Intelligent input device controller for a robotic catheter system

• US 9,241,768 B2
• Filed: 12/09/2010
• Issued: 01/26/2016
• Est. Priority Date: 03/27/2008
• Status: Active Grant

• Current Assignee: St. Jude Medical, Atrial Fibrillation Division, Inc. (Abbott Laboratories)
• Original Assignee: St. Jude Medical, Atrial Fibrillation Division, Inc. (Abbott Laboratories)
• Inventors: Sandhu, Kulbir S., Shah, Devanshi, Adusumilli, Venkata, Hauck, John A., Olson, Eric S., Kirschenman, Mark B.
• Primary Examiner(s): Lucchesi, Nicholas
• Assistant Examiner(s): Snyder, Melissa A
• Application Number:
  US12/964,407
• Publication Number:
  US 20110144806A1
• Time in Patent Office: 1,874 Days
• Field of Search: 604/95.01, 604/500, 604/508
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• 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 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/741 Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• 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 34/37 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

Abstract

A robotic catheter system includes a robotic controller; a robotic manipulator; and in input controller. The input controller includes communication circuitry configured to receive a signal from a user input device; memory having stored therein a plurality of device drivers associated with a different type of input device or a differently configured input device; and a processor configured to recognize an input device connected with the communications circuitry, load a device driver according to the recognized input device, initialize the input device, and/or one of reject and notify an end user, and deliver an image to a display or graphical user interface.

Claims

1. A robotic catheter system comprising:

a robotic controller;

a robotic manipulator; and

an input controller;

the input controller including;

communication circuitry configured to receive a signal from a plurality of user input devices;

a memory including a plurality of device drivers associated with a different type of input device or a differently configured input device; and

a processor electrically coupled to the communication circuitry and to the memory, the processor configured to recognize each of the plurality of input devices configured to be connected with the communications circuitry, load a device driver according to each of the plurality of recognized input devices, and initialize the recognized input device,

wherein the input controller is further configured to prompt a user to select an active input device from the plurality of user input devices, and then detecting the active input device selected by the user; and

wherein the input control is further configured to initialize an algorithm specific to the active input device, wherein the algorithm is configured to perform a startup routine and a calibration routine for the active input device.

2. The robotic catheter system of claim 1, wherein the processor is configured to allow a plurality of input devices to operate concurrently in a collaborative manner.

3. The robotic catheter system of claim 1, wherein the processor is further configured to translate the signal from the recognized user input device into a standard data format.

4. The input controller of claim 3, wherein the standard data format includes a three dimensional Cartesian position scheme.

5. The robotic catheter system of claim 4, wherein the standard data format further includes a plurality of discrete variables to linearize a desired motion vector for the input device.

6. The robotic catheter system of claim 1, wherein the memory includes a program memory and a storage memory.

7. The robotic catheter system of claim 1, further including an auxiliary display.

8. The robotic catheter system of claim 7, wherein the processor is configured to provide fault messages to the auxiliary display.

9. The robotic catheter system of claim 7, wherein the processor is configured to provide a steering wire tension value to the auxiliary display.

10. The robotic catheter system of claim 1, further comprising an input device.

11. The robotic catheter system of claim 10, wherein the input device comprises an instrumented sheath handle and an instrumented catheter handle coupled together, wherein each of the instrumented sheath handle and the instrumented catheter handle can longitudinally translate and independently rotate.

12. The robotic catheter system of claim 10, wherein the input device comprises a three dimensional input device.

13. The robotic catheter system of claim 10, wherein the input device comprises a touch screen display.

14. The robotic catheter system of claim 1, wherein the processor is further configured to deliver an image to a graphical user interface (GUI).

15. The robotic catheter system of claim 1, wherein the processor is further configured to notify an end user.

16. The robotic catheter system of claim 1, wherein the input controller is configured to automatically determine the active input device from the plurality of user input devices by detecting movement.

17. The robotic catheter system of claim 1, wherein the input controller is configured to display a list of all connected devices.