Robotic surgical system

• US 9,782,130 B2
• Filed: 12/29/2006
• Issued: 10/10/2017
• 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., Tegg, Troy T., Essington, James D., Johnson, Mark T., Belhe, Kedar Ravindra
• Primary Examiner(s): SHAY, DAVID M
• Application Number:
  US11/647,300
• Publication Number:
  US 20070185486A1
• Time in Patent Office: 3,938 Days
• Field of Search: 606 1, 604 9505, 604158, 901 2
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• 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 34/70 Manipulators specially adapted for use in surgery
• 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 robotic surgical system includes a track, a catheter holding device including a catheter receiving portion translatably associated with the track, a translation servo mechanism to control translation of the catheter holding device relative to the track, a catheter deflection control mechanism, a deflection servo mechanism to control the catheter deflection control mechanism, and a controller to control at least one of the servo mechanisms. The catheter receiving portion is adapted for quick installation and removal of a catheter. The catheter receiving portion may be rotatable, with a rotation servo mechanism to control the rotatable catheter receiving portion. The controller controls at least one of the deflection and rotation servo mechanisms to maintain a substantially constant catheter deflection as the catheter rotates. An introducer, which may be steerable, and an expandable, collapsible sterile tube may also be provided.

Claims

1. A robotic surgical system, comprising:

a track;

a catheter holding device translatably associated with said track, said catheter holding device including a catheter receiving portion, wherein said catheter receiving portion comprises a rotatable catheter receiving portion;

a translation servo mechanism operatively coupled to said catheter holding device and adapted to control translation of said catheter holding device relative to said track;

a catheter deflection control mechanism;

a deflection servo mechanism operatively coupled to said catheter deflection control mechanism and adapted to control said catheter deflection control mechanism;

a rotation servo mechanism operatively coupled to said rotatable catheter receiving portion and adapted to control said rotatable catheter receiving portion; and

a controller operatively coupled to at least one of said translation servo mechanism and said deflection servo mechanism, wherein said controller is adapted to control said at least one of said translation servo mechanism and said deflection servo mechanism,

wherein the catheter receiving portion is configured to receive a catheter comprising a control handle configured for manual operation and including a manually-actuable catheter deflection actuator, and

wherein said controller is operatively coupled to said rotation servo mechanism and said deflection servo mechanism and is adapted to control at least one of said deflection servo mechanism and said rotation servo mechanism to maintain a substantially constant catheter deflection as said catheter receiving portion rotates.

2. The system according to claim 1, wherein said controller controls both of said deflection servo mechanism and said rotation servo mechanism to maintain a substantially constant catheter deflection as said catheter receiving portion rotates.