Robotic catheter manipulator assembly

• US 9,314,594 B2
• Filed: 11/20/2012
• Issued: 04/19/2016
• Est. Priority Date: 03/27/2008
• Status: Expired due to Fees

• Current Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Original Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Inventors: Kirschenman, Mark B.
• Primary Examiner(s): Hayman, Imani
• Application Number:
  US13/681,677
• Publication Number:
  US 20130178794A1
• Time in Patent Office: 1,246 Days
• Field of Search: 604/95.04, 604/95.05, 604/510, 604/528, 318/568.11, 600/578, 600/146
• US Class Current: 1/1
• 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 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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: A61M 25/0147 with movable mechanical means, e.g. pull wires

Abstract

A robotic catheter manipulator assembly may include a support member including a catheter manipulation base and a sheath manipulation base movable relative to each other and to the support member. Each respective manipulation base may be releasably connectable to a catheter cartridge and a sheath cartridge. A drive mechanism may be provided for moving the catheter and sheath manipulation bases relative to each other and to the support member. The manipulation base or the cartridge may include a first element engageable with a complementary second element slidably engaged with the other one of the manipulation base or the cartridge for controlling movement of a component connected to the cartridge. The cartridge, for example, may be a transseptal cartridge, a catheter cartridge or a sheath cartridge, and the component may respectively be a surgically insertable device such as a transseptal needle, a catheter or a sheath.

Claims

1. A robotic manipulator assembly comprising:

a support member having a longitudinal axis; and

a manipulation base operably coupled to the support member and configured to be releasably connectable to a cartridge, wherein the manipulation base is configured to be linearly movable along the longitudinal axis of the support member, and wherein the manipulation base includes a first element configured to be engageable with a second element of the cartridge and, wherein the first element is configured to move the second element in a linear motion along the longitudinal axis to control deflection of a component connected to the cartridge.

2. The robotic manipulator assembly according to claim 1, further comprising a drive mechanism for linearly moving the first element along the longitudinal axis of the support member.

3. The robotic manipulator assembly according to claim 2, wherein the drive mechanism is one of a motor driven lead screw, a ball screw, a belt drive, a rolling ring linear drive and a piezo motor drive.

4. The robotic manipulator assembly according to claim 1, wherein the manipulation base is movable by one of a motor driven lead screw, a ball screw, a belt drive, a rolling ring linear drive and a piezo motor drive.

5. The robotic manipulator assembly according to claim 1, further comprising means for aligning and releasably locking the manipulation base with the cartridge.

6. A robotic manipulator assembly comprising:

a support member having a longitudinal axis;

a catheter manipulation base slideably coupled to the support member and configured to be releasably connectable to a cartridge, wherein the catheter manipulation base is linearly movable along the longitudinal axis of the support member, and includes at least one first element movable in a linear motion and configured to be engageable with at least one complementary second element of the cartridge, wherein the first element is configured to move the second element in a linear motion to control deflection of a component connected to the cartridge; and

a drive mechanism for linearly moving the first element along the longitudinal axis of the support member.

7. The robotic manipulator assembly according to claim 6, wherein the drive mechanism is one of a motor driven lead screw, a ball screw, a belt drive, a rolling ring linear drive and a piezo motor drive.

8. The robotic manipulator assembly according to claim 6, wherein the manipulation base is movable by one of a motor driven lead screw, a ball screw, a belt drive, a rolling ring linear drive and a piezo motor drive.

9. The robotic manipulator assembly according to claim 6, wherein the cartridge is one of a transseptal cartridge, a catheter cartridge, and a sheath cartridge, and the component is one of a transseptal needle, a catheter, and a sheath.

10. The robotic manipulator assembly according to claim 6, further comprising a sheath manipulation base slideably coupled to the support member.

11. The robotic manipulator assembly according to claim 6, wherein one of the first and second elements is a finger and the other of the first and second elements is a slider block.