Catheter movement control

• US 9,623,211 B2
• Filed: 03/13/2013
• Issued: 04/18/2017
• Est. Priority Date: 03/13/2013
• Status: Active Grant

• Current Assignee: Spectranetics Corporation (Koninklijke Philips N.V.)
• Original Assignee: Spectranetics Corporation (Koninklijke Philips N.V.)
• Inventors: Hendrick, Brandon Thomas, Schneider, Blaine Andrew
• Primary Examiner(s): Peng, Bo J
• Application Number:
  US13/799,664
• Publication Number:
  US 20140275982A1
• Time in Patent Office: 1,497 Days
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 18/201 with beam delivery through a hollow tube, e.g. forming an articulated arm through a flexible conduit A61B18/22; Hand-pieces therefor
• CPC Class Codes: A61B 2017/00075 Motion
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 2090/3954 magnetic, e.g. NMR or MRI
• 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 5/062 using magnetic field
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: A61M 2205/502 User interfaces, e.g. screens or keyboards
• CPC Class Codes: A61M 25/0108 using radio-opaque or ultrasound markers
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/0116 self-propelled, e.g. autonomous robots A61M25/0122 takes precedence
• CPC Class Codes: A61M 25/0662 Guide tubes

Abstract

An endovascular device monitoring system is provided that determines, based on movement of the endovascular device past a selected reference location, at least one of a movement rate of a endovascular device and position of a distal end of a endovascular device in a body of a patient.

Claims

1. A method, comprising:

(A) operating a microprocessor executable controller in an assisted mode, in the assisted mode the microprocessor executable controller;

(A1) determining, by using an introducer sheath and an endovascular device movably received by the introducer sheath, one of the introducer sheath and the endovascular device carrying a movement sensor and the other of the introducer sheath and the endovascular device carrying at least one marker, and based on relative movement of the at least one marker and the movement sensor, a first instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in a body of a patient;

(A2) determining, by the microprocessor executable controller, that the first instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient is unacceptable; and

(A3) in response to (A2), controlling, by the microprocessor executable controller, an endovascular device parameter, the endovascular device parameter being one or more of endovascular device velocity, endovascular device acceleration, endovascular device speed, endovascular device operational state, endovascular device position, and endovascular device energy emission level and/or intensity;

(B) operating the microprocessor executable controller in an unassisted mode, in the unassisted mode the microprocessor executable controller;

(B

     1) determining, by using the introducer sheath and the endovascular device, and based on relative movement of the at least one marker and the movement sensor, a second instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient;

(B2) determining, by the microprocessor executable controller, that the second instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient is unacceptable; and

(B3) in response to (B2), not controlling, by the microprocessor executable controller, the endovascular device parameter in the unassisted mode.

2. The method of claim 1, wherein the rate is one or more of velocity and acceleration of an endovascular device component of the endovascular device.

3. The method of claim 2, wherein the relative movement is based on an optical property of light reflected by the at least one marker moving relative to the movement sensor.

4. The method of claim 2, wherein the at least one marker has a magnetic property and wherein the relative movement is based on a variation in magnetic field strength along a length of the endovascular device.

5. The method of claim 2, wherein the at least one marker comprises at least one of an active and passive Radio Frequency-IDentification (“

RFID”

) tag.

6. The method of claim 2, wherein the movement sensor is carried by the introducer sheath and wherein the at least one marker is carried by the endovascular device.

7. The method of claim 1, wherein the relative movement is based on one or more of rotation and displacement of a component mechanically engaged with a portion of the endovascular device.

8. The method of claim 1, further comprising:

in response to (A2), notifying, by a user interface, a user of the unacceptable first instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient; and

in response to (B2), notifying, by the user interface, the user of the unacceptable second instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient.

