Robotic insertion systems and methods

• US 9,033,880 B2
• Filed: 04/05/2011
• Issued: 05/19/2015
• 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): Chen, Tse
• Assistant Examiner(s): Brutus, Joel F
• Application Number:
  US13/080,370
• Publication Number:
  US 20120259221A1
• Time in Patent Office: 1,505 Days
• Field of Search: 600/407, 600/437
• 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 2017/3413 guided by ultrasound
• 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 8/085 for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
• 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 8/4455 Features of the external shape of the probe, e.g. ergonomic aspects
• CPC Class Codes: A61B 8/462 characterised by constructional features of the display
• 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 25/0606 "Over-the-needle" catheter assemblies, e.g. I.V. catheters
• CPC Class Codes: A61M 5/427 Locating point where body is to be pierced, e.g. vein location means using ultrasonic waves, injection site templates
• CPC Class Codes: A61M 5/46 having means for controlling depth of insertion
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/41 Tool
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

An apparatus for accessing the lumen of a vessel includes a handle providing a controller for operating the apparatus, an image capturing instrument secured to the handle, a display secured to the handle, wherein images captured by the image capturing instrument are displayed on the display, and a robotic platform coupled to the handle. The robotic platform includes a body, a first motor coupled to the body, wherein the first motor adjust the robotic platform to achieve a target insertion depth, and a cartridge carrier pivotally coupled to the body, wherein the robotic platform is adjustable to achieve the target insertion depth. The apparatus also includes a disposable cartridge attached to the cartridge carrier. The disposable cartridge includes a needle slideably coupled to the disposable cartridge, wherein the needle slides to extend to the target insertion depth, and a sheath slideably coupled to the disposable cartridge, wherein the sheath slides to extend to the target insertion depth.

Claims

1. An apparatus to access a lumen of a vessel, the apparatus comprises:

a handle provides a controller to operate the apparatus, wherein said handle is ergonomic to provide operation of said apparatus with a single hand;

an image capturing instrument secured to the handle;

a display secured to the handle, wherein images captured by the image capturing instrument are displayed on the display;

a robotic platform coupled to the handle, wherein the robotic platform comprises,

a body comprising an arc-like structure, wherein the handle and image capturing instrument are positioned at a center of the arc-like structure;

a first motor coupled to the body, wherein the first motor adjust the robotic platform to achieve a target insertion depth;

a cartridge carrier pivotally coupled to the body, wherein the robotic platform is adjustable to achieve the target insertion depth, and a pivot point of said cartridge carrier is positioned adjacent to said handle;

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

a stop bar positioned at a fixed position on said body; and

an extension that extends from said first actuator, wherein said extension contacts said stop bar when said first actuator is advanced a predetermined length; and

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

the needle or sheath slideably coupled to the disposable cartridge, wherein the needle or sheath slides to extend to the target insertion depth.

2. The apparatus of claim 1, further comprises:

a second motor coupled to a guidewire disposed in the disposable cartridge, wherein the guidewire is advanced by the second motor;

a third motor coupled to the needle or sheath, wherein the needle or sheath is advanced and retracted by the third motor.

3. The apparatus of claim 2, further comprises:

an actuator provided by the handle, wherein the actuator is actuated a first time to advance the needle or sheath into a target vessel and to advance the guidewire a first predetermined distance.

4. The apparatus of claim 3, wherein the actuator is actuated a second time to advance the guidewire fully into the target vessel and to advance the sheath into the target vessel.

5. The apparatus of claim 1, wherein cartridge carrier is rotatable around a pivot point coupling the cartridge carrier to the body.

6. The apparatus of claim 1, wherein the pivot point is adjustable, and the pivot point is laterally adjustable along the body.

7. The apparatus of claim 1, wherein the pivot point of the cartridge carrier is adjustable, and the pivot point is vertically adjustable along the body.

8. The apparatus of claim 1, further comprises:

a target site displayed on the display, wherein the controller is utilized to select a target vessel by adjusting the target site onto a center of the target vessel.

