ROBOTIC CATHETER DEVICE CARTRIDGE

• US 20090247943A1
• Filed: 12/31/2008
• Published: 10/01/2009
• Est. Priority Date: 03/27/2008
• Status: Active Grant

• Current Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Original Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Inventors: Kirschenman, Mark B., Tegg, Troy T.
• Granted Patent: US 8,684,962 B2
• Time in Patent Office: Days
• US Class Current: 604/95.40
• 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 finger and a slider block generally disposed in a channel and engaged with a steering wire, the steering wire controlling movement of a component having the steering wire engaged thereto when the finger or the slider block is linearly driven in a predetermined direction.

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

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

4. The robotic catheter device cartridge according to claim 2, further comprising at least one recess in one of a catheter manipulation base for releasably connecting the catheter cartridge and the catheter cartridge for engagement with at least one complementary locator detent on the other one of the catheter manipulation base and the catheter cartridge for alignment of the catheter cartridge relative to the catheter manipulation base.

5. The robotic catheter device cartridge according to claim 2, further comprising at least one recess in one of a catheter manipulation base for releasably connecting the catheter cartridge and the catheter cartridge for engagement with at least one complementary locking detent on the other one of the catheter manipulation base and the catheter cartridge for releasable locking of the catheter cartridge with the catheter manipulation base.

6. The robotic catheter device cartridge according to claim 3, further comprising at least one recess in one of a sheath manipulation base for releasably connecting the sheath cartridge and the sheath cartridge for engagement with at least one complementary locator detent on the other one of the sheath manipulation base and the sheath cartridge for alignment of the sheath cartridge relative to the sheath manipulation base.

7. The robotic catheter device cartridge according to claim 3, further comprising at least one recess in one of a sheath manipulation base for releasably connecting the sheath cartridge and the sheath cartridge for engagement with at least one complementary locking detent on the other one of the sheath manipulation base and the sheath cartridge for releasable locking of the sheath cartridge with the sheath manipulation base.

8. The robotic catheter device cartridge according to claim 1, wherein the cartridge is a catheter cartridge and the component is a catheter connected thereto and including at least two steering wires connected generally to a distal end of the catheter along a circumference of the catheter to control movement of the catheter.

9. The robotic catheter device cartridge according to claim 1, wherein the cartridge is a sheath cartridge and the component is a sheath connected thereto and including at least two steering wires connected generally to a distal end of the sheath along a circumference of the sheath to control movement of the sheath.

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

11. The robotic catheter device cartridge according to claim 10, wherein the linear driveability of the finger or slider block generally eliminates any backlash or discontinuities during driving thereof.

12. The robotic catheter device cartridge according to claim 2, further comprising at least one first engageable member in one of a catheter manipulation base for releasably connecting the catheter cartridge 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.

13. The robotic catheter device cartridge according to claim 3, further comprising at least one first engageable member in one of a sheath manipulation base for releasably connecting the sheath cartridge 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.

14. The robotic catheter device cartridge according to claim 1, wherein the component is a surgically insertable device.

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

16. A robotic catheter device cartridge comprising:

a first element operatively engaged with the cartridge and operatively engageable with a second element of a manipulation base, at least one of the first and second elements slidably engageable with at least one of the cartridge and the manipulation base, the manipulation base for releasably connecting the cartridge, one of the first and second elements being engaged with a steering wire for controlling movement of a component having the steering wire engaged thereto when the first or second element is linearly driven in a predetermined direction.

17. The robotic catheter device cartridge according to claim 16, wherein the cartridge is one of:

a catheter cartridge and the component is a catheter connected thereto, and

a sheath cartridge and the component is a sheath connected thereto.

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 locator detent on the other one of the manipulation base and the cartridge for alignment of the cartridge relative to the manipulation base.

19. 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.

20. The robotic catheter device cartridge according to claim 16, wherein the cartridge is a catheter cartridge and the component is a catheter connected thereto and including at least two steering wires connected generally to a distal end of the catheter along a circumference of the catheter to control movement of the catheter.

21. The robotic catheter device cartridge according to claim 16, wherein the cartridge is a sheath cartridge and the component is a sheath connected thereto and including at least two steering wires connected generally to a distal end of the sheath along a circumference of the sheath to control movement of the sheath.

22. 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.

23. 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.

24. The robotic catheter device cartridge according to claim 16, wherein one of the first and second elements is slidably disposed in a channel.

25. The robotic catheter device cartridge according to claim 16, 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.

26. The robotic catheter device cartridge according to claim 16, wherein the component is a surgically insertable device.

27. A robotic catheter device cartridge comprising:

one of a finger and a slider block generally disposed in a channel and engageable with one of a slider block and a finger on a manipulation base, the manipulation base for releasably connecting the cartridge, at least one of the fingers and the slider blocks being linearly driveable in a predetermined direction for operating the cartridge.

