Robotic catheter system with dynamic response

• US 9,295,527 B2
• Filed: 01/09/2014
• Issued: 03/29/2016
• Est. Priority Date: 03/27/2008
• Status: Active Grant

• Current Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Original Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Inventors: Kirschenman, Mark B., Hauck, John A., Skypeck, Andrew P.
• Primary Examiner(s): Eisenberg, Rebecca E
• Application Number:
  US14/151,266
• Publication Number:
  US 20140194898A1
• Time in Patent Office: 810 Days
• 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 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61M 25/0067 characterised by the distal end, e.g. tips A61M25/0054, A61M25/04 take precedence; balloon catheters A61M25/10

Abstract

An apparatus for maintaining a robotic catheter system in a responsive state includes a catheter, a plurality of linear translatable control elements, and a controller. In an embodiment, the catheter includes a proximal portion, a distal portion, and at least two steering wires. The steering wires may be configured at one end to control the movement of at least a portion of the distal portion of the catheter and at the other end for connection to a control member. In an embodiment, each control element may be configured to engage or interface with a respective control member, and the controller may be configured to measure a force exerted on at least one control member by a respective control element and further configured to linearly translate the control element to substantially maintain a force within a predetermined range.

Claims

1. An apparatus for maintaining a robotic catheter system in a responsive state comprising:

a catheter including a proximal portion, a distal portion, and at least two steering wires, the steering wires configured at one end to control the movement of at least a portion of the distal portion of the catheter and at the other end for connection to a control member;

a plurality of control elements, each control element configured to engage or interface with a respective control member; and

a controller configured to measure a force exerted on at least one control member by the respective control element, and further configured to translate the control element based on the measured force to substantially maintain the force exerted on the at least one control member within a select or determined range;

wherein the control element remains proximate to the respective control member such that the system is maintained in a responsive state.

2. The apparatus of claim 1, further comprising a force sensor coupled with the control element and configured to provide an indication of the force exerted on at least one control member by the respectively interfaced control element.

3. The apparatus of claim 2, wherein the force sensor comprises a strain gauge, a piezoelectric force sensor, a thin film force sensor, or a magnetic force restoration sensor.

4. The apparatus of claim 1, further comprising a position sensor configured to provide a position of a respective translatable control element.

5. The apparatus of claim 4, wherein the controller is further configured to receive an indication of the position of the control element from the position sensor and to effectuate or command a translation of the control element to a desired position.

6. The apparatus of claim 5, wherein the desired position is provided or derived, at least in part, from the indication of the position of the control element provided by the position sensor.

7. The apparatus of claim 1, further comprising a mechanical movement device configured to controllably translate at least one respective control element wherein the mechanical movement device operates in response to commands received from the controller.

8. The apparatus of claim 1, further comprising a mechanical movement device configured to controllably translate at least one respective control element wherein the mechanical movement device comprises a motor driven lead screw, a motor driven ball screw, a motor driven belt drive, a voice coil, a rolling ring linear drive, or a piezo motor drive.

9. The apparatus of claim 1, further comprising a mechanical movement device configured to controllably translate at least one respective control element wherein the controller is further configured to operate the mechanical movement device in a continuous or substantially continuous manner.

10. The apparatus of claim 1, wherein the force exerted on at least one control member by the respectively interfaced control element is a contact force exerted in a direction distally oriented with respect to the control member.

11. The apparatus of claim 1, wherein each control element is unconnected to the steering wires and to each respective control member.

12. The apparatus of claim 1, wherein each control element is configured to apply a contact force on each respective control member in a first direction;

wherein each steering wire is configured to apply a tensile force on each respective control member in a second direction; and

wherein the first direction is different than the second direction.

13. A method of maintaining a robotic catheter system in a responsive state comprising:

providing a catheter with a plurality of steering wires extending longitudinally therein, each steering wire including a proximally located control member;

providing a plurality of control elements;

interfacing at least two control elements with at least two respective control members;

measuring a force exerted on at least one control member by the respectively interfaced control element; and

controlling the motion of the at least one control element based on the measured force to maintain the measured force within a select or determined range, wherein the control element remains proximate to the respective control member such that the system is maintained in a responsive state.

14. The method of claim 13, wherein controlling the motion of the at least one control element comprises computing a desired position of the control element as a function of the measured force exerted on the respectively interfaced control member.

15. The method of claim 14, wherein controlling the motion of the at least one control element further comprises computing a desired position of the control element as a function of the measured force exerted by a second control element on a second control member.

16. The method of claim 14, wherein controlling the motion of the at least one control element further comprises commanding the at least one control element to translate to the desired position.

17. The method of claim 13, wherein interfacing at least one control element with at least one respective control member comprises distally positioning the control element with respect to the control member.

18. The method of claim 13, wherein interfacing at least one control element with at least one respective control member comprises establishing contact between each control element and control member.

19. The method of claim 13, wherein providing a plurality of control elements further comprises geometrically configuring at least one control element to interface with at least one respective control member.

20. The method of claim 19, wherein geometrically configuring at least one control element to interface with at least one respective control member comprises configuring the control element with a physically convex interface surface.