Robotic catheter system with dynamic response
First Claim
1. An apparatus for maintaining a robotic catheter system in a responsive state comprising:
- a catheter including a proximal portion, a distal portion, and at least two steering wires, the steering wires configured at one end to control the movement of at least a portion of the distal portion of the catheter and at the other end for connection to a control member;
a plurality of linearly translatable control elements, each control element configured to engage or interface with a respective control member; and
a controller configured to measure a force exerted on at least one control member by the respective control element, and further configured to linearly translate the control element based on the measured force to substantially maintain the force exerted on the at least one control member within a select or determined range;
wherein the control element remains proximate to the respective control member such that the system is maintained in a responsive state.
1 Assignment
0 Petitions
Accused Products
Abstract
An apparatus for maintaining a robotic catheter system in a responsive state includes a catheter, a plurality of linear translatable control elements, and a controller. In an embodiment, the catheter includes a proximal portion, a distal portion, and at least two steering wires. The steering wires may be configured at one end to control the movement of at least a portion of the distal portion of the catheter and at the other end for connection to a control member. In an embodiment, each control element may be configured to engage or interface with a respective control member, and the controller may be configured to measure a force exerted on at least one control member by a respective control element and further configured to linearly translate the control element to substantially maintain a force within a predetermined range.
-
Citations
30 Claims
-
1. An apparatus for maintaining a robotic catheter system in a responsive state comprising:
-
a catheter including a proximal portion, a distal portion, and at least two steering wires, the steering wires configured at one end to control the movement of at least a portion of the distal portion of the catheter and at the other end for connection to a control member; a plurality of linearly translatable control elements, each control element configured to engage or interface with a respective control member; and a controller configured to measure a force exerted on at least one control member by the respective control element, and further configured to linearly translate the control element based on the measured force to substantially maintain the force exerted on the at least one control member within a select or determined range; wherein the control element remains proximate to the respective control member such that the system is maintained in a responsive state. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 29, 30)
-
-
19. A method of maintaining a robotic catheter system in a responsive state comprising:
-
providing a catheter with a plurality of steering wires extending longitudinally therein, each steering wire including a proximally located control member; providing a plurality of linearly translatable control elements; interfacing at least two control elements with at least two respective control members; measuring a force exerted on at least one control member by the respectively interfaced control element; and controlling the linear motion of the at least one control element based on the measured force to maintain the measured force within a select or determined range, wherein the control element remains proximate to the respective control member such that the system is maintained in a responsive state. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28)
-
Specification