ROBOTIC CATHETER SYSTEM
First Claim
1. A robotic system for manipulating a catheter having a plurality of steering wires longitudinally situated within a length of the catheter, each steering wire connected to a catheter pull ring at or near the distal end of the catheter and connected to a control member at or near the proximal end of the catheter, the robotic system comprising:
- a user interface configured to display a view of an anatomical model and to receive one or more user inputs;
a catheter manipulator assembly configured to linearly actuate one or more control members of a catheter; and
a robotic controller configured to provide a view of an anatomical model to the user interface;
accept one or more user inputs from the user interface;
register the one or more user inputs to a coordinate system associated with the anatomical model;
compute one or more actuator commands from the one or more registered inputs; and
cause the catheter manipulator assembly to linearly actuate one or more control members of a catheter in accordance with the computed actuator commands.
1 Assignment
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Accused Products
Abstract
A robotic system for manipulating a catheter with a plurality of steering wires longitudinally situated within a length of the catheter includes a user interface configured to display a view of an anatomical model and to receive one or more user inputs; a catheter manipulator assembly configured to linearly actuate one or more control members of a catheter; and a robotic controller configured to provide a view of an anatomical model to the user interface; accept one or more user inputs from the user interface; register the one or more user inputs to a coordinate system associated with the anatomical model; compute one or more actuator commands from the one or more registered inputs; and cause the catheter manipulator assembly to linearly actuate one or more control members of a catheter in accordance with the computed actuator commands.
222 Citations
20 Claims
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1. A robotic system for manipulating a catheter having a plurality of steering wires longitudinally situated within a length of the catheter, each steering wire connected to a catheter pull ring at or near the distal end of the catheter and connected to a control member at or near the proximal end of the catheter, the robotic system comprising:
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a user interface configured to display a view of an anatomical model and to receive one or more user inputs; a catheter manipulator assembly configured to linearly actuate one or more control members of a catheter; and a robotic controller configured to provide a view of an anatomical model to the user interface;
accept one or more user inputs from the user interface;
register the one or more user inputs to a coordinate system associated with the anatomical model;
compute one or more actuator commands from the one or more registered inputs; and
cause the catheter manipulator assembly to linearly actuate one or more control members of a catheter in accordance with the computed actuator commands. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method for robotically controlling a catheter within a cardiac anatomy comprising
providing a view of an anatomical model to a user interface; -
accepting one or more user inputs from a user interface; computing one or more actuator commands from the one or more registered inputs; and causing a catheter manipulator assembly to linearly actuate one or more control members of a catheter in accordance with the computed actuator commands. - View Dependent Claims (20)
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Specification