28. The robotic catheter device cartridge according to claim 27, wherein the cartridge is one of a catheter cartridge having a catheter connected thereto, a sheath cartridge having a sheath connected thereto, and a transseptal cartridge having a transseptal needle connected thereto.

29. The robotic catheter device cartridge according to claim 27, 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.

30. The robotic catheter device cartridge according to claim 27, 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.

31. A robotic catheter device cartridge comprising:

a first element operatively engaged with the cartridge and operatively engageable with a second element of a manipulation base, at least one of the first and second elements slidably engageable with at least one of the cartridge and the manipulation base, the manipulation base for releasably connecting the cartridge, at least one of the first and second elements being linearly driveable in a predetermined direction for operating the cartridge.

32. The robotic catheter device cartridge according to claim 31, wherein the cartridge is one of a catheter cartridge having a catheter connected thereto, a sheath cartridge having a sheath connected thereto, and a transseptal cartridge having a transseptal needle connected thereto.

33. The robotic catheter device cartridge according to claim 31, 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.

34. The robotic catheter device cartridge according to claim 31, 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.

35. The robotic catheter device cartridge according to claim 31, 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.

36. The robotic catheter device cartridge according to claim 31, wherein one of the first and second elements is a finger and the other one of the first and second elements is a pin.

37. The robotic catheter device cartridge according to claim 31, wherein one of the first and second elements is slidably disposed in a channel.

38. The robotic catheter device cartridge according to claim 31, wherein 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.

39. A robotic catheter and sheath device cartridge assembly comprising:

a first catheter element operatively engaged with a catheter cartridge and operatively engageable with a second catheter element of a catheter manipulation base, at least one of the first and second catheter elements slidably engageable with at least one of the catheter cartridge and the catheter manipulation base, the catheter manipulation base for releasably connecting the catheter cartridge, at least one of the first and second catheter elements being linearly driveable in a predetermined direction for operating the catheter cartridge; and

a first sheath element operatively engaged with a sheath cartridge and operatively engageable with a second sheath element of a sheath manipulation base, at least one of the first and second sheath elements slidably engageable with at least one of the sheath cartridge and the sheath manipulation base, the sheath manipulation base for releasably connecting the sheath cartridge, at least one of the first and second sheath elements being linearly driveable in a predetermined direction for operating the sheath cartridge.

40. The assembly according to claim 39, further comprising:

at least one recess in one of the catheter manipulation base and the catheter cartridge for engagement with at least one complementary locator detent on the other one of the catheter manipulation base and the catheter cartridge for alignment of the catheter cartridge relative to the catheter manipulation base; and

at least one further recess in one of the sheath manipulation base and the sheath cartridge for engagement with at least one further complementary locator detent on the other one of the sheath manipulation base and the sheath cartridge for alignment of the sheath cartridge relative to the sheath manipulation base.

41. The assembly according to claim 39, further comprising:

at least one recess in one of the catheter manipulation base and the catheter cartridge for engagement with at least one complementary locking detent on the other one of the catheter manipulation base and the catheter cartridge for releasable locking of the catheter cartridge with the catheter manipulation base; and

at least one recess in one of the sheath manipulation base and the sheath cartridge for engagement with at least one complementary locking detent on the other one of the sheath manipulation base and the sheath cartridge for releasable locking of the sheath cartridge with the sheath manipulation base.

42. The assembly according to claim 39, wherein one of the first and second catheter elements is a finger and the other one of the first and second catheter elements is a slider block, and one of the first and second sheath elements is a finger and the other one of the first and second sheath elements is a slider block.

43. The assembly according to claim 39, wherein one of the first and second catheter elements is a finger and the other one of the first and second catheter elements is a pin, and one of the first and second sheath elements is a finger and the other one of the first and second sheath elements is a pin.

44. The assembly according to claim 39, wherein the catheter and sheath cartridges respectively include a catheter and a sheath mounted thereto, the catheter includes a stiffened section between the catheter and sheath cartridges to prevent buckling of the catheter.

45. The assembly according to claim 39, wherein at least one of the slidably engageable catheter and sheath elements is slidably disposed in a channel.

46. The assembly according to claim 39, wherein at least one of the first and second catheter and sheath elements includes a self-centering notch for facilitating predetermined engagement with the other one of the first and second catheter and sheath elements.

47. The assembly according to claim 39, wherein the catheter and sheath cartridges respectively include a catheter and a sheath mounted thereto, the linear driveability of the catheter and sheath elements generally eliminates any backlash or discontinuities during driving of the catheter and sheath elements.

48. The assembly according to claim 39, wherein one of the catheter and sheath cartridges includes a release lever for release of the respective cartridge from a respective catheter or sheath manipulation base.