Coaxial catheter system

• US 7,727,185 B2
• Filed: 06/13/2007
• Issued: 06/01/2010
• Est. Priority Date: 02/15/2001
• Status: Expired due to Term

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Weitzner, Barry, Solbjor, Albert, Rogers, Gary S.
• Primary Examiner(s): Lucchesi; Nicholas D
• Assistant Examiner(s): MEDWAY, SCOTT J
• Application Number:
  US11/762,748
• Publication Number:
  US 20070239105A1
• Time in Patent Office: 1,084 Days
• Field of Search: 604/95.01, 604/165.04, 604/164.12, 604/206, 604/249, 604/533, 606/130
• US Class Current: 604/95.01
• CPC Class Codes: A61B 17/12045 double occlusion, e.g. during anastomosis
• CPC Class Codes: A61B 17/12136 Balloons
• CPC Class Codes: A61B 2017/12127 Double occlusion, e.g. for creating blood-free anastomosis site
• CPC Class Codes: A61B 2017/22075 with motorized advancing or retracting means
• CPC Class Codes: A61B 2017/3409 including needle or instrument drives
• 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 2090/0811 for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61M 2025/0004 having two or more concentrically arranged tubes for forming a concentric catheter system
• CPC Class Codes: A61M 2025/0008 having visible markings on its surface, i.e. visible to the naked eye, for any purpose, e.g. insertion depth markers, rotational markers or identification of type
• CPC Class Codes: A61M 2025/0175 having telescopic features, interengaging nestable members movable in relations to one another
• CPC Class Codes: A61M 2025/1015 having two or more independently movable balloons where the distance between the balloons can be adjusted, e.g. two balloon catheters concentric to each other forming an adjustable multiple balloon catheter system
• CPC Class Codes: A61M 2025/1052 for temporarily occluding a vessel for isolating a sector
• CPC Class Codes: A61M 2025/1059 having different inflatable sections mainly depending on the response to the inflation pressure, e.g. due to different material properties with different compartments A61M2025/1072
• CPC Class Codes: A61M 2025/1072 having balloons with two or more compartments
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/1002 characterised by balloon shape A61M25/1006, A61M25/1009 take precedence
• CPC Class Codes: A61M 25/1011 Multiple balloon catheters
• CPC Class Codes: A61M 25/10184 Means for controlling or monitoring inflation or deflation

Abstract

A robotic medical system comprises a user interface configured for receiving at least one command, a first drive mechanism configured for receiving the outer medical implement, a second drive mechanism configured for receiving the inner medical implement, a linear drive arrangement (e.g., one of a drive screw drive arrangement, a rack and pinion drive arrangement, and a belt/pulley drive arrangement) mechanically coupled to the first and second drive mechanisms, and a motor array. The robotic medical system further comprises an electric controller configured for directing the motor array to cause the first drive mechanism to axially rotate the outer medical implement, to cause the second drive mechanism to axially rotate the inner medical implement, and to cause the linear drive mechanism to linearly translate the first and second drive mechanisms relative to each other in response to the at least one command.

Claims

1. A robotic medical system for use with a coaxial arrangement of an outer medical implement and an inner medical implement, comprising:

a user interface configured for receiving at least one command from a user;

a first drive mechanism configured for receiving the outer medical implement;

a second drive mechanism configured for receiving the inner medical implement;

a linear drive arrangement mechanically coupled to the first and second drive mechanisms;

a motor array; and

an electric controller configured for directing the motor array to cause the first drive mechanism to axially rotate the outer medical implement, to cause the second drive mechanism to axially rotate the inner medical implement, and to cause the linear drive mechanism to linearly translate the first and second drive mechanisms relative to each other in response to the at least one command received from the user at the user interface, wherein the outer medical implement is controllably bendable by the first drive mechanism such that the outer medical implement has three degrees of freedom of movement.

2. The robotic medical system of claim 1, further comprising the outer and inner medical implements.

3. The robotic medical system of claim 2, wherein at least one of the outer and inner medical implements is a flexible intravascular catheter.

4. The robotic medical system of claim 1, wherein the user interface includes at least one of a dial, a joystick, a wheel, and a mouse.

5. The robotic medical system of claim 1, wherein the user interface is located remotely from the motor array.

6. The robotic medical system of claim 1, wherein the electrical controller is coupled to the motor array via external cabling.

7. The robotic medical system of claim 1, further comprising a single housing containing the motor array and linear drive arrangement, wherein the first and second drive mechanisms are mounted to the single housing.

8. The robotic medical system of claim 1, wherein the first drive mechanism has a first gripping mechanism in which the outer medical implement is secured, and the second drive mechanism has a second gripping mechanism in which the inner medical implement is secured.

9. The robotic medical system of claim 8, wherein the motor array has a first pulley and a second pulley, the robotic medical system further comprising a first belt wrapped around the first gripping mechanism and the first pulley, and a second belt wrapped around the second gripping mechanism and the second pulley.

10. The robotic medical system of claim 1, wherein the linear drive arrangement is a belt/pulley drive arrangement.

11. The robotic medical system of claim 1, wherein the linear drive arrangement is a drive screw drive arrangement or a rack and pinion drive arrangement.

12. The robotic medical system of claim 1, wherein the user interface is a touch screen.

13. The robotic medical system of claim 1, wherein the user interface manipulated by the user to control axial rotation and linear transaction of the outer medical implement and the inner medical implement has a shape and size that differs from the shape and size of the outer medical implement and the inner medical implement.

14. The robotic medical system of claim 1, wherein the user interface is a non-telescoping user interface.