Robotic drive for catheter

• US 9,005,217 B2
• Filed: 08/12/2009
• Issued: 04/14/2015
• Est. Priority Date: 08/12/2009
• Status: Active Grant

• Current Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Original Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Inventors: Govari, Assaf, Altmann, Andres Claudio, Ephrath, Yaron, Beeckler, Christopher Thomas
• Primary Examiner(s): Woo, Julian W
• Assistant Examiner(s): David, Shaun L
• Application Number:
  US12/539,707
• Publication Number:
  US 20110040150A1
• Time in Patent Office: 2,071 Days
• Field of Search: 606/130, 606/1, 600/424, 600/117, 600/146, 604/95.01, 604/95.04, 604/510, 604/528
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/003 Steerable
• 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 34/30 Surgical robots
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers

Abstract

Apparatus for controlling a steerable invasive probe having a handle. The apparatus includes a platform and a jig, which is mounted on the platform and is configured to receive the handle. The jig includes at least a first gear that is positioned and shaped to rotate the handle about an axis of the probe and a second gear that is positioned and shaped to operate a control on the handle for deflecting a tip of the probe. A drive module includes one or more motors. A transmission is coupled to the drive module and to the jig so as to controllably rotate at least the first and second gears and to translate the platform along a direction parallel to the axis in order to advance and retract the probe.

Claims

1. Apparatus for controlling a steerable invasive probe having a handle, the apparatus comprising:

a platform;

a jig having an internal cavity formed in a body of the jig, the jig being mounted on the platform and configured to receive the handle, and which comprises at least a first gear that is positioned within the internal cavity of the jig and shaped to rotate the handle about an axis of the probe and a second gear that is positioned within the internal cavity of the jig and shaped to operate a control on the handle for deflecting a tip of the probe;

a drive module comprising at least first and second motors coupled to the first and second gears, respectively; and

a transmission coupled to the drive module and to the jig, the transmission comprising at least first and second telescopic drive mechanisms configured to controllably rotate at least the first and second gears, a linear drive mechanism configured to translate the platform along a direction parallel to the axis in order to advance and retract the probe, and a coupling subassembly configured to mechanically couple the at least first and second telescopic drive mechanisms and the linear drive mechanism to the drive module.

2. The apparatus according to claim 1, wherein the second gear is positioned and shaped to rotate a first control wheel for deflecting the tip of the probe in a first direction relative to the axis, and wherein the jig comprises a third gear, which is positioned and shaped to rotate a second control wheel on the handle for deflecting the tip of the probe in a second direction, perpendicular to the first direction.

3. The apparatus according to claim 1, wherein the first and second gears are configured to encircle the handle.

4. The apparatus according to claim 1, wherein the at least first and second telescopic drive mechanisms are respectively coupled to drive the first and second gears over a range of locations of the platform.

5. The apparatus according to claim 4, wherein each of the telescopic drive mechanisms comprises:

a driving shaft, which is fixedly coupled to be rotated by a respective motor; and

a driven shaft, which is fixedly coupled to the jig so as to move with the platform along the direction parallel to the axis, while slidably engaging the driving shaft so as to be rotated by the driving shaft.

6. The apparatus according to claim 5, wherein the transmission comprises a linear drive mechanism which comprises a linear drive fixedly coupled to be translated by a respective motor and a linear shaft which is fixedly connected to the jig so as to translate the jig along the direction parallel to the axis of the probe.

7. The apparatus according to claim 1, and comprising a control unit, which comprises a position-sensing module, for determining position coordinates of the probe inside a body of a subject, and which is coupled to control the drive module so as to move the probe inside the body responsively to the position coordinates.

