Robotic catheter system

• US 8,974,408 B2
• Filed: 03/01/2013
• Issued: 03/10/2015
• Est. Priority Date: 03/05/2004
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Wallace, Daniel T., Moll, Frederic H., Younge, Robert G., Martin, Kenneth M., Stahler, Gregory J., Moore, David F., Adams, Daniel T., Zinn, Michael R., Niemeyer, Gunter D.
• Primary Examiner(s): Cattungal, Sanjay
• Application Number:
  US13/782,262
• Publication Number:
  US 20130231679A1
• Time in Patent Office: 739 Days
• Field of Search: 604/95.04, 604/164.12, 604/164.09, 600407-427, 600101-114, 600/146
• US Class Current: 604/95.04
• CPC Class Codes: A61B 10/06 Biopsy forceps , e.g. with cup-shaped jaws
• CPC Class Codes: A61B 2017/00247 Making holes in the wall of the heart, e.g. laser Myocardial revascularization
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00309 Cut-outs or slits
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2018/00392 Transmyocardial revascularisation
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• 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 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2090/035 preventing further rotation
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3925 ultrasonic
• CPC Class Codes: A61B 2090/397 electromagnetic other than visible, e.g. microwave
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/35 : for telesurgery
• 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 46/10 : specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 5/066 : Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/283 : Invasive
• CPC Class Codes: A61B 5/6852 : Catheters
• CPC Class Codes: A61B 5/6885 : Monitoring or controlling sensor contact pressure
• CPC Class Codes: A61B 5/7285 : for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence
• CPC Class Codes: A61B 5/746 : Alarms related to a physiological condition, e.g. details of setting alarm thresholds or avoiding false alarms alarms per se G08B
• CPC Class Codes: A61B 6/4423 : related to hygiene or sterilisation
• CPC Class Codes: A61B 6/503 : for diagnosis of the heart
• CPC Class Codes: A61B 6/504 : for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 8/0891 : for diagnosis of blood vessels
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4254 : using sensors mounted on the probe
• CPC Class Codes: A61B 8/4461 : Features of the scanning mechanism, e.g. for moving the transducer within the housing of the probe
• CPC Class Codes: A61B 8/4466 : involving deflection of the probe
• CPC Class Codes: A61B 8/543 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 90/50 : Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61M 25/0113 : Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/09041 : Mechanisms for insertion of guide wires

Abstract

A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

Claims

1. A robotic medical instrument system, comprising:

an operator workstation comprising one or more displays, and one or more input devices;

a controller operatively coupled to the operator workstation;

an instrument driver operatively coupled to the controller, the instrument driver comprising one or more motors operatively coupled to an instrument interface;

a mounting structure including configurable revolute joint, the configurable revolute joint comprising a controllable electronic brake, the mounting structure having a first end removably attachable to an operating table, and a second end removably coupled to the instrument driver, wherein the instrument driver is rotatable relative to the mounting structure; and

an elongate flexible guide instrument having a longitudinal axis and a base portion operatively coupled to the instrument interface,

wherein the controller is configured to selectively actuate the one or more motors to thereby selectively move a distal end portion of the guide instrument in response to control signals generated, at least in part, by the one or more input devices.

2. The system of claim 1, wherein the instrument driver is rotatable relative to the mounting structure about a roll axis that is substantially coincident with a roll axis of the guide instrument about its longitudinal axis.

3. The system of claim 1, wherein the instrument driver is rotatably coupled to the mounting structure via a bearing structure.

4. The system of claim 3, wherein the instrument driver is controllably rotatable about the bearing structure about a roll axis that is substantially coincident with a roll axis of the guide instrument about its longitudinal axis.

5. The system of claim 1, wherein the first end of the mounting structure is removably attachable to an operating table via a railing to allow relative positioning of the instrument driver along a length of the operating table.

6. The system of claim 1, wherein the mounting structure comprises a plurality of revolute joints.

7. The system of claim 1, wherein the mounting structure is configurable to be selectively fixed in a position such that the instrument driver is substantially aligned with a lengthwise dimension of the operating table.

8. The system of claim 7, wherein the instrument interface is positioned on the instrument driver such that, when the instrument driver is substantially aligned with the lengthwise dimension of the operating table, the longitudinal axis of the instrument is also substantially aligned with the lengthwise dimension of the operating table.

9. A robotic medical instrument system, comprising:

an operator workstation comprising one or more displays, and one or more input devices;

a controller operatively coupled to the operator workstation;

an instrument driver operatively coupled to the controller and having proximal and distal portions, the instrument driver distal portion comprising an instrument interface, with one or more motors operatively coupled to the instrument interface;

a mounting structure, including a configurable revolute joint, the configurable revolute joint comprising a controllable electronic brake, having a first end removably attachable to an operating table, and a second end coupled to the proximal portion of the instrument driver such that instrument driver is rotatable relative to the mounting structure; and

an elongate flexible guide instrument having a longitudinal axis and a base portion operatively coupled to the instrument interface,

wherein the controller is configured to selectively actuate the one or more motors to thereby selectively move a distal end portion of the guide instrument in response to control signals generated, at least in part, by the one or more input devices.

10. The system of claim 9, wherein the instrument driver is rotatable relative to the mounting structure about a roll axis that is substantially coincident with a roll axis of the guide instrument about its longitudinal axis.

11. The system of claim 9, wherein the instrument driver is rotatably coupled to the mounting structure via a bearing structure.

12. The system of claim 11, wherein the instrument driver is controllably rotatable about the bearing structure about a roll axis that is substantially coincident with a roll axis of the guide instrument about its longitudinal axis.

13. The system of claim 9, wherein the mounting structure comprises an arcuate-shaped structural member configured to position the instrument driver overlaying the operating table.

14. A robotic medical instrument system, comprising:

an operator workstation comprising one or more displays, and one or more input devices;

a controller operatively coupled to the operator workstation;

an instrument driver operatively coupled to the controller, the instrument driver comprising one or more motors operatively coupled to an instrument interface;

a mounting structure, including a configurable revolute joint, the configurable revolute joint comprising a controllable electronic brake, comprising means to selectively position the instrument driver relative to an operating table, wherein the instrument driver is coupled to the mounting structure such that the instrument driver is rotatable relative to the mounting structure; and

an elongate flexible guide instrument having a longitudinal axis and a base portion operatively coupled to the instrument interface,

wherein the controller is configured to selectively actuate the one or more motors to thereby selectively move a distal end portion of the guide instrument in response to control signals generated, at least in part, by the one or more input devices.

15. The system of claim 14, wherein the instrument driver is rotatable relative to the mounting structure about a roll axis that is substantially coincident with a roll axis of the guide instrument about its longitudinal axis.

16. The system of claim 14, wherein the mounting structure is configurable to be selectively fixed in a position such that the instrument driver is substantially aligned with a lengthwise dimension of the operating table, and

wherein the instrument interface is positioned on the instrument driver such that, when the instrument driver is substantially aligned with the lengthwise dimension of the operating table, the longitudinal axis of the instrument is also substantially aligned with the lengthwise dimension of the operating table.