Robotic catheter device cartridge

• US 9,795,447 B2
• Filed: 03/11/2014
• Issued: 10/24/2017
• 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: Kirschenman, Mark B., Tegg, Troy T.
• Primary Examiner(s): Hayman, Imani
• Assistant Examiner(s): Shah, Nilay
• Application Number:
  US14/204,231
• Publication Number:
  US 20140276942A1
• Time in Patent Office: 1,323 Days
• CPC Class Codes: A61B 17/3478 Endoscopic needles, e.g. for infusion biopsy needles A61B10/0233; catheters with injection needles A61M25/0067
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• 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 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• 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 25/0136 Handles therefor
• CPC Class Codes: A61M 25/0147 with movable mechanical means, e.g. pull wires

Abstract

A robotic catheter device cartridge may include a finger or a slider block generally disposed in a channel and engaged with a steering wire. The steering wire may control movement of a component having the steering wire engaged thereto when the finger or the slider block is linearly driven in a predetermined direction. The cartridge may be a transseptal cartridge having a transseptal needle connected thereto, a catheter cartridge having a catheter connected thereto, or a sheath cartridge having a sheath connected thereto.

Claims

1. A robotic catheter device cartridge comprising:

one of a first finger and a first slider block generally disposed in a channel and engaged with a steering wire, the steering wire controlling deflection of a distal end of a component having the steering wire engaged thereto when the first finger or the first slider block is linearly driven in a predetermined direction, wherein the first finger or the first slider block of the cartridge is configured for engagement with and disengagement from a corresponding second finger or a corresponding second slider block of a manipulation base, wherein the second finger or the second slider block of the manipulation base is configured to linearly drive the first finger or the first slider block of the cartridge, wherein the second finger or the second slider block of the manipulation base is configured to tension the steering wire when actuated in a first direction and the second finger or the second slider block of the manipulation base is configured to comprise no rigid connection with the first finger or the first slider block when moved in a second direction and wherein the second finger or the second slider block is configured to be unable to pull the steering wire in the second direction, and wherein the first finger or the first slider block of the cartridge is releaseably connected to the second finger or the second slider block of the manipulation base.

2. The robotic catheter device cartridge according to claim 1, wherein the cartridge is a catheter cartridge, the component is a catheter connected thereto, and the manipulation base is a catheter manipulation base.

3. The robotic catheter device cartridge according to claim 2, further comprising at least one first engageable member in one of the catheter manipulation base and the catheter cartridge for mating with at least one complementary engageable member on the other one of the catheter manipulation base and the catheter cartridge for one of alignment of and releasable locking of the catheter cartridge with the catheter manipulation base, wherein the catheter manipulation base is configured for releasable connection with the catheter cartridge.

4. The robotic catheter device cartridge according to claim 1, wherein the cartridge is a sheath cartridge, the component is a sheath connected thereto, and the manipulation base is a sheath manipulation base.

5. The robotic catheter device cartridge according to claim 4, further comprising at least one first engageable member in one of the sheath manipulation base and the sheath cartridge for mating with at least one complementary engageable member on the other one of the sheath manipulation base and the sheath cartridge for one of alignment of and releasable locking of the sheath cartridge with the sheath manipulation base, wherein the sheath manipulation base is configure for releasable connection with the sheath cartridge.

6. The robotic catheter device cartridge according to claim 1, wherein the first finger or the first slider block is linearly driveable to pull the steering wire generally linearly along a length of the steering wire.

7. The robotic catheter device cartridge according to claim 6, wherein the linear driveability of the first finger or the first slider block generally eliminates any backlash or discontinuities during driving thereof.

8. The robotic catheter device cartridge according to claim 1, wherein the cartridge is magnetically connectable to the manipulation base for releasably connecting the cartridge.

9. A robotic catheter device cartridge comprising:

a first element of the cartridge configured to be linearly driven by a second element of a manipulation base, wherein the first element of the cartridge and the second element of the manipulation base are not rigidly connected and are configured for engagement with and disengagement from each other, at least one of the first and second elements is slidably engageable with at least one of the manipulation base and the cartridge, respectively, the manipulation base configured for releasable connection to the cartridge and configured to be linearly movable along a longitudinal axis of the manipulation base, the first element of the cartridge being engaged with a steering wire for controlling deflection of a distal end of a component having the steering wire engaged thereto when the first element of the cartridge is linearly driven in a predetermined direction, wherein the second element of the manipulation base is configured to tension the steering wire when actuated in a first direction and the second element of the manipulation base is configured to comprise no rigid connection with the first element when actuated in a second direction and wherein the second element is configured to be unable to pull the steering wire in the second direction.

10. The robotic catheter device cartridge according to claim 9, further comprising at least one recess in one of the manipulation base and the cartridge for engagement with at least one complementary locator detent on the other one of the manipulation base and the cartridge for alignment of the cartridge relative to the manipulation base.

11. The robotic catheter device cartridge according to claim 9, further comprising at least one recess in one of the manipulation base and the cartridge for engagement with at least one complementary locking detent on the other one of the manipulation base and the cartridge for releasable locking of the cartridge with the manipulation base.

12. The robotic catheter device cartridge according to claim 9, wherein one of the first and second elements is a finger and the other one of the first and second elements is a slider block.

13. The robotic catheter device cartridge according to claim 9, wherein one of the first and second elements is a finger and the other one of the first and second elements is a pin.

14. The robotic catheter device cartridge according to claim 9, wherein one of the first and second elements is slidably disposed in a channel.

15. The robotic catheter device cartridge according to claim 9, wherein at least one of the first and second elements includes a self-centering notch for facilitating predetermined engagement with the other one of the first and second elements.

16. A robotic catheter device cartridge comprising:

a first element of the cartridge configured to be linearly driven by a second element of a manipulation base, wherein the first element and the second element are not rigidly connected and are configured for engagement and disengagement from each other, at least one of the first and second elements slidably engageable with at least one of the manipulation base and the cartridge, respectively, in an engaged position, the manipulation base configured for releasable connection to the cartridge and configured to be linearly movable along a longitudinal axis of the manipulation base, at least one of the first and second elements being linearly driveable in a predetermined direction for operating the cartridge, the first element of the cartridge being engaged with a tensionable deflection member for laterally deflecting a distal end of a component of the cartridge having the tensionable deflection member engaged thereto when the first element of the cartridge is linearly driven in the predetermined direction, wherein the second element of the manipulation base is configured to tension the tensionable deflection member when actuated in a first direction and the second element of the manipulation base is configured to comprise no rigid connection with the first element when actuated in a second direction and wherein the second element is configured to be unable to pull the tensionable deflection member in the second direction.

17. The robotic catheter device cartridge according to claim 16, further comprising at least one recess in one of the manipulation base and the cartridge for engagement with at least one complementary locator detent on the other one of the manipulation base and the cartridge for alignment of the cartridge relative to the manipulation base.

18. The robotic catheter device cartridge according to claim 16, further comprising at least one recess in one of the manipulation base and the cartridge for engagement with at least one complementary locking detent on the other one of the manipulation base and the cartridge for releasable locking of the cartridge with the manipulation base.

19. The robotic catheter device cartridge according to claim 16, wherein one of the first and second elements is a finger and the other one of the first and second elements is a slider block.

20. The robotic catheter device cartridge according to claim 16, wherein one of the first and second elements is a finger and the other one of the first and second elements is a pin.