System and method of automatic detection of obstructions for a robotic catheter system

• US 9,301,810 B2
• Filed: 09/23/2009
• Issued: 04/05/2016
• 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: Amiri, Atila, Sandhu, Kulbir, Mark, Betty, Kirschenman, Mark B.
• Primary Examiner(s): Bosworth, Kami A
• Assistant Examiner(s): Darb, Hamza
• Application Number:
  US13/120,715
• Publication Number:
  US 20110178532A1
• Time in Patent Office: 2,386 Days
• Field of Search: 604/111, 604/31, 604/67, 604/95.04, 606/130, 340/679
• US Class Current: 1/1
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2018/00351 Heart
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2018/00642 with feedback, i.e. closed loop control
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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 34/30 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
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/06 Measuring instruments not otherwise provided for
• 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

Abstract

An obstruction detection system for a robotic catheter system including a robotic catheter manipulator assembly including one or more catheter manipulation bases and one or more sheath manipulation bases. Each manipulation base may be generally linearly movable on one or more tracks relative to the robotic catheter manipulator assembly. The obstruction detection system may include one or more obstruction detection sensors disposed on the track or on the manipulation bases to detect an obstruction along a path of motion of one or more manipulation bases. A software system may be provided for monitoring movement of the catheter and sheath manipulation bases, and/or a status of the obstruction detection sensors.

Claims

1. An obstruction detection system for a robotic catheter system including a robotic catheter manipulator assembly including at least one catheter manipulation base and at least one sheath manipulation base, each manipulation base being generally linearly movable on at least one track relative to the robotic catheter manipulator assembly, the obstruction detection system comprising:

at least one obstruction detection sensor disposed on the track or on at least one of the manipulation bases to detect an obstruction along a path of motion of at least one of the manipulation bases; and

an electronic control system configured to control movement of the at least one catheter manipulation base and the at least one sheath manipulation base and to receive a signal indicating an obstruction along the path of motion;

wherein the at least one obstruction detection sensor is configured to send the signal indicating an obstruction along the path of motion to the electronic control system.

2. The obstruction detection system according to claim 1, wherein the obstruction detection sensor is an ultrasonic sensor or a light-emitting sensor.

3. The obstruction detection system according to claim 1, further comprising obstruction detection sensors located at both ends of the track.

4. The obstruction detection system according to claim 1, further comprising obstruction detection sensors located at both longitudinal ends of the catheter and sheath manipulation bases.

5. The obstruction detection system according to claim 4, wherein the obstruction detection sensors enable the electronic control system to maintain a predetermined distance between the catheter and sheath manipulation bases.

6. The obstruction detection system according to claim 1, wherein the electronic control system comprises software that includes code for:

determining if a relative distance between the catheter and sheath manipulation bases is less than a predetermined distance,

if the relative distance is less than the predetermined distance, then indicating an obstruction status of the catheter and sheath manipulation bases as obstructed, and stopping motion of the catheter and sheath manipulation bases,

if the relative distance is greater than or equal to the predetermined distance, then indicating the obstruction status of the catheter and sheath manipulation bases as unobstructed, and allowing motion of the catheter and sheath manipulation bases.

7. The obstruction detection system according to claim 6, further comprising at least one of a LED, a visual signal, an audible signal, and haptic feedback to a user input device, for indicating the obstruction status of the catheter and sheath manipulation bases.

8. The obstruction detection system according to claim 1, wherein the electronic control system comprises software that includes code for:

determining a relative distance between the catheter and sheath manipulation bases by determining an amount of rotation of motors that drive the catheter and sheath manipulation bases.

9. The obstruction detection system according to claim 1, wherein the electronic control system comprises software that includes code for:

stopping motion of the catheter and sheath manipulation bases if the sensor status of at least one of the obstruction detection sensors is obstructed; and

allowing motion of the catheter and sheath manipulation bases if the sensor status of all obstruction detection sensors is unobstructed.

10. The obstruction detection system according to claim 9, further comprising at least one of a LED, a visual signal, an audible signal, and haptic feedback to a user input device, for indicating the sensor status of the obstruction detection sensor.

11. The obstruction detection system according to claim 1, wherein the electronic control system comprises software that includes code for:

determining a direction of travel of the catheter and sheath manipulation bases; and

allowing motion of the catheter and sheath manipulation bases if the sensor status of one of the obstruction detection sensors is obstructed, only if the direction of travel is away from the obstruction.