9. A non-transient, tangible computer readable medium, comprising microprocessor executable controller logic that, when executed:

(A) operates in an assisted mode, operating in the assisted mode including;

(A1) determining, via an introducer sheath and an endovascular device movably received by the introducer sheath, one of the introducer sheath and the endovascular device carrying a movement sensor and the other of the introducer sheath and the endovascular device carrying at least one marker, and based on relative movement of the at least one marker and the movement sensor, a first instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in a body of a patient;

(A2) determining that the first instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient is unacceptable;

(A3) in response to (A2), controlling an endovascular device parameter, the endovascular device parameter being one or more of endovascular device velocity, endovascular device acceleration, endovascular device speed, endovascular device operational state, endovascular device position, and endovascular device energy emission level and/or intensity;

(B) operates in an unassisted mode, operating in the unassisted mode including;

(B1) determining, by using the introducer sheath and the endovascular device, and based on relative movement of the at least one marker and the movement sensor, a second instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient;

(B2) determining that the second instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient is unacceptable; and

(B3) in response to (B2), not controlling, by the microprocessor executable controller, the endovascular device parameter in the unassisted mode.

10. The computer readable medium of claim 9, wherein the rate is one or more of velocity and acceleration of an endovascular device component of the endovascular device.

11. The computer readable medium of claim 10, wherein the relative movement is based on an optical property of light reflected by the at least one marker moving relative to the movement sensor.

12. The computer readable medium of claim 10, wherein the at least one marker has a magnetic property and wherein the relative movement is based on a variation in magnetic field strength along a length of the endovascular device.

13. The computer readable medium of claim 10, wherein the at least one marker comprises at least one of an active and passive Radio Frequency-IDentification (“

RFID”

) tag.

14. The computer readable medium of claim 10, wherein the movement sensor is carried by the introducer sheath and wherein the at least one marker is carried by the endovascular device.

15. The computer readable medium of claim 9, wherein the relative movement is based on one or more of rotation and displacement of a component mechanically engaged with a portion of the endovascular device.

16. The computer readable medium of claim 9, further comprising:

in response to (A2), notifying, by a user interface, a user of the unacceptable first instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient; and

in response to (B2), notifying, by the user interface, the user of the unacceptable second instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient.

17. A system, comprising:

a microprocessor executable controller operable to;

(A) operate in an assisted mode, in the assisted mode the microprocessor executable controller;

(A1) determining by using an introducer sheath and an endovascular device movably received by the introducer sheath, one of the introducer sheath and the endovascular device carrying a movement sensor and the other of the introducer sheath and the endovascular device carrying at least one marker, and based on relative movement of the at least one marker and the movement sensor, a first instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in a body of a patient;

(A2) determining that the first instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient is unacceptable;

(A3) in response to (A2), controlling an endovascular device parameter, the endovascular device parameter being one or more of endovascular device velocity, endovascular device acceleration, endovascular device speed, endovascular device operational state, endovascular device position, and endovascular device energy emission level and/or intensity;

(B) operate in an unassisted mode, in the unassisted mode the microprocessor executable controller;

(B1) determining, by using the introducer sheath and the endovascular device, and based on relative movement of the at least one marker and the movement sensor, a second instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient;

(B2) determining that the second instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient is unacceptable; and

(B3) in response to (B2), not controlling, by the microprocessor executable controller, the endovascular device parameter in the unassisted mode.

18. The system of claim 17, wherein the rate is one or more of velocity and acceleration of an endovascular device component of the endovascular device.

19. The system of claim 18, wherein the relative movement is based on an optical property of light reflected by the at least one marker moving relative to the movement sensor.

20. The system of claim 18, wherein the at least one marker has a magnetic property and wherein the relative movement is based on a variation in magnetic field strength along a length of the endovascular device.

21. The system of claim 18, wherein the at least one marker comprises at least one of an active and passive Radio Frequency-IDentification (“

RFID”

) tag.

22. The system of claim 18, wherein the movement sensor is carried by the introducer sheath and wherein the at least one marker is carried by the endovascular device.

23. The system of claim 17, wherein the relative movement is based on one or more of rotation and displacement of a component mechanically engaged with a portion of the endovascular device.

24. The system of claim 17, wherein the microprocessor executable controller is further operable to:

in response to (A2), notify, by a user interface, a user of the unacceptable first instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient; and

in response to (B2), notify, by the user interface, the user of the unacceptable second instance of at least one of a movement rate of the endovascular device and position of a distal end of the endovascular device in the body of the patient.