Catheter system with percutaneous device movement algorithm

• US 9,220,568 B2
• Filed: 04/11/2012
• Issued: 12/29/2015
• Est. Priority Date: 10/12/2009
• Status: Active Grant

• Current Assignee: Corindus, Inc. (Siemens AG)
• Original Assignee: Corindus, Inc. (Siemens AG)
• Inventors: Bromander, Thomas, Handler, David, Wenderow, Tal
• Primary Examiner(s): Holwerda, Stephen
• Application Number:
  US13/444,121
• Publication Number:
  US 20120271319A1
• Time in Patent Office: 1,357 Days
• Field of Search: 600/407, 600/424, 600/426, 600/434, 606/1, 606/108, 606/130, 700/245
• US Class Current: 1/1
• 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 2034/742 Joysticks
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61M 25/01 Introducing, guiding, advancing, emplacing or holding catheters A61M25/10 takes precedence
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

A workstation configured for operating a robotic catheter system is provided. The workstation includes a user interface configured to receive a user input and a control system operatively coupled to the user interface for remotely and independently controlling movement of at least a first percutaneous device and a second percutaneous device. At least the first percutaneous device is moveable both for advancement and retraction along a longitudinal axis of the first percutaneous device and for rotation about a longitudinal axis of the first percutaneous device. The workstation also includes a device movement algorithm subsystem including at least one set of instructions. The control system controls the first percutaneous device based upon both the user input and the at least one set of instructions of the device movement algorithm subsystem.

Claims

1. A workstation configured for operating a robotic catheter system comprising:

a user interface configured to receive a first user input;

a control system operatively coupled to the user interface, the control system configured to remotely control movement of at least a first percutaneous device and a second percutaneous device, wherein at least the first percutaneous device is moveable both for advancement and retraction along a longitudinal axis of the first percutaneous device and for rotation about the longitudinal axis of the first percutaneous device; and

a device movement algorithm subsystem including at least one set of instructions stored in a memory, the at least one set of instructions defining at least one predetermined percutaneous device movement profile comprising a step distance, a step duration and a rest duration that define a series of advance pulsed axial steps for advancing the first percutaneous device along the longitudinal axis in a first direction;

wherein the at least one set of instructions define a series of retract axial steps for retraction of the first percutaneous device along the longitudinal axis in a direction opposite the first direction of the first percutaneous device resulting from the advance pulsed axial steps, the retract axial steps being interspaced with the axial advance steps resulting in a net advancement of the percutaneous device along the longitudinal axis in the first direction;

wherein the control system controls the first percutaneous device based upon both the first user input and the at least one predetermined percutaneous device movement profile of the device movement algorithm subsystem such that the movement of the first percutaneous device in accordance with the movement profile results in a series of pulsed axial steps.

2. The workstation of claim 1, wherein the at least one percutaneous device movement profile further comprises a rotation rate, such that movement of the first percutaneous device in accordance with the movement profile results in rotation of the first percutaneous device during advancement of the first percutaneous device, wherein the instructions provide the first percutaneous device to both rotate about and move axially along the longitudinal axis providing a corkscrew action of the first percutaneous device.

3. The workstation of claim 1, wherein the user interface is configured to receive a second user input defining a movement parameter of the movement profile.

4. The workstation of claim 3, wherein the movement parameter is at least one of a step distance, a step duration, a rest duration, and a rotation rate.

5. The workstation of claim 1, wherein the at least one set of instructions includes a first set of instructions and a second set of instructions;

wherein the user interface is configured to receive a second user input;

wherein the control system activates one or more of the first set of instructions and the second set of instructions based on the second user input; and

further wherein the control system controls the first percutaneous device based upon both the first user input and one or more activated sets of instructions of the device movement algorithm subsystem.

6. The workstation of claim 5, wherein the user interface further comprises:

a first control configured to receive the first user input;

a second control associated with the first set of instructions, the second control configured to receive the second user input; and

a third control associated with the second set of instructions, the second control configured to receive a third user input;

wherein the control system is configured to activate the first set of instructions in response to the second user input and to activate the second set of instructions in response to the third user input.

7. The workstation of claim 6, wherein the first control comprises a joystick, the second control comprises a first touch screen icon, and the third control comprises a second touch screen icon.

8. The workstation of claim 6, wherein both the first set of instructions and the second set of instructions are activated at the same time and the control system is configured to control the first percutaneous device based upon the first user input, the activated first set of instructions and the activated second set of instructions.

9. The workstation of claim 5, wherein the first set of instructions is activated in response to the second user input, wherein the control system is configured to automatically activate the second set of instructions based upon data received by the control system.

10. The workstation of claim 9, wherein the second set of instructions is associated with a feature of the first percutaneous device and the received data is indicative of the feature of the first percutaneous device.

