Coaxial catheter system

• US 8,603,068 B2
• Filed: 01/31/2008
• Issued: 12/10/2013
• Est. Priority Date: 02/15/2001
• Status: Expired due to Fees

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Weitzner, Barry, Rogers, Gary S., Solbjor, Albert
• Primary Examiner(s): Sirmons, Kevin C
• Assistant Examiner(s): GILBERT, ANDREW M
• Application Number:
  US12/023,943
• Publication Number:
  US 20080119824A1
• Time in Patent Office: 2,140 Days
• Field of Search: 604/95.01, 604/95.04, 604/96.01, 604/97.01, 604/99.01, 604/101.04, 604/103.03, 604/158, 604/159, 604/164.01, 604/164.03, 604/164.12, 604/528
• US Class Current: 604/528
• CPC Class Codes: A61B 17/12045 double occlusion, e.g. during anastomosis
• CPC Class Codes: A61B 17/12136 Balloons
• CPC Class Codes: A61B 2017/12127 Double occlusion, e.g. for creating blood-free anastomosis site
• CPC Class Codes: A61B 2017/22075 with motorized advancing or retracting means
• CPC Class Codes: A61B 2017/3409 including needle or instrument drives
• 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 2090/0811 for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61M 2025/0004 having two or more concentrically arranged tubes for forming a concentric catheter system
• CPC Class Codes: A61M 2025/0008 having visible markings on its surface, i.e. visible to the naked eye, for any purpose, e.g. insertion depth markers, rotational markers or identification of type
• CPC Class Codes: A61M 2025/0175 having telescopic features, interengaging nestable members movable in relations to one another
• CPC Class Codes: A61M 2025/1015 having two or more independently movable balloons where the distance between the balloons can be adjusted, e.g. two balloon catheters concentric to each other forming an adjustable multiple balloon catheter system
• CPC Class Codes: A61M 2025/1052 for temporarily occluding a vessel for isolating a sector
• CPC Class Codes: A61M 2025/1059 having different inflatable sections mainly depending on the response to the inflation pressure, e.g. due to different material properties
• CPC Class Codes: A61M 2025/1072 having balloons with two or more compartments
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/1002 characterised by balloon shape A61M25/1006, A61M25/1009 take precedence
• CPC Class Codes: A61M 25/1011 Multiple balloon catheters
• CPC Class Codes: A61M 25/10184 Means for controlling or monitoring inflation or deflation

Abstract

A drive mechanism for use with an elongated medical implement comprises a motor, a first pulley mechanically coupled to the motor, and a second pulley. The drive mechanism further comprises a connector mechanically coupled to the second pulley. The connector is configured for laterally receiving the medical implement. The drive mechanism further comprises a belt wrapped around the first and second pulleys to transmit force from the motor to the connector. A robotic medical system comprises a user interface configured for receiving at least one command, a drive mechanism including a motor and a connector configured for laterally receiving the medical implement, and an electrical controller configured for directing the motor to cause the drive mechanism to move the medical implement within at least one degree-of-freedom.

Claims

1. A drive mechanism for controlling a first elongated medical implement having a control element secured to a bendable segment thereof, comprising:

a plurality of motors;

a first pulley mechanically coupled to a first motor of the plurality of motors;

a second pulley;

a first connector mechanically coupled to the second pulley, the first connector defining first inner space for laterally receiving the first elongated medical implement;

a first belt wrapped around the first and second pulleys such that the belt extends around the first connector and around the first elongated medical implement positioned in the first connector to transmit force from the first motor to the first connector so that operation of the first motor causes controllable rotation of the first elongated medical implement;

a second motor of the plurality of motors configured for operatively coupling to the control element so that operation of the second motor causes controllable bending of the first elongated medical implement,

the first motor, the first pulley, the second pulley, the first connector and the first belt being collectively linearly translatable by actuation of a third motor of the plurality of motors such that the first elongated medical implement is controllable with at least three degrees of freedom.

2. The drive mechanism of claim 1, wherein the first connector comprises a slot for receiving the first elongated medical implement.

3. The drive mechanism of claim 2, wherein the slot has an enlarged portion into which the first elongated medical implement can be snapped.

4. The drive mechanism of claim 2, wherein the first connector comprises a pair of legs configured for clamping the first elongated medical implement within the slot.

5. The drive mechanism of claim 2, further comprising a block in which the first connector is disposed, and a screw threaded through the block into contact with the first connector to narrow the slot.

6. The drive mechanism of claim 2, further comprising a sleeve that can be fitted over the first connector to narrow the slot.

7. The drive mechanism of claim 6, wherein the sleeve is configured to be threaded over the first connector.

8. The drive mechanism of claim 1, wherein the first connector comprises an inner C-shaped ring for receiving the first elongated medical implement and an outer C-shaped ring configured for being rotated around the inner ring to capture the first elongated medical implement within the inner ring.

9. The drive mechanism of claim 1, wherein the force transmitted by the first motor produces a rotational motion in the first connector.

10. The drive mechanism of claim 1, wherein the first elongated medical implement is a catheter.

11. A robotic medical system, comprising:

the drive mechanism of claim 1;

a user interface configured for receiving at least one command; and

an electrical controller configured for directing the first motor to cause the drive mechanism to axially rotate the first elongated medical implement in response to the at least one command, the second motor to controllably bend the first elongated medical implement, and the third motor to controllably translate the first elongated medical implement.

12. The drive mechanism of claim 1, wherein the first connector is coaxial with the second pulley.

13. The drive mechanism of claim 1, wherein the first belt rotates within a plane that is perpendicular to axes of the first connector and the second pulley.

14. The drive mechanism of claim 1, wherein the first elongated medical implement is controllably bendable within orthogonal planes transverse to a longitudinal axis of the first elongated medical implement.

15. The drive mechanism of claim 1, further comprising:

a third pulley mechanically coupled to a fourth motor of the plurality of motors;

a fourth pulley;

a second connector mechanically coupled to the fourth pulley, the second connector defining a second inner space for laterally receiving a second medical implement; and

a second belt wrapped around the third and fourth pulleys such that the second belt extends around the second connector and around the second medical implement positioned in the second connector to transmit force from the fourth motor to the second connector so that operation of the fourth motor causes controllable rotation of the second medical implement.

16. The drive mechanism of claim 15, further comprising a fifth motor of the plurality of motors configured for operatively coupling to the control element so that operation of the fifth motor causes controllable bending of the second medical implement.

17. The drive mechanism of claim 16, further comprising a sixth motor of the plurality of motors, wherein the fourth motor, the third pulley, the fourth pulley, the second connector and the second belt being collectively linearly translatable by actuation of the sixth motor such that the second medical implement is controllable with at least three degrees of freedom.

18. The drive mechanism of claim 15, wherein the second medical implement is movable within the first medical implement.

19. The drive mechanism of claim 15, wherein the first medical implement is a catheter and the second medical implement is a guidewire.