12. The obstruction detection system according to claim 1, wherein the electronic control system comprises software that includes code for:

determining a direction of travel of the catheter and sheath manipulation bases by determining a direction of rotation of motors that drive at least one of the catheter and sheath manipulation bases.

13. The obstruction detection system according to claim 1, wherein the electronic control system comprises software that monitors the manipulation bases and the obstruction detection sensors by means of a CANOpen protocol standard.

14. The obstruction detection system according to claim 1, wherein the electronic control system is configured to cut power to the at least one catheter manipulation base and the at least one sheath manipulation base before the obstruction detection sensor contacts an obstruction.

15. An obstruction detection system for a robotic catheter system including a robotic catheter manipulator assembly including at least one catheter manipulation base and at least one sheath manipulation base, each manipulation base being generally linearly movable on at least one track relative to the robotic catheter manipulator assembly, the obstruction detection system comprising:

detection means disposed on the track or on at least one of the manipulation bases to detect an obstruction along a path of motion of at least one of the manipulation bases; and

monitoring means comprising a software system for monitoring at least one of movement of the catheter and sheath manipulation bases, and a detection status of the detection means,

wherein the software system is configured to move the at least one catheter manipulation base and the at least one sheath manipulation base on the at least one track; and

wherein the detection means is configured to send a signal indicating an obstruction along the path of motion to the software system.

16. The obstruction detection system according to claim 15, wherein the detection means is an ultrasonic sensor or a light-emitting sensor.

17. The obstruction detection system according to claim 15, wherein the detection means includes obstruction detection sensors located at both ends of the track.

18. The obstruction detection system according to claim 15, wherein the detection means includes obstruction detection sensors located at both longitudinal ends of the catheter and sheath manipulation bases.

19. The obstruction detection system according to claim 18, wherein the obstruction detection sensors enable the software system to maintain a predetermined distance between the catheter and sheath manipulation bases.

20. The obstruction detection system according to claim 15, wherein the software system comprises code for:

determining if a relative distance between the catheter and sheath manipulation bases is less than a predetermined distance,

if the relative distance is less than the predetermined distance, then indicating an obstruction status of the catheter and sheath manipulation bases as obstructed, and stopping motion of the catheter and sheath manipulation bases,

if the relative distance is greater than or equal to the predetermined distance, then indicating the obstruction status of the catheter and sheath manipulation bases as unobstructed, and allowing motion of the catheter and sheath manipulation bases.

21. The obstruction detection system according to claim 20, further comprising means for indicating the obstruction status of the catheter and sheath manipulation bases.

22. The obstruction detection system according to claim 20, wherein the means for indicating is at least one of a LED, a visual signal, an audible signal, and haptic feedback to a user input device.

23. The obstruction detection system according to claim 15, wherein the software system comprises code for:

determining a relative distance between the catheter and sheath manipulation bases by determining an amount of rotation of motors that drive the catheter and sheath manipulation bases.

24. The obstruction detection system according to claim 15, wherein the software system comprises code for:

stopping motion of the catheter and sheath manipulation bases if the detection status of at least one of the obstruction detection sensors is obstructed; and

allowing motion of the catheter and sheath manipulation bases if the detection status of all obstruction detection sensors is unobstructed.

25. The obstruction detection system according to claim 24, further comprising means for indicating the detection status of the obstruction detection sensor.

26. The obstruction detection system according to claim 25, wherein the means for indicating is at least one of a LED, a visual signal, an audible signal, and haptic feedback to a user input device.

27. The obstruction detection system according to claim 15, wherein the software system comprises code for:

determining a direction of travel of the catheter and sheath manipulation bases; and

allowing motion of the catheter and sheath manipulation bases if the detection status of one of the obstruction detection sensors is obstructed, only if the direction of travel is away from the obstruction.

28. The obstruction detection system according to claim 15, wherein the software system comprises code for:

determining a direction of travel of the catheter and sheath manipulation bases by determining a direction of rotation of motors that drive at least one of the catheter and sheath manipulation bases.

29. The obstruction detection system according to claim 15, wherein the monitoring means monitors the manipulation bases and the detection means by means of a CANOpen protocol standard.