Robotic catheter system input device

• US 8,641,663 B2
• Filed: 03/27/2009
• Issued: 02/04/2014
• 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., Song, Jane J.
• Primary Examiner(s): Mendez, Manuel
• Assistant Examiner(s): Eisenberg, Rebecca E
• Application Number:
  US12/933,063
• Publication Number:
  US 20110015569A1
• Time in Patent Office: 1,775 Days
• Field of Search: 604 66- 67, 604/95.01, 604/95.02, 604/95.04, 604131-133, 604/154, 604/156
• US Class Current: 604/95.01
• CPC Class Codes: A61B 17/2909 Handles
• 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 2034/742 Joysticks
• 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

Abstract

An input device for a robotic medical system includes a handle configured to be rotatable about a center axis, and to be longitudinally displaceable along the center axis. The input device also includes a deflection control element disposed on the handle and configured to selectively control deflection of the distal end of a flexible medical instrument electrically coupled to the input device. Longitudinal displacement of the handle may cause or result in a corresponding longitudinal motion or deflection of the flexible medical instrument. Rotation of the handle may cause or result in a corresponding rotation of the deflection plane. Longitudinal displacement and rotation of the handle may be detected or sensed electronically.

Claims

1. An input device for a robotic medical system including a medical instrument with a distal end, the input device comprising:

an input device handle configured to remotely control said medical instrument, to be rotatable about an axis, and to be longitudinally displaceable along the axis;

a first sensor configured to detect axial rotation of the input device handle;

a second sensor configured to detect longitudinal displacement of the input device handle along the axis; and

a deflection control element disposed on or about the input device handle and configured to selectively control deflection of said distal end of said medical instrument within a deflection plane via a control rod operatively connected to the deflection control element;

a hollow spline operatively coupled with the input device handle, the hollow spline having an aperture configured to permit motion of the control rod within the aperture;

wherein longitudinal displacement of the input device handle results in a corresponding longitudinal motion of said medical instrument, wherein the corresponding longitudinal motion of said medical instrument is proportional to the longitudinal displacement of the input device handle;

rotation of the input device handle results in a corresponding rotation of the deflection plane, wherein the corresponding rotation of the deflection plane is proportional to the rotation of the input device handle; and

the longitudinal displacement and rotation of the input device handle are detected electronically and outputted as electrical signals representative of the longitudinal displacement of the input device handle and the rotation of the input device handle.

2. The input device of claim 1, wherein said medical instrument includes at least one of a catheter and a sheath, and the input device includes a selection switch configured to permit selective control of the catheter, sheath, or catheter and sheath.

3. The input device of claim 2, further comprising one or more indicators indicating whether the input device handle is configured to remotely control the catheter, the sheath, or both the catheter and sheath.

4. The input device of claim 1, wherein the input device is configured to return to an initial or centered position after displacement.

5. The input device of claim 1, further comprising at least one sensor operatively connected or coupled to the input device handle, the at least one sensor configured to detect at least one of displacement of the input device handle, rotation of the input device handle, and displacement of a switch.

6. The input device of claim 5, further comprising a control system configured to receive from at least one of the first sensor and the second sensor the electrical signals representative of the longitudinal displacement of the input device handle and the rotation of the input device handle, format the electrical signals, and output the formatted electrical signals to a manipulator assembly configured to cause or result in a corresponding displacement of said medical instrument.

7. The input device of claim 6, wherein the velocity of the displacement of said medical instrument is proportional to the magnitude of the displacement of the at least one sensor.

8. The input device of claim 5, wherein the at least one sensor is at least one of a potentiometer, a motor, and an encoder.

9. The input device of claim 5, further comprising at least one servo motor configured to return the input device handle to an initial or centered position after displacement.

10. The input device of claim 9, wherein the at least one servo motor is coupled to the input device handle in a direct-drive configuration.

11. The input device of claim 1, further comprising a dead man switch that is configured to prevent unintentional control of said medical instrument.

12. The input device of claim 11, wherein the dead man switch is an optical switch or a capacitive switch configured to detect the presence or absence of a portion of a hand in contact with at least a portion of the input device handle.

13. The input device of claim 1, wherein the input device handle comprises a first input device handle and wherein the deflection control element disposed on or about the input device handle comprises a first deflection control element of a first type and wherein the first input device handle and the first deflection control element may be selectively removed and replaced with a second input device handle having a second deflection control element of a second type.

14. The input device of claim 1, further configured to provide haptic feedback to a user.

15. The input device of claim 14, wherein the input device is configured to provide at least one of heat, cold, a vibration or a force to a user through the input device handle.

16. The input device of claim 14, wherein haptic feedback is indicative of contact of the distal of a catheter or sheath with tissue within a treatment area.

17. The input device of claim 14, wherein haptic feedback is indicative of a physical property of the input device or an associated catheter or sheath.

18. A device for controlling the robotic movement of a catheter, the device comprising:

a joystick input device including a first sensor configured to detect motion of the joystick input device in a first manner and a second sensor configured to detect motion of the joystick input device in a second manner; and

a control system configured to receive a control signal from the first and second sensors and to transmit a corresponding motion-related command to a catheter manipulation mechanism, the control system coupled to the joystick input device via a plurality of control arms, the control arms configured to pivot and allow movement of the joystick input device in a spherical plane;

wherein the control system is configured to relate displacement of the joystick input device in the first manner to a corresponding advancement or retraction of at least one of a catheter and a sheath, wherein the corresponding advancement or retraction of at least one of the catheter and the sheath is proportional to the displacement of the joystick input device in the first manner, and wherein the control system is configured to relate displacement of the joystick input device in the second manner to a corresponding deflection of the distal end of at least one of a catheter and a sheath along a deflection plane, wherein the corresponding deflection of the distal end of at least one of the catheter and the sheath along a deflection plane is proportional to the displacement of the joystick input device in the second manner.

19. The device of claim 18, further comprising at least one rotary input device, wherein activation of the rotary input device results in a corresponding rotation of the deflection plane.

20. The device of claim 19, wherein rotation of the rotary input device results in a corresponding rotation of a distal end of at least one of a catheter and a sheath.

21. The device of claim 19, wherein the rotary input device is at least one of a potentiometer, a motor, and an encoder.

22. The device of claim 18, wherein the first sensor and the second sensors each include at least one of a potentiometer, a motor, and an encoder.

23. The device of claim 18, further comprising at least one centering mechanism configured to return the joystick input device to an initial or neutral position after displacement.

24. The device of claim 23, wherein the centering mechanism includes at least one motor.