ROBOTIC CATHETER SYSTEM

• US 20120179167A1
• Filed: 09/14/2011
• Published: 07/12/2012
• 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, James J. III, Thompson, Stanley O., Taylor, Jon Bradley, Elden, Robert
• Granted Patent: US 9,833,293 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 housing;

a drive mechanism configured to engage and to impart motion to a catheter device, the drive mechanism supported by the housing; and

a guide catheter support coupled to 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 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.

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

3. The robotic catheter system of claim 1, further comprising a rod having a first portion coupled to the housing and a second portion coupled to the guide catheter support.

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

5. The robotic catheter system of claim 4, 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 body.

6. The robotic catheter system of claim 5, 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 body, and further wherein the first surface is a surface of the clamp.

7. The robotic catheter system of claim 6, 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.

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

9. The robotic catheter system of claim 7, wherein both the first surface and the second surface include curved recesses configured to engage the guide catheter.

10. A robotic catheter system, comprising:

a housing;

a first drive mechanism supported by the housing and configured to engage and to impart movement to a guide wire;

a second drive mechanism supported by the housing and configured to engage and to impart movement to a working catheter;

a first channel configured to receive the guide wire, wherein the first drive mechanism engages the guide wire while the guide wire is positioned within the first channel;

a second channel configured to receive the working catheter, wherein the second drive mechanism engages the working catheter while the working catheter is positioned within the second channel; and

a third channel configured to receive and hold in place the working catheter when the working catheter is not positioned within the second channel.

11. The robotic catheter system of claim 10, further comprising a top deck, wherein the first channel, the second channel and the third channel are formed in the top deck.

12. The robotic catheter system of claim 10, further comprising a cover moveable from a closed position at least partially overlying the third channel to an opened position exposing the third channel.

13. The robotic catheter system of claim 12, further comprising a restraint structure that acts to restrain movement of the working catheter within the third channel when the cover is moved to the closed position.

14. The robotic catheter system of claim 13, wherein the restraint structure is a tab extending from the lower surface of the cover, and further wherein the tab is at least partially received within the third channel when the cover is moved to the closed position.

15. The robotic catheter system of claim 10, wherein the third channel is not associated with a drive mechanism for the working catheter or the guide wire.

16. The robotic catheter system of claim 10, further comprising a guide wire support structure supported by the housing, the guide wire support structure including a slot configured to receive the guide wire when the guide wire is not positioned within the first channel.

17. 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 configured to engage and to impart movement to a catheter device;

a channel configured to receive and hold in place the catheter device when the catheter device is not engaged by the first actuating mechanism;

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

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 configured to engage a guide catheter; and

a rotation joint allowing the pair of surfaces to be rotated about the longitudinal axis such that the surfaces are able to engage the guide catheter at a plurality of angular positions relative to the patient.

18. The cassette of claim 17, 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.

19. The cassette of claim 18, 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.

20. The cassette of claim 19, 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.