Motorized systems and methods for accessing the lumen of a vessel

• US 8,951,195 B2
• Filed: 04/05/2011
• Issued: 02/10/2015
• Est. Priority Date: 04/05/2011
• Status: Active Grant

• Current Assignee: Houston Medical Robotics, Inc.
• Original Assignee: Houston Medical Robotics, Inc.
• Inventors: Sheldon, Jeffery J., Smith, Kenneth R., Dannecker, Bruce W., Lacey, Joseph M., Goodwin, Katherine E.
• Primary Examiner(s): EVOY, NICHOLAS LANE
• Application Number:
  US13/080,348
• Publication Number:
  US 20120259220A1
• Time in Patent Office: 1,407 Days
• Field of Search: 600/459, 600/464, 600/471, 600/461
• US Class Current: 600/437
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 2017/3407 including a base for support on the body
• CPC Class Codes: A61B 2017/3413 guided by ultrasound
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 5/14 Devices for taking samples of blood hypodermic syringes A61M5/00; Measuring characteristics of blood in vivo, e.g. gas concentration within the blood, pH-value of blood measuring of blood pressure A61B5/02; non-radiation detecting or locating of foreign bodies in blood A61B5/06
• CPC Class Codes: A61B 5/15003 for venous or arterial blood
• CPC Class Codes: A61B 5/150748 Having means for aiding positioning of the piercing device at a location where the body is to be pierced means for aiding positioning of devices for bringing media into the body A61M5/427, locating blood vessels A61B5/489
• CPC Class Codes: A61B 5/153 Devices specially adapted for taking samples of venous or arterial blood, e.g. with syringes
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 8/0891 for diagnosis of blood vessels
• CPC Class Codes: A61B 8/14 Echo-tomography
• CPC Class Codes: A61B 8/4209 by using holders, e.g. positioning frames
• CPC Class Codes: A61B 8/4444 related to the probe
• CPC Class Codes: A61B 8/461 Displaying means of special interest
• CPC Class Codes: A61B 8/463 characterised by displaying multiple images or images and diagnostic data on one display composite display in devices for short-range imaging with acoustic waves G01S7/52074
• CPC Class Codes: A61B 8/587 Calibration phantoms models for medical purposes G09B23/28
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61M 2005/1585 Needle inserters
• CPC Class Codes: A61M 2005/1588 having means for monitoring, controlling or visual inspection, e.g. for patency check, avoiding extravasation
• CPC Class Codes: A61M 2025/0166 Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
• CPC Class Codes: A61M 25/0108 : using radio-opaque or ultrasound markers
• CPC Class Codes: A61M 25/0111 : Aseptic insertion devices
• CPC Class Codes: A61M 25/0113 : Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/0606 : "Over-the-needle" catheter assemblies, e.g. I.V. catheters
• CPC Class Codes: A61M 25/065 : Guide needles
• CPC Class Codes: A61M 25/09 : Guide wires
• CPC Class Codes: A61M 25/09041 : Mechanisms for insertion of guide wires
• CPC Class Codes: A61M 5/158 : Needles for infusions; Accessories therefor, e.g. for inserting infusion needles, or for holding them on the body
• CPC Class Codes: A61M 5/46 : having means for controlling depth of insertion

Abstract

An apparatus for accessing the lumen of a vessel. The apparatus includes a main body and a disposable cartridge. The main body includes a imaging device attachment, wherein the imaging device attachment is utilized to secure an image capturing instrument to the main body; a cartridge carrier coupled to the imaging device attachment, wherein the cartridge carrier is adjustable to achieve a target insertion depth; and a first motor coupled to the cartridge carrier, wherein the first motor adjust the cartridge carrier to achieve the target insertion depth. The disposable cartridge is attached to the cartridge carrier and houses a sheath, needle, or guidewire to be inserted into the vessel to the target insertion depth.

Claims

1. An apparatus for accessing the lumen of a vessel, the apparatus comprising:

a main body providing an arc-like structure, wherein the main body comprises,

an imaging device attachment adjacent to a pivot point positioned at a center of said arc-like structure, wherein the imaging device attachment is utilized to secure an image capturing instrument to the main body;

a cartridge carrier coupled to said pivot point, wherein the cartridge carrier is adjustable to achieve a target insertion depth; and

a first motor coupled to the cartridge carrier, wherein the first motor adjusts the cartridge carrier to achieve the target insertion depth;

a depth scale coupled to the main body, wherein the depth scale is an arm positioned opposite the pivot point indicating insertion depths, and the first motor controller is actuated to adjust the cartridge carrier along the depth scale to a position that corresponds to the target insertion depth;

a disposable cartridge attached to the cartridge carrier, wherein the disposable cartridge houses a sheath, needle, or guidewire inserted into the vessel to the target insertion depth; and

a first motor controller that operates the first motor, wherein the first motor controller is actuated to adjust the cartridge carrier to achieve the target insertion depth.

2. The apparatus of claim 1, wherein the disposable cartridge further comprises:

a sliding truck slidably attached to the disposable cartridge, wherein the sliding truck is coupled to the needle in the disposable cartridge; and

a sheath hub slidably attached to the disposable cartridge, wherein the sheath hub is coupled to the sheath in the disposable cartridge.

3. The apparatus of claim 1, further comprises:

a second motor coupled to a guidewire actuator provided by the cartridge carrier; and

a guidewire disposed in the disposable cartridge, wherein the guidewire is advanced by the second motor and the guidewire actuator.

