Remote catheter procedure system

• US 9,545,497 B2
• Filed: 06/02/2011
• Issued: 01/17/2017
• Est. Priority Date: 12/12/2008
• Status: Active Grant

• Current Assignee: Corindus, Inc. (Siemens AG)
• Original Assignee: Corindus, Inc. (Siemens AG)
• Inventors: Wenderow, Tal, Bromander, Thomas
• Primary Examiner(s): Templeton, Christopher L
• Application Number:
  US13/152,168
• Publication Number:
  US 20110238082A1
• Time in Patent Office: 2,056 Days
• Field of Search: 606/130, 604/99.01, 604/100.01, 604/100.03, 604/96.01, 604/97.01, 604/98.01, 600/417, 600/429, 600/424
• 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 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B
• CPC Class Codes: A61M 25/104 used for angioplasty

Abstract

A catheter procedure system including a bedside system and a remote workstation is provided. The bedside system includes a catheter including an expandable percutaneous intervention device, a robotic catheter system configured to move the catheter, and an inflation device configured to cause expansion of the expandable percutaneous intervention device. The remote workstation includes a user interface configured to receive a at least first user input and a second user input and a control system operatively coupled to the user interface for remotely controlling both the robotic catheter system and the inflation device. The remote workstation includes a monitor configured to display information related to the expandable percutaneous intervention device. The control system controls the robotic catheter system to move the catheter based upon at least the first user input and controls the inflation device to cause expansion of the expandable percutaneous intervention device based upon at least the second user input.

Claims

1. A catheter procedure system comprising:

a bedside system, the bedside system comprising;

a catheter including an expandable percutaneous intervention device;

a robotic catheter system; and

an inflation device configured to cause expansion of the expandable percutaneous intervention device; and

a remote workstation, the remote workstation comprising;

a user interface configured to receive at least a first user input and a second user input;

a control system operatively coupled to the user interface for remotely controlling both the robotic catheter system and the inflation device; and

a monitor configured to display information related to the expandable percutaneous intervention device;

wherein the control system includes a controller that controls the robotic catheter system to

move the catheter based upon at least the first user input and controls the inflation device to cause expansion of the expandable percutaneous intervention device based upon at least the second user input;

wherein the control system includes a user assistance module to identify a size and type of a lesion based on data generated by an imaging system, wherein the user assistance module is configured to identify an inflation profile to treat the identified lesion and the control system is configured to automatically inflate the expandable percutaneous intervention device utilizing the inflation profile.

2. The catheter procedure system of claim 1 wherein the expandable percutaneous intervention device is an angioplasty balloon.

3. The catheter procedure system of claim 1 wherein the expandable percutaneous intervention device is a stent.

4. The catheter procedure system of claim 1 wherein the monitor is configured to display information related to a position of the catheter.

5. The catheter procedure system of claim 1 wherein the information related to the expandable percutaneous intervention device includes information related to an extent of expansion of the expandable percutaneous intervention device.

6. The catheter procedure system of claim 5 wherein the information related to the extent of expansion of the expandable percutaneous intervention device includes a fluid pressure generated by the inflation device.

7. The catheter procedure system of claim 1 wherein the remote workstation includes a data storage module configured to store information related to operation of both the robotic catheter system and the inflation device during a catheterization procedure.

8. The catheter procedure system of claim 7 wherein the information related to the operation of both the robotic catheter system and the inflation device is associated with a medical record of a specific patient.

9. The catheter procedure system of claim 1 wherein the control system includes a first set of instructions and a second set of instructions, wherein the first set of instructions is configured to be executed by the control system if the expandable percutaneous intervention device is an angioplasty balloon and the second set of instructions is configured to be executed by the control system if the expandable percutaneous intervention device is a stent.

10. The catheter procedure system of claim 1 wherein the bedside system further comprises a fluid delivery device, wherein the user interface is configured to receive at least a third user input, wherein the control system is operatively coupled to the user interface for remotely controlling the fluid delivery device, and further wherein the control system is configured to control the fluid delivery device based upon at least the third user input.

11. The catheter procedure system of claim 10 wherein the fluid delivery device is a contrast media delivery device.

12. The catheter procedure system of claim 10 wherein the fluid delivery device is a medication delivery device.

13. The catheter procedure system of claim 1 wherein the control system is configured to automatically control expansion of the expandable percutaneous intervention device based upon a position of the expandable percutaneous intervention device relative to the lesion.

14. The catheter procedure system of claim 13 wherein the expandable percutaneous intervention device includes a target point and the lesion includes a landmark, and further wherein the control system is configured to automatically cause expansion of the expandable percutaneous intervention device when the target point is aligned with the landmark.

15. The catheter procedure system of claim 13 wherein the expandable percutaneous intervention device includes a target point and the lesion includes a landmark, and further wherein the control system is configured to automatically stop expansion of the expandable percutaneous intervention device when the target point is not aligned with the landmark.

16. The catheter procedure system of claim 1 wherein the expandable percutaneous intervention device includes a target point and the lesion includes a landmark, and further wherein the control system is configured to move the expandable percutaneous intervention device relative to the lesion to automatically maintain alignment between the target point and the landmark during expansion of the expandable percutaneous intervention device.