8. An invasive medical system, comprising:

a steerable invasive probe having an axis and a distal tip for insertion into a body of a subject, and comprising a handle and at least one control on the handle for controlling a deflection of the distal tip;

a robotic drive, comprising;

a platform;

a jig having an internal cavity formed in a body of the jig, the jig being mounted on the platform and is configured to receive the handle, and which comprises at least a first gear that is positioned within the internal cavity of the jig and shaped to rotate the handle about the axis of the probe and a second gear that is positioned within the internal cavity of the jig and shaped to operate the at least one control;

a drive module comprising at least first and second motors coupled to the first and second gears, respectively; and

a transmission coupled to the drive module and to the jig, the transmission comprising at least first and second telescopic drive mechanisms configured to controllably rotate at least the first and second gears, a linear drive mechanism configured to translate the platform along a direction parallel to the axis in order to advance and retract the probe, and a coupling subassembly configured to mechanically couple the at least first and second telescopic drive mechanisms and the linear drive mechanism to the drive module; and

a control unit, which is coupled to control the drive module so as to move the probe inside the body.

9. The system according to claim 8, wherein the probe comprises a catheter, which is configured for insertion into a heart of the subject.

10. The system according to claim 8, a comprising a position-sensing subsystem, for determining position coordinates of the probe inside the body, wherein the control unit is configured to control the drive module responsively to the position coordinates.

11. The system according to claim 9, wherein the position-sensing subsystem comprises a position transducer in the distal tip of the probe.

12. The system according to claim 8, wherein the second gear is positioned and shaped to rotate a first control wheel for deflecting the tip of the probe in a first direction relative to the axis, and wherein the jig comprises a third gear, which is positioned and shaped to rotate a second control wheel on the handle for deflecting the tip of the probe in a second direction, perpendicular to the first direction.

13. The system according to claim 8, wherein the first and second gears are configured to encircle the handle.

14. The system according to claim 8, wherein the at least first and second telescopic drive mechanisms are respectively coupled to drive the first and second gears over a range of locations of the platform.

15. The system according to claim 14, wherein each of the telescopic drive mechanisms comprises:

a driving shaft, which is fixedly coupled to be rotated by a respective motor; and

a driven shaft, which is fixedly coupled to the jig so as to move with the platform along the direction parallel to the axis, while slidably engaging the driving shaft so as to be rotated by the driving shaft.

16. A method for controlling a steerable invasive probe having a handle, the method comprising:

inserting the handle into an internal cavity of a jig, which is mounted on a platform and which comprises at least a first gear that is positioned within the internal cavity of the jig and shaped to rotate the handle about an axis of the probe and a second gear that is positioned within the internal cavity of the jig and shaped to operate a control on the handle for deflecting a tip of the probe; and

mechanically coupling, by a coupling subassembly, a transmission to a drive module comprising at least first and second motors coupled to the first and second gears respectively, and to the jig, controlling at least first and second telescopic drive mechanisms to rotate at least the first and second gears, and controlling a linear drive mechanism to translate the platform along a direction parallel to the axis in order to advance and retract the probe.

17. The method according to claim 16, wherein the probe comprises a catheter, and wherein the method comprises inserting the catheter into a heart of a subject, and operating the drive module so as to navigate the catheter in the heart.

18. The method according to claim 16, comprising determining position coordinates of the probe inside the body using a position-sensing subsystem, and controlling the drive module responsively to the position coordinates.

19. The method according to claim 18, wherein the position-sensing subsystem comprises a position transducer in a distal tip of the probe.

20. The method according to claim 16, wherein the second gear is positioned and shaped to rotate a first control wheel for deflecting the tip of the probe in a first direction relative to the axis, and wherein the jig comprises a third gear, which is positioned and shaped to rotate a second control wheel on the handle for deflecting the tip of the probe in a second direction, perpendicular to the first direction.

21. The method according to claim 16, wherein the first and second gears encircle the handle.

22. The method according to claim 16, wherein the transmission at least first and second telescopic drive mechanisms are respectively coupled to drive the first and second gears over a range of locations of the platform.

23. The method according to claim 21, wherein each of the telescopic drive mechanisms comprises:

a driving shaft, which is fixedly coupled to be rotated by a respective motor; and

a driven shaft, which is fixedly coupled to the jig so as to move with the platform along the direction parallel to the axis, while slidably engaging the driving shaft so as to be rotated by the driving shaft.