4. The apparatus of claim 1, further comprising:

a needle motor coupled to a needle actuator provided by the cartridge carrier; and

a needle coupled to the needle actuator, wherein the needle is advanced and retracted by the needle motor and the needle actuator.

5. The apparatus of claim 1, further comprising:

a sheath motor coupled to a sheath hub provided by the cartridge carrier; and

the sheath coupled to the sheath hub, wherein the sheath is advanced and retracted by the sheath motor and the sheath hub.

6. The apparatus of claim 1, further comprising an input controller for inputting the target insertion depth, wherein the main body automatically adjusts the cartridge carrier to a position corresponding to the target insertion depth.

7. The apparatus of claim 1, further comprising a screen overlay with a vertical line provided in the center of the screen overlay provided on a display of an imaging device.

18. The apparatus of claim 1, further comprising:

a first actuator slideably coupled to said cartridge carrier, wherein a second motor adjusts the position of said first actuator, and the first actuator is coupled to the needle or sheath;

a stop bar positioned on said main body at a fixed position along a pathway of the first actuator, wherein the stop bar has a stop bar height; and

an extension extending from said first actuator to a height greater than the stop bar height, wherein said extension contacts said stop bar when said first actuator is advanced a predetermined length to advance the sheath or needle the target insertion depth.

8. A method for accessing the lumen of a vessel, the method comprising the steps of:

attaching an image capturing instrument to an imaging device attachment of a main body providing an arc-like structure;

attaching a disposable cartridge to the main body, wherein the main body comprises,

an imaging device attachment adjacent to a pivot point positioned at a center of said arc-like structure, wherein the imaging device attachment is utilized to secure an image capturing instrument to the main body;

a cartridge carrier coupled to said pivot point, wherein the cartridge carrier is adjustable to achieve a target insertion depth;

a depth motor coupled to the cartridge carrier, wherein the depth motor adjusts the cartridge carrier to achieve the target insertion depth; and

a depth scale coupled to the main body, wherein the depth scale is an arm positioned opposite the pivot point indicating insertion depths;

determining a depth of the vessel with an imaging device, wherein the depth of the vessel is the target insertion depth;

adjusting the cartridge carrier along the depth scale until a position of the cartridge carrier on the depth scale corresponds to the target insertion depth; and

actuating a controller, wherein the controller causes a sheath, guidewire, or needle in the disposable cartridge to advance a first predetermined distance to the target insertion depth.

9. The method of claim 8, wherein the image capturing instrument is an ultrasound transducer and the imaging device is an ultrasound imaging device.

10. The method of claim 8, wherein the main body is adjusted to achieve the desired insertion depth by entering the target insertion depth into a depth controller.

11. The method of claim 8, wherein the controller is a sheath controller coupled to a sheath motor that advances and retracts a sheath hub and the sheath.

12. The method of claim 8, further comprising the step of:

actuating a needle controller to advance a needle, wherein the needle controller advances the needle a second predetermined distance;

actuating a guidewire controller to advance a guidewire, wherein the guidewire controller advances the guidewire; and

actuating a needle controller to retract the needle.

13. The method of claim 12, wherein the needle and a sliding truck are advanced and retracted by a needle motor.

14. The method of claim 12, wherein the guidewire is advanced by a guidewire motor.

15. The method of claim 8, further comprising the step of placing a screen overlay on a display of the imaging device.

19. The method of claim 8, wherein said main body further comprises:

a first actuator slideably coupled to said cartridge carrier, wherein a second motor adjusts the position of said first actuator, and the first actuator is coupled to the needle or sheath;

a stop bar positioned on said main body at a fixed position along a pathway of the first actuator, wherein the stop bar has a stop bar height; and

an extension extending from said first actuator to a height greater than the stop bar height, wherein said extension contacts said stop bar when said first actuator is advanced a predetermined length to advance the sheath or needle the target insertion depth.

16. An apparatus for accessing the lumen of a vessel, the apparatus comprising:

a main body providing an arc-like structure, wherein the main body comprises,

a main body providing an image device attachment adjacent to a pivot point positioned at a center of said arc-like structure;

a cartridge carrier pivotally attached to the main body at said pivot point, wherein the cartridge carrier provides at least one motor;

a controller coupled to the at least one motor, wherein actuating the controller inserts a sheath, needle, or guidewire to a target depth; and

a depth scale provided on the main body, wherein the depth scale is an arm positioned opposite the pivot point indicating insertion depths, and the first motor controller is actuated to adjust the cartridge carrier to a position on the depth scale that corresponds to the target insertion depth; and

a disposable cartridge attached to the cartridge carrier, wherein the disposable cartridge comprises,

a sheath slidably coupled to the disposable cartridge, wherein the sheath is advanced or retracted by the at least one motor;

a needle slidably coupled to the disposable cartridge, wherein the needle is advanced or retracted by the at least one motor, and the needle extends to a target insertion depth; and

a guidewire coupled to the disposable cartridge, wherein the guidewire is advanced or retracted by the at least one motor.

17. The apparatus of claim 16, wherein the controller is utilized to advance or retract the sheath, the needle, and the guidewire.

20. The apparatus of claim 16, further comprising:

a first actuator slideably coupled to said cartridge carrier, wherein said at least one motor adjusts the position of said first actuator, and the first actuator is coupled to the needle or sheath;

a stop bar positioned on said main body at a fixed position along a pathway of the first actuator, wherein the stop bar has a stop bar height; and

an extension extending from said first actuator to a height greater than the stop bar height, wherein said extension contacts said stop bar when said first actuator is advanced a predetermined length to advance the sheath or needle the target insertion depth.