Catheter system

• US 9,095,681 B2
• Filed: 11/25/2009
• Issued: 08/04/2015
• Est. Priority Date: 05/06/2008
• Status: Active Grant

• Current Assignee: Corindus, Inc. (Siemens AG)
• Original Assignee: Corindus, Inc. (Siemens AG)
• Inventors: Wenderow, Tal, Bromander, Thomas, Kennedy, James J. III, Thompson, Stanley O., Taylor, Jon B., Lightcap, Jeffrey, Murphy, John, Eacock, Graham
• Primary Examiner(s): DOWE, KATHERINE MARIE
• Application Number:
  US12/626,531
• Publication Number:
  US 20100076310A1
• Time in Patent Office: 2,078 Days
• Field of Search: 606/1, 606/108, 606/130, 604/95.01, 604/164.04, 604/164.13, 60416501-16502, 604/171, 604/510, 604/528, 623/1.11, 623/1.12, 600/434, 600/585
• US Class Current: 1/1
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• 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: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/0147 with movable mechanical means, e.g. pull wires
• CPC Class Codes: A61M 25/09041 Mechanisms for insertion of guide wires

Abstract

A catheter system including a housing and a first drive mechanism supported by the housing configured to impart movement to a first catheter device is provided. The first drive mechanism is moveable between an engaged position in which the first drive mechanism engages the first catheter device and a disengaged position in which the first drive mechanism does not engage the first catheter device. The catheter system includes a second drive mechanism supported by the housing configured to impart movement to a second catheter device. The second drive mechanism is moveable between an engaged position in which the second drive mechanism engages the second catheter device and a disengaged position in which the second drive mechanism does not engage the second catheter device. The catheter system includes a manual control configured to allow a user to manually move the first drive mechanism and the second drive mechanism between the engaged and disengaged positions. The first drive mechanism and the second drive mechanism are also configured to be moved between the engaged and disengaged positions by an electronic actuator responsive to a user'"'"'s activation of a control. The first drive mechanism and the second drive mechanism are configured to be moved between the respective engaged and disengaged positions synchronized with each other.

Claims

1. A robotic catheter system, the system comprising:

a housing including a first channel having a first axis and a second channel having a second axis, the second channel intersecting the first channel, the second axis is not co-axial and not parallel to the first channel;

a first drive mechanism supported by the housing adjacent the first axis and configured to impart axial movement to a first catheter device along the first axis, the first drive mechanism moveable between an engaged position in which the first drive mechanism engages the first catheter device and a disengaged position in which the first drive mechanism does not engage the first catheter device;

a second drive mechanism supported by the housing adjacent to the second axis configured to impart axial movement to a second catheter device along the second axis, the second drive mechanism imparting axial movement to the second catheter device independent of axial movement of the first catheter device, the second drive mechanism moveable between an engaged position in which the second drive mechanism engages the second catheter device and a disengaged position in which the second drive mechanism does not engage the second catheter device; and

a single manual control configured to allow a user to manually move the first drive mechanism and the second drive mechanism simultaneously between the engaged and disengaged positions;

wherein the first drive mechanism and the second drive mechanism are also configured to be moved between the engaged and disengaged positions by an electronic actuator responsive to a user'"'"'s activation of a control;

wherein the first drive mechanism and the second drive mechanism are configured to be moved between the respective engaged and disengaged positions synchronized with each other.

2. The robotic catheter system of claim 1, wherein the first drive mechanism and the second drive mechanism are physically coupled to each other such that as the first drive mechanism is moved from the disengaged position to the engaged position the second drive mechanism is also moved from the disengaged position to the engaged position.

3. The robotic catheter system of claim 1, wherein the first drive mechanism includes a first engagement surface and a second engagement surface, wherein the distance between the first and second engagement surfaces in the engaged position is less than the distance between the first and second engagement surfaces in the disengaged position.

4. The robotic catheter system of claim 3, wherein the second drive mechanism includes a third engagement surface and a fourth engagement surface, wherein the distance between the third and fourth engagement surfaces in the engaged position is less than the distance between the first and second engagement surfaces in the disengaged position.

5. The robotic catheter system of claim 4, wherein the first engagement surface is coupled to a moveable housing and the third engagement surface is coupled to a moveable linkage, and further wherein the moveable housing is physically coupled to the moveable linkage.

6. The robotic catheter system of claim 5, wherein the positions of the second engagement surface and the fourth engagement surface are rotatably mounted at a fixed position relative to the housing, wherein the first engagement surface is moved toward the second engagement surface to move from the disengaged position to the engaged position, and further wherein the third engagement surface is moved toward the fourth engagement surface to move from the disengaged position to the engaged position.

7. The robotic catheter system of claim 6, wherein the first engagement surface and the third engagement surface are roller wheels, and the second engagement surface and the fourth engagement surface are drive wheels.

8. The robotic catheter system of claim 5, wherein the moveable linkage is pivotally coupled to the housing, and further wherein the moveable housing moves in a direction substantially perpendicular to the longitudinal axis of the housing.

9. The robotic catheter system of claim 8, wherein the moveable housing of the first drive mechanism is coupled to the moveable linkage of the second drive mechanism such that the moveable linkage pivots about a pivot point when the moveable housing translates as the first drive mechanism is moved between the engaged and disengaged positions.

