Robotic catheter system

• US 9,833,293 B2
• Filed: 09/14/2011
• Issued: 12/05/2017
• Est. Priority Date: 09/17/2010
• Status: Active Grant

• Current Assignee: Corindus, Inc. (Siemens AG)
• Original Assignee: Corindus, Inc. (Siemens AG)
• Inventors: Wenderow, Tal, Murphy, John, Bromander, Thomas, Kennedy, III, James J., Thompson, Stanley O., Taylor, Jon Bradley, Elden, Robert
• Primary Examiner(s): Miles, Jonathan
• Assistant Examiner(s): OBU, KENDRA NNEAMAKA
• Application Number:
  US13/232,624
• Publication Number:
  US 20120179167A1
• Time in Patent Office: 2,274 Days
• CPC Class Codes: A61B 1/00147 Holding or positioning arrangements
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• 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 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/303 specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/32 operating autonomously
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms

Abstract

A robotic catheter system including a housing and a drive mechanism configured to engage and to impart motion to a catheter device is provided. The drive mechanism is supported by the housing. The robotic catheter system includes a guide catheter support coupled to the housing. The guide catheter support is located in front of the drive mechanism, and the guide catheter support has a longitudinal axis. The guide catheter support includes a first surface configured to engage a guide catheter and a rotation joint allowing the first surface to be rotated about the longitudinal axis such that the surface is able to engage the guide catheter at a plurality of angular positions relative to a patient.

Claims

1. A robotic catheter system comprising:

a cassette having a housing;

a drive mechanism engaging and imparting motion to a catheter device, the drive mechanism supported by the housing;

a y-connector supported by the housing, the y-connector comprising a first leg, a second leg and a third leg;

a guide catheter coupled to the first leg of the y-connector, the guide catheter having a longitudinal axis;

a rod having a first portion coupled to the housing, a second portion and a longitudinal axis; and

a guide catheter support coupled to the housing and the second portion of the rod spaced from the housing, the guide catheter support located in front of the drive mechanism, the guide catheter support having a longitudinal axis, the guide catheter support comprising;

a first surface engaging the guide catheter; and

a rotation joint allowing the first surface to be rotated about the longitudinal axis of the guide catheter support and out of plane with the rod such that the surface is able to engage the guide catheter at a plurality of angular positions relative to a patient;

wherein the longitudinal axis of the rod and the longitudinal axis of the guide catheter are substantially parallel between the housing and the guide catheter support.

2. The robotic catheter system of claim 1, wherein the housing of the cassette is removably coupled to a base.

3. The robotic catheter system of claim 1, wherein the rotation joint is coupled to the rod.

4. The robotic catheter system of claim 3, wherein the guide catheter support further comprises a first end, a second end, and a body extending between the first end and the second end, wherein the rotation joint is located at the second end of the guide catheter support.

5. The robotic catheter system of claim 4, wherein the guide catheter support further comprises a clamp coupled to the body and positioned between the first end and the second end of the guide catheter support, and further wherein the first surface is a surface of the clamp.

6. The robotic catheter system of claim 5, wherein the guide catheter support further comprises a second surface located on the body, wherein the guide catheter is engaged between the first surface and the second surface.

7. The robotic catheter system of claim 6, further comprising a biasing element biasing the first surface and the second surface towards each other.

8. The robotic catheter system of claim 6, wherein both the first surface and the second surface include curved recesses configured to engage the guide catheter.

9. The robotic catheter system of claim 1, wherein the cassette has a longitudinal axis, the longitudinal axis of the rod is spaced from and parallel to the longitudinal axis of the cassette.

10. The robotic catheter system of claim 9, wherein the longitudinal axis of the guide catheter is distal to the cassette and is co-linear with the longitudinal axis of the cassette.

11. A cassette for use with a robotic catheter system configured to couple to a base, the cassette comprising:

a housing;

a first actuating mechanism supported by the housing and engaging and imparting movement to a catheter device;

a channel receiving and holding in place the catheter device when the catheter device is not engaged by the first actuating mechanism;

a y-connector supported by the housing, the y-connector comprising a first leg, a second leg and a third leg;

a guide catheter coupled to the first leg of the y-connector, the guide catheter having a longitudinal axis;

a rod having a first portion coupled to the housing, a second portion, and a longitudinal axis;

a guide catheter support coupled to the second portion of the rod spaced from the housing, the guide catheter support having a longitudinal axis, the guide catheter support comprising;

a pair of surfaces engaging the guide catheter; and

a rotation joint allowing the pair of surfaces to be rotated about the longitudinal axis of the guide catheter support and out of plane with the rod such that the surfaces are able to engage the guide catheter at a plurality of angular positions relative to a patient;

wherein the longitudinal axis of the rod and the longitudinal axis of the guide catheter are substantially parallel between the housing and the guide catheter support.

12. The cassette of claim 11, further comprising a first tab extending from an outer surface of the housing, the first tab configured to engage a mating structure located on the base, the engagement between the first tab and the mating structure resisting upward movement of the cassette away from the base.

13. The cassette of claim 12, comprising a second tab extending from an outer surface of the housing, the second tab configured to engage a second mating structure located on the base, the engagement between the second tab and the second mating structure resisting upward movement of the cassette away from the base.

14. The cassette of claim 13, wherein the first tab is located adjacent the front end of the cassette and the second tab is located adjacent the rear end of the cassette.