17. The catheter procedure system of claim 1 wherein the control system is configured to control expansion of the expandable percutaneous intervention device based upon data related to a state of heart contraction.

18. The catheter procedure system of claim 1 wherein the control system is configured to provide a user with a suggested position of the expandable percutaneous intervention device relative to the lesion.

19. The catheter procedure system of claim 18 wherein the monitor is configured to display an image of the suggested position.

20. A remote workstation configured for operating both a robotic catheter system and an inflation device, the remote workstation comprising:

a user interface configured to receive at least a first user input;

at least one percutaneous device;

an expandable percutaneous intervention device;

a control system to control the robotic catheter system to move the at least one percutaneous device based upon at least the first user input and to control an inflation device to expand the expandable percutaneous intervention device; and

a user assistance module operatively connected to the control system configured to provide information to a user to assist the user in the use of expandable percutaneous intervention device;

wherein the user assistance module is configured to automatically determine a landmark and is configured to position the landmark over a real time image of a lesion to identify an optimal position of the inflation device relative to the lesion and to automatically cause expansion of the expandable percutaneous intervention device at a predetermined rate based on an inflation profile.

21. The remote workstation of claim 20 wherein the user assistance module utilizes image data representing a patient'"'"'s vascular system to provide assistance.

22. The remote workstation of claim 20 wherein the user assistance module subsystem is configured to provide the user with information related to at least one of an inflation rate, a maximum inflation pressure and a maximum inflation size of the expandable percutaneous intervention device to be used to treat the lesion.

23. The remote workstation of claim 20 wherein the user assistance module is configured to alter expansion of the expandable percutaneous intervention device based upon a position of the at least one percutaneous device in order to synchronize the expansion of the expandable percutaneous intervention device with a movement of the at least one percutaneous device.

24. The remote workstation of claim 20 wherein the user assistance module is configured to provide the user with a suggested position of the expandable percutaneous intervention device relative to the lesion.

25. The remote workstation of claim 20 wherein the user assistance module is configured to provide the user with a recommendation regarding a type of expandable percutaneous intervention device to be used for a particular procedure.

26. The remote workstation of claim 20 wherein the user interface is configured to receive another user input, wherein the control system is operatively coupled to the user interface for remotely controlling a fluid delivery device, and further wherein the control system is configured to control the fluid delivery device based upon at least a third user input.

27. The remote workstation of claim 26 wherein the user assistance module is also configured to provide assistance to the user regarding the control of the fluid delivery device.

28. The remote workstation of claim 27 wherein the user assistance module is configured to alert the user to at least one of an expansion of the expandable percutaneous intervention device reaching a predetermined value and an amount of fluid delivered to a patient reaching a predetermined value.

29. The remote workstation of claim 28 wherein the user assistance module is configured to alter the fluid delivered to the patient based upon at least the third user input such that the fluid is delivered during a systolic phase of contraction of the patient'"'"'s heart.

30. The remote workstation of claim 26 wherein the user assistance module is configured to alter control of the fluid delivery device based upon a movement of the at least one percutaneous device in order to synchronize a delivery of fluid with the movement of the at least one percutaneous device.

31. A catheter procedure system comprising:

a bedside system, the bedside system comprising;

a catheter, the catheter including an internal lumen and an expandable percutaneous intervention device;

a support structure configured to be coupled to a patient bed;

a robotic catheter system coupled to the support structure;

an inflation device coupled to the support structure and configured to cause expansion of the expandable percutaneous intervention device; and

an inflation conduit connecting the inflation device to the internal lumen of the catheter; and

a remote workstation, the remote workstation comprising;

a monitor;

controls configured to receive a first user input;

a control system operatively coupled to the controls for remotely controlling both the robotic catheter system and the inflation device;

a user assistance module to identify a size and type of a lesion based on data generated by an imaging system, wherein the user assistance module is configured to identify an inflation profile to treat the identified lesion and the control system is configured to automatically inflate the expandable percutaneous intervention device utilizing the inflation profile;

wherein the control system controls the robotic catheter system to move the catheter based upon at least the first user input and controls the inflation device to cause a fluid to flow from the inflation device through the inflation conduit into the lumen of the catheter to cause expansion of the expandable percutaneous intervention device, and further wherein the monitor displays information related to both the robotic catheter system and the inflation device;

the control system being configured to automatically control expansion of the expandable percutaneous intervention device based upon a position of the expandable percutaneous intervention device relative to a lesion to be treated; and

the expandable percutaneous intervention device including a target point and the lesion including a landmark, and further wherein the control system is configured to automatically cause expansion of the expandable percutaneous intervention device when the target point is aligned with the landmark; and

wherein the control system is configured to automatically stop expansion of the expandable percutaneous intervention device when the target point is not aligned with the landmark.

32. The catheter procedure system of claim 31 wherein the inflation device includes a motor configured to generate pressure to cause the fluid to flow from the inflation device into the lumen of the catheter, and further wherein the control system is configured to control the motor based upon at least a second user input.

33. The catheter procedure system of claim 31 wherein the inflation device includes a fluid pressure sensor configured to detect a fluid pressure generated by the inflation device, and further wherein the inflation device is configured to transmit a signal related to the fluid pressure to the control system.

34. The catheter procedure system of claim 33 wherein the monitor of the remote workstation displays information related to the fluid pressure detected by the fluid pressure sensor.