Robotic surgical system and method for automated therapy delivery

• US 9,566,119 B2
• Filed: 08/09/2013
• Issued: 02/14/2017
• Est. Priority Date: 05/28/2004
• Status: Active Grant

• Current Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Original Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Inventors: Hauck, John A., Schweitzer, Jeffrey A., Belhe, Kedar Ravindra
• Primary Examiner(s): FARAH, AHMED M
• Application Number:
  US13/963,070
• Publication Number:
  US 20130325035A1
• Time in Patent Office: 1,285 Days
• Field of Search: 606/1, 606/7, 606 10- 15, 606/34, 606/35, 606 37- 42, 606/45, 606/46, 606/130, 901 1- 3, 901/6, 901 8- 10, 901 19- 23, 901/30, 901 32- 35
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 2034/742 Joysticks
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/3784 both receiver and transmitter being in the instrument or receiver being also transmitter
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 5/6885 Monitoring or controlling sensor contact pressure
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B

Abstract

A method of navigating a medical device through a body of a patient includes providing a topography of at least a portion of the body, accepting user input defining a navigation path, robotically navigating the medical device to a starting point on the path, and robotically navigating the medical device along the navigation path to an endpoint. Waypoints defining the navigation path may be input on a graphical representation of the topography using a user interface such as a pointing device or touchscreen. The navigation path may also be defined by tracing a substantially continuous path on the graphical representation. A therapy may be administered while robotically navigating the medical device along the navigation path, either forward or in reverse, or while navigating the medical device along a return path defined by a plurality of virtual breadcrumbs generated as the medical device traverses the navigation path.

Claims

1. A therapeutic device control system, said system comprising:

a servo-driven therapeutic device manipulation system, said manipulation system having at least three degrees of freedom;

at least one therapeutic device carried by said manipulation system;

a user interface including an input device that permits a user to define a plurality of target points on a tissue surface;

a controller for actuating said manipulation system to navigate said at least one therapeutic device to at least one target point of said plurality of target points responsive to the user'"'"'s definition of the plurality of target points;

a memory device for storing a plurality of reference points, wherein said plurality of reference points is generated by periodically measuring a position of the therapeutic device while navigating the at least one therapeutic device to the at least one target point; and

a processor for generating a return path from said plurality of reference points,

wherein said controller actuates said manipulation system to maneuver the at least one therapeutic device along the return path.

2. The system according to claim 1, wherein said controller includes software for automatically actuating said manipulation system to navigate said at least one therapeutic device to said at least one target point.

3. The system according to claim 1, further comprising a positional feedback system for determining a location of said at least one therapeutic device, and wherein said controller utilizes information from said positional feedback system in actuating said manipulation system to navigate said at least one therapeutic device to said at least one target point.

4. The system according to claim 1, wherein said controller includes software for automatically actuating said manipulation system to maintain contact between said at least one therapeutic device and the tissue surface.

5. The system according to claim 4, wherein said software for automatically actuating said manipulation system to maintain contact between said at least one therapeutic device and the tissue surface comprises software for automatically synchronizing movement of said at least one therapeutic device to movement of the tissue surface.

6. The system according to claim 1, wherein said user interface comprises:

a display for presenting a graphical model of at least a portion of the tissue surface; and

an input device for designating said plurality of target points on said graphical model.

7. The system according to claim 6, wherein said input device is selected from the group consisting of a touchscreen, a joystick, a touchpad, a mouse, and a trackball.

8. The system according to claim 1, wherein said manipulation system comprises three servo motors for manipulating said at least one therapeutic device in three degrees of freedom.

9. The system according to claim 1, wherein said at least one therapeutic device is selected from the group consisting of catheters, syringes, electrophoration devices, iontophoresis devices, transdermal pharmaceutical delivery devices, myoblast delivery devices, stem cell delivery devices, ablation devices, pacemaker leads, and any combinations thereof.

10. A system for defining and navigating a treatment path within a body of a patient, said system comprising:

a display for presenting a graphical model of at least a portion of the body of the patient;

a user input device for defining the treatment path on said graphical model of at least a portion of the body and for identifying at least one treatment location on the treatment path;

a servo-driven manipulation system for maneuvering a therapeutic device within the body of the patient;

a positional feedback system for determining a location of the therapeutic device within the body of the patient;

a controller for automatically actuating said manipulation system to maneuver the therapeutic device within the body and along the treatment path by utilizing information from said positional feedback system;

a memory device for storing a plurality of reference points, wherein said plurality of reference points is generated by periodically measuring a position of the therapeutic device while maneuvering the therapeutic device along the treatment path; and

a processor for generating a return path from said plurality of reference points,

wherein said controller actuates said manipulation system to maneuver the therapeutic device along the return path.