10. The robotic catheter system of claim 9, wherein the manual control includes a handle coupled to a shaft, the shaft having a cam section, wherein the moveable housing includes a cam surface that engages the cam section, wherein the cam section moves along the cam surface as the handle is rotated causing the moveable housing to move between the engaged and disengaged positions.

11. The robotic catheter system of claim 1, wherein the first drive mechanism is a guide wire drive mechanism and the first catheter device is a guide wire.

12. The robotic catheter system of claim 11, wherein the first drive mechanism is an axial drive mechanism.

13. The robotic catheter system of claim 1, wherein the second drive mechanism is a working catheter drive mechanism and the second catheter device is a working catheter.

14. The robotic catheter system of claim 13, wherein the second drive mechanism is an axial working catheter drive mechanism.

15. A cassette for use with a robotic catheter system, the cassette comprising:

a housing including a first channel having a first axis and a second channel having a second axis, the second channel intersecting the first channel, the second axis is not co-axial and not parallel to the first channel;

a first axial drive mechanism supported by the housing adjacent the first axis and configured to impart axial movement to a guide wire along a first axis, the first axial drive mechanism including a pair of engagement surfaces moveable between;

an engaged position, in which the pair of engagement surfaces are moved toward each other to engage the guide wire; and

a disengaged position, in which the pair of engagement surfaces are moved away from each other to disengage from the guide wire;

a second axial drive mechanism supported by the housing adjacent to the second axis and configured to impart axial movement to a working catheter along the second axis, the second drive mechanism imparting axial movement to the working catheter independent of axial movement of the first catheter, the second axial drive mechanism including a pair of engagement surfaces moveable between;

an engaged position, in which the pair of engagement surfaces are moved toward each other to engage the working catheter; and

a disengaged position, in which the pair of engagement surfaces are moved away from each other to disengage from the working catheter; and

a single manual control configured to allow a user to manually move the engagement surfaces of the first axial drive mechanism and the second axial drive mechanism between the engaged and disengaged positions;

wherein the engagement surfaces of the first drive mechanism and the second drive mechanism are also configured to be moved between the engaged and disengaged positions by an electronic actuator responsive to a user'"'"'s activation of a control;

wherein the first axial drive mechanism and the second axial drive mechanism are configured to be moved together between the engaged and disengaged positions.

16. The cassette of claim 15, wherein the pair of engagement surfaces of the first axial drive mechanism comprise a drive wheel and a roller wheel, and the pair of engagement surfaces of the second axial drive mechanism comprise a drive wheel and a roller wheel.

17. The cassette of claim 16, wherein the drive wheels of both the first and second axial drive mechanisms are coupled in a fixed position relative to the housing, and further wherein the roller wheels of both the first and second axial drive mechanisms are coupled to the housing for movement relative to the drive wheels.

18. The cassette of claim 16, wherein the roller wheel of the first axial drive mechanism is coupled to a moveable housing that moves in a direction substantially perpendicular to the longitudinal axis of the housing to move the roller wheel between the engaged and disengaged positions, and further wherein the roller wheel of the second axial drive mechanism is coupled to a moveable linkage that pivots around a pivot point to move the roller wheel between the engaged and disengaged positions.

19. The cassette of claim 15, wherein the cassette is a disposable cassette having a use restriction element for functionally disabling the cassette from being used for a second procedure.

20. A cassette for use with a robotic catheter system, the cassette comprising:

a cassette housing;

including a first channel having a first axis and a second channel having a second axis, the second channel intersecting the first channel, the second axis is not co-axial and not parallel to the first channel

a moveable housing supported by the cassette housing;

a first axial drive mechanism supported by the cassette housing adjacent the first axis and configured to impart axial movement to a guide wire, the first axial drive mechanism including a first drive wheel and a first roller wheel, the first roller wheel coupled to the moveable housing, wherein the moveable housing translates linearly in a direction substantially perpendicular to the longitudinal axis of the guide wire to move the first roller wheel between;

an engaged position, in which the guide wire is engaged between the first drive wheel and the first roller wheel; and

a disengaged position, in which the first roller wheel is moved away from the first drive wheel to disengage from the guide wire;

a moveable linkage pivotally coupled to the housing;

a second axial drive mechanism supported by the cassette housing adjacent the second axis and configured to impart axial movement to a working catheter, the second axial drive mechanism including a second drive wheel and a second roller wheel, the second roller wheel coupled to the moveable linkage, wherein the moveable linkage pivots nonlinearly about a pivot point to move the second roller wheel between;

an engaged position, in which the working catheter is engaged between the second drive wheel and the second roller wheel; and

a disengaged position, in which the second roller wheel is moved away from the second drive wheel to disengage from the working catheter; and

a single manual control configured to allow a user to manually move the roller wheels of the first axial drive mechanism and the second axial drive mechanism between the engaged and disengaged positions;

wherein the roller wheels of the first axial drive mechanism and the second axial drive mechanism are also configured to be moved between the engaged and disengaged positions by an electronic actuator responsive to a user'"'"'s activation of a control;

wherein the moveable housing is physically coupled to the moveable linkage such that as the moveable housing is translated to move the first roller wheel between the engaged and disengaged positions, the moveable linkage pivots about the pivot point to move the second roller wheel between the engaged and disengaged positions.