member along the longitudinal axis of the support member;

wherein at least one of the robotic first surgical instrument device cartridge and the robotic second surgical instrument device cartridge comprises a locking pin or recess and at least one of the first surgical instrument manipulation base and the second surgical instrument manipulation base comprises a complementary locking pin or recess to secure at least one of the first surgical instrument device cartridge to the first surgical instrument manipulation base and the second surgical instrument device cartridge to the second surgical instrument manipulation base;

an input control system for controlling operation of the robotic manipulator assembly; and

a visualization system including at least one display for displaying a position of at least one of a first surgical instrument attached to the robotic first surgical instrument device cartridge and a second surgical instrument attached to the robotic second surgical instrument device cartridge.

25. The robotic catheter system according to claim 24, further comprising a manipulator support structure configured to support the robotic manipulator assembly, wherein the manipulator support structure includes an attachment assembly for attaching the robotic manipulator assembly to an operation bed.

26. The robotic catheter system according to claim 24, further comprising a manipulator support structure configured to support the robotic manipulator assembly, wherein the manipulator support structure includes at least one retractable wheel for facilitating transport of the robotic manipulator assembly.

27. The robotic catheter system according to claim 24, further comprising a manipulator support structure configured to support the robotic manipulator assembly, wherein the manipulator support structure includes at least one support arm for adjustably supporting the robotic manipulator assembly.

28. The robotic catheter system according to claim 27, wherein the support arm adjustably positions the robotic manipulator assembly in a plane disposed at an acute angle relative to a generally horizontally disposed operation bed.

29. The robotic catheter system according to claim 27, wherein the support arm adjustably positions the robotic manipulator assembly in a plane disposed generally orthogonal to a generally horizontally disposed operation bed.

30. The robotic catheter system according to claim 27, wherein the support arm adjustably positions the robotic first surgical instrument device cartridge and the second surgical instrument device cartridge for movement in a plane disposed at an acute angle relative to a generally horizontally disposed operation bed.

31. The robotic catheter system according to claim 27, wherein the support arm adjustably positions the robotic first surgical instrument device cartridge and the second surgical instrument device cartridge for movement in a plane disposed generally orthogonal to a generally horizontally disposed operation bed.

32. The robotic catheter system according to claim 24, wherein the robotic manipulator assembly support structure is substantially fixedly disposed relative to an operation bed.

33. The robotic catheter system according to claim 24, further comprising a case for transport and sterile use of the robotic manipulator assembly.

34. The robotic catheter system according to claim 24, further comprising a sterile shield for preventing contamination of the robotic manipulator assembly.

35. The robotic catheter system according to claim 24, wherein the robotic catheter system is portable without lifting.

36. The robotic catheter system according to claim 24, wherein at least one of the first surgical instrument device cartridge and the second surgical instrument device cartridge is rotatable relative to the robotic manipulator assembly.

37. The robotic catheter system according to claim 24, wherein the first surgical instrument manipulation base and the at least one second surgical instrument manipulation base are movable relative to each other.

38. The robotic catheter system according to claim 24, wherein one of the first surgical instrument manipulation base and the first surgical instrument device cartridge includes at least one first element engageable with at least one complementary second element of the other one of the first surgical instrument manipulation base and the robotic first surgical instrument device cartridge, wherein linear movement of one of the first element and the second element is configured to cause corresponding linear movement of the other one of the first element and the second element and control deflection of the first surgical instrument by pulling a steering wire attached to the first surgical instrument and one of the first element and the second element.

39. The robotic catheter system according to claim 24, wherein one of the second surgical instrument manipulation base and the robotic second surgical instrument device cartridge includes at least one first element engageable with at least one complementary second element of the other one of the second surgical instrument manipulation base and the robotic second surgical instrument device cartridge, wherein linear movement of one of the first element and the second element is configured to cause corresponding linear movement of the other one of the first element and the second element and control deflection of the second surgical instrument by pulling a steering wire attached to the second surgical instrument and one of the first element and the second element.

40. The robotic catheter system according to claim 24, wherein the first surgical instrument manipulation base is disposed generally behind the second surgical instrument manipulation base to allow insertion of the first surgical instrument into the second surgical instrument.

41. The robotic catheter system according to claim 24, wherein the input control system includes at least one of a joystick, an instrumented glove, a mouse, a space-ball and a 3D input device.

42. The robotic catheter system according to claim 24, wherein the input control system includes haptic feedback based on one of actual sensed forces on a distal first surgical instrument tip, and impedance measured from the distal first surgical instrument tip.

43. The robotic catheter system according to claim 24, wherein the input control system includes haptic feedback based on virtual first surgical instrument tip proximity to virtual cardiac anatomy.

44. The robotic catheter system according to claim 24, wherein the visualization system includes an orientation vector display for showing direction of a thumb switch deflection for the input control system.

45. The robotic catheter system according to claim 24, wherein the input control system includes active tensioning of steering wires attached to the first surgical instrument and the second surgical instrument.

46. The robotic catheter system according to claim 24, wherein the input control system includes pre-defined speed zones for varying speed of movement of the first surgical instrument and the second surgical instrument in predetermined areas in the anatomy of a patient.

47. The robotic catheter system according to claim 24, wherein the first surgical instrument and the second surgical instrument are each one of a transseptal needle, a catheter and a sheath.

48. The robotic catheter system according to claim 24, further comprising a manipulator support structure configured to support the robotic manipulator assembly, wherein the manipulator support structure is an integrated system including a RF generator, a saline pump and saline bags.

49. The robotic catheter system according to claim 24, wherein the robotic manipulator assembly includes a cartridge override for at least one of preventing and disabling movement of at least one of the robotic first surgical instrument device cartridge and the robotic second surgical instrument device cartridge.

50. A robotic catheter system comprising:

a robotic catheter manipulator assembly comprising;

a support member having a longitudinal axis and comprising a catheter manipulation base configured for linear movement along the longitudinal axis of the support member and a sheath manipulation base configured for linear movement along the longitudinal axis of the support member, wherein the catheter manipulation base and the sheath manipulation base have respective ranges of linear movement along the longitudinal axis of the support member that at least partially overlap;

a robotic catheter device cartridge removably mounted to the catheter manipulation base, wherein the robotic catheter device cartridge is configured to be generally linearly movable relative to the support member along the longitudinal axis of the support member; and

a robotic sheath device cartridge removably mounted to the sheath manipulation base, wherein the robotic sheath device cartridge is generally linearly movable relative to the support member along the longitudinal axis of the support member;

an input control system for controlling operation of the robotic catheter manipulator assembly; and

a visualization system including at least one display monitor for displaying a position of at least one of a catheter attached to the robotic catheter device cartridge and a sheath attached to the robotic sheath device cartridge.

51. The robotic catheter system of claim 50, wherein the respective ranges of linear movement along the longitudinal axis of the support member each have a length of approximately 8 inches.