11. The workstation of claim 10, wherein the feature of the first percutaneous device is at least one of the type, make, model, and a physical characteristic of the first percutaneous device.

12. The workstation of claim 10, wherein the data is received from an RFID tag associated with the first percutaneous device.

13. The workstation of claim 1, wherein the at least one set of instructions is based upon a type of the first percutaneous device.

14. The workstation of claim 1, wherein the at least one set of instructions is based upon a type of disease to be treated.

15. The workstation of claim 1, wherein the at least one set of instructions is based upon a type of procedure to be performed.

16. A catheter procedure system comprising:

a bedside system comprising;

a first percutaneous device actuating mechanism including an axial movement actuator configured to move a first percutaneous device along a longitudinal axis of the first percutaneous device and a rotation actuator configured to rotate the first percutaneous device about the longitudinal axis of the first percutaneous device; and

a second percutaneous device actuating mechanism; and

a remote workstation, the remote workstation comprising;

a user interface configured to receive a first user input;

a control system operatively coupled to the user interface and to the bedside system, the control system configured to remotely and independently control movement of the first percutaneous device and a second percutaneous device; and

a device movement algorithm subsystem including at least one set of instructions stored in a memory, the at least one set of instructions defining at least one predetermined percutaneous device movement profile comprising a step distance, a step duration and a rest duration that define a series of pulsed axial steps for advancing the first percutaneous device along the longitudinal axis in a first direction;

wherein the at least one set of instructions define a series of retract axial steps for retraction of the first percutaneous device along the longitudinal axis in direction opposite the first direction of the first percutaneous device resulting from the advance pulsed axial steps, the retract axial steps being interspaced with the axial advance steps resulting in a net advancement of the percutaneous device along the longitudinal axis in the first direction;

wherein the control system controls the first percutaneous device based upon both the first user input and the at least one predetermined percutaneous device movement profile of the device movement algorithm subsystem such that the movement of the first percutaneous device in accordance with the movement profile results in a series of pulsed axial steps.

17. The catheter procedure system of claim 16, wherein the at least one percutaneous device movement profile further comprises a rotation rate, such that movement of the first percutaneous device in accordance with the movement profile results in rotation of the first percutaneous device during advancement of the first percutaneous device;

wherein the movement profile provides the first percutaneous device to both rotate about and move axially along the longitudinal axis providing a corkscrew action of the first percutaneous device.

18. The catheter procedure system of claim 16, wherein the user interface is configured to receive a second user input defining a movement parameter of the movement profile.

19. The catheter procedure system of claim 18, wherein the movement parameter is at least one of a step distance, a step duration, a rest duration, and a rotation rate.

20. The catheter procedure system of claim 16, wherein the at least one set of instructions includes a first set of instructions and a second set of instructions, wherein the user interface is configured to receive a second user input, wherein the control system activates one or more of the first set of instructions and the second set of instructions based on the second user input, and further wherein the control system controls the first percutaneous device based upon both the first user input and one or more activated sets of instructions of the device movement algorithm subsystem.

21. The catheter procedure system of claim 20, wherein the user interface further comprises:

a first control configured to receive the first user input;

a second control associated with the first set of instructions, the second control configured to receive the second user input; and

a third control associated with the second set of instructions, the second control configured to receive a third user input;

wherein the control system is configured to activate the first set of instructions in response to the second user input and to activate the second set of instructions in response to the third user input.

22. The catheter procedure system of claim 21, wherein the first control comprises a joystick, the second control comprises a first touch screen icon, and the third control comprises a second touch screen icon.

23. The catheter procedure system of claim 21, wherein both the first set of instructions and the second set of instructions are activated at the same time, and the control system is configured to control the first percutaneous device based upon the first user input, the activated first set of instructions and the activated second set of instructions.

24. The catheter procedure system of claim 20, wherein the first set of instructions is activated in response to the second user input, wherein the control system is configured to automatically activate the second set of instructions based upon data received by the control system.

25. The catheter procedure system of claim 24, wherein the second set of instructions is associated with a feature of the first percutaneous device and the received data is indicative of the feature of the first percutaneous device.

26. The catheter procedure system of claim 25, wherein the feature of the first percutaneous device is at least one of the type, make, model, and a physical characteristic of the first percutaneous device.

27. The catheter procedure system of claim 26, wherein the data is received from an RFID tag associated with the first percutaneous device.

28. The catheter procedure system of claim 16, wherein the at least one set of instructions is based upon a type of the first percutaneous device.

29. The catheter procedure system of claim 16, wherein the at least one set of instructions is based upon a type of disease to be treated.

30. The catheter procedure system of claim 16, wherein the at least one set of instructions is based upon a type of procedure to be performed.