9. The apparatus of claim 8, wherein the robotic platform automatically adjusts the first motor to achieve the target insertion depth in accordance with the target vessel selected.

10. A method for accessing a lumen of a vessel, the method comprises the steps of:

attaching a disposable cartridge to a robotic platform, wherein the robotic platform comprises,

a body comprising an arc-like structure, wherein a handle and an image capturing instrument are positioned at a center of the arc-like structure;

a first motor coupled to the body, wherein the first motor adjust the robotic platform to achieve a target insertion depth;

a cartridge carrier pivotally coupled to the body, wherein the robotic platform is adjustable to achieve the target insertion depth, and a pivot point of said cartridge carrier is positioned adjacent to said handle;

the handle coupled to the robotic platform providing a controller for operating the robotic platform, wherein said handle is ergonomic to provide operation of said robotic platform with a single hand;

a display secured to the handle, wherein images captured by the image capturing instrument are displayed on the display;

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

a stop bar positioned at a fixed position on said robotic platform; and

an extension that extends from said first actuator, wherein said extension contacts said stop bar when said first actuator is advanced a predetermined length;

placing the robotic platform over a target vessel, wherein said image capturing device generates an image of the target vessel on a display;

selecting the target vessel on the display, wherein a depth of the target vessel is measured when selected; and

actuating an actuator a first time, wherein actuating the actuator the first time causes the needle or a sheath provided in the disposable cartridge to advance to the depth measure and into the target vessel.

11. The method of claim 10, wherein the disposable cartridge attached to the cartridge carrier further comprises,

the needle slideably coupled to the disposable cartridge, wherein the needle slides to extend to the target insertion depth;

and

the sheath slidably coupled to the disposable cartridge, wherein the sheath slides to extend to the target insertion depth.

12. The method of claim 11, wherein the robotic platform further comprises:

a second motor coupled to a guidewire disposed in the disposable cartridge, wherein the guidewire is advanced by the second motor;

a third motor coupled to the needle, wherein the needle is advanced and retracted by the third motor; and

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

13. The method of claim 10, wherein actuating the actuator the first time causes a guidewire to be advanced a first predetermined distance.

14. The method of claim 13, wherein actuating the actuator the second time causes a guidewire to be fully advanced into the target vessel and causes the needle to be retracted.

15. The method of claim 10, wherein the target vessel is selected by utilizing a controller to center a target site on a center of the target vessel.

16. The method of claim 15, wherein the robotic platform automatically adjust to achieve the target insertion depth in accordance with a selected target vessel.

17. The method of claim 10, further comprising entering a data entry mode, wherein patient information is entered in the data entry mode.

18. The method of claim 10, further comprising entering an operation mode, wherein images produced by the image capturing device are recorded in the operation mode.

19. An insertion system comprising:

a handle provides a controller to operate the system, wherein said handle is ergonomic to provide operation of said system with a single hand;

an image capturing instrument secured to the handle;

a display secured to the handle, wherein images captured by the image capturing instrument are displayed on the display;

a robotic platform comprising an arc-like structure coupled to the handle, wherein the handle and image capturing instrument are positioned at a center of the arc-like structure, and the robotic platform automatically adjust to achieve a target insertion depth;

a first motor coupled to the robotic platform, wherein the first motor adjust the robotic platform to achieve a target insertion depth;

a disposable cartridge pivotally attached to the robotic platform, wherein the disposable cartridge provides a sheath, a needle, or a guidewire, and the robotic platform inserts the sheath or needle to the target insertion depth, and a pivot point of said cartridge carrier is positioned adjacent to said handle;

a first actuator slideably coupled to said disposable cartridge, wherein said first motor adjusts a position of said first actuator, and said first actuator advances or retracts the needle or sheath;

a stop bar positioned at a fixed position on said robotic platform; and

an extension that extends from said first actuator, wherein said extension contacts said stop bar when said first actuator is advanced a predetermined length.

20. The apparatus of claim 19, wherein the controller is operated to select a target vessel, the robotic platform automatically adjust to achieve an insertion depth of said target vessel, and the robotic platform inserts the sheath or needle to the insertion depth of said target vessel.