HANSEN MEDICAL, INC. Patent applications |
Patent application number | Title | Published |
20150314110 | BALLOON VISUALIZATION FOR TRAVERSING A VESSEL - Systems and methods for controllably traversing a tubular vessel, e.g., of a patient's vasculature. In one example, a distal end of a catheter is positioned and/or repositioned utilizing direct visualization out the distal end of the catheter, as facilitated by an imaging element disposed within the distal tip of the catheter. An inflatable balloon may comprise a portion of the distal tip of the catheter for structural and/or visualization media purposes. The balloon may define one or more channels configured to facilitate fluid flow between proximal and distal ends of the balloon after the balloon is inflated within the tubular vessel. | 11-05-2015 |
20150265807 | SYSTEMS AND DEVICES FOR CATHETER DRIVING INSTINCTIVENESS - A robotic catheter system may include a flexible catheter having a proximal end, a distal end, and an articulating portion at the distal end. It may further include a sensor coupled with the flexible catheter at or near the distal end, a visual display for displaying an image of at least part of the flexible catheter, a processor for generating a virtual indicator displayed on the image of the flexible catheter, where the virtual indicator indicates a direction of articulation and/or an amount of articulation of the articulating portion of the catheter, and a controller coupled with the proximal end of the flexible catheter to receive a user input and articulate the articulating portion of the catheter in response to the user input. | 09-24-2015 |
20150193946 | SYSTEM AND METHODS FOR TRACKING ROBOTICALLY CONTROLLED MEDICAL INSTRUMENTS - Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image. | 07-09-2015 |
20150157412 | ROBOTIC CATHETER SYSTEM - A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device. | 06-11-2015 |
20150142013 | SYSTEMS AND METHODS FOR POSITIONING AN ELONGATE MEMBER INSIDE A BODY - Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration. | 05-21-2015 |
20150133963 | ROBOTIC INSTRUMENT SYSTEM - A robotic instrument system includes a master input device and an instrument driver in communication with the controller, the instrument driver having a guide instrument interface including one or more guide instrument drive elements responsive to control signals generated, at least in part, by the master input device, for manipulating a guide instrument operatively coupled to the instrument interface. The master input device includes an operator interface coupled to a linkage assembly, with one or more load cells interposed between the operator interface and the linkage assembly, wherein control signals generated by the master input device are based at least in part on output signals generated by the one or more load cells in response to movement of the operator interface relative to the linkage assembly. | 05-14-2015 |
20140357953 | METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE MEDICAL DEVICE - Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region. | 12-04-2014 |
20140277747 | USER INTERFACE FOR ACTIVE DRIVE APPARATUS WITH FINITE RANGE OF MOTION - A system may include a controller configured to determine a user interface status, wherein the user interface status includes user interaction of a user interface. The controller may also be configured to determine a drive mechanism location relative to a first limit and a second limit and select a clutching location based on the user interface status and drive mechanism location. | 09-18-2014 |
20140276939 | ACTIVE DRIVE MECHANISM WITH FINITE RANGE OF MOTION - Various exemplary drive apparatuses and associated methods are disclosed for driving an elongated member, e.g., a catheter, sheath, or guidewire. An exemplary drive apparatus may include a first component and a moveable component, each configured to selectively grip the elongated member. In some examples, the first and moveable components may each include a gripping device. The moveable component may be configured to selectively move axially and rotationally with respect to a support surface to effect axial movement and rotation movement, respectively, of the elongated member with respect to the support surface within a range of motion of the moveable component. The moveable component may be configured to move the elongated member across a predetermined movement having a magnitude greater than the range of motion. | 09-18-2014 |
20140276938 | USER INPUT DEVICES FOR CONTROLLING MANIPULATION OF GUIDEWIRES AND CATHETERS - A robotic surgical system with an input device has two operational modes by which both steerable and non-steerable elongate instruments can be effectively controlled, such as steerable catheters which can move in at least three orthogonal axes and non-steerable guidewires which can move via axial insertion/retraction or axial rotation. The robotic surgical system may include mapping schemes and haptic feedback to enhance the functionality, operation and ease of use of the input device when controlling non-steerable elongate instruments such as guidewires. | 09-18-2014 |
20140276937 | SYSTEMS AND METHODS FOR TRACKING ROBOTICALLY CONTROLLED MEDICAL INSTRUMENTS - Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image. | 09-18-2014 |
20140276936 | ACTIVE DRIVE MECHANISM FOR SIMULTANEOUS ROTATION AND TRANSLATION - An exemplary drive apparatus is disclosed having a roller assembly configured to impart axial motion to the elongate member along a first continuous surface configured to maintain contact with the elongate member during axial motion. The drive apparatus may further include a roller support configured to rotate the roller assembly, thereby imparting rotational motion to the elongate member. The roller support may be configured to rotate the roller assembly about a second continuous surface configured to maintain contact with the roller support during rotational motion. Moreover, the roller assembly and roller support may be configured to impart axial and rotational motion independently of one another, such that a first one of the roller assembly and the roller support imparts their associated motion regardless of a presence or absence of motion by the other of the roller assembly and the roller support. | 09-18-2014 |
20140276935 | ROTATIONAL SUPPORT FOR AN ELONGATE MEMBER - Various exemplary drive apparatuses and associated methods are disclosed for driving an elongated member, e.g., a guidewire or catheter. An exemplary drive apparatus for driving an elongated member may include a rotational component configured to apply a torque to the elongated member, where the rotational component is positioned a first distance away from an insertion site along the elongated member. The drive apparatus may further include a rotational support configured to apply an assistance torque to the elongated member. The rotational support may be positioned a second distance from the rotational component along the elongated member that is larger than the first distance. | 09-18-2014 |
20140276933 | TORQUE-BASED CATHETER ARTICULATION - A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter. The present embodiment further contemplates a robotic surgical method for the articulation of a steerable catheter wherein an input device is manipulated to communicate a desired catheter position to a control computer and motor torque commands are outputted to an instrument driver. The robotic system may further comprise a torque sensor. The robotic system may also incorporate closed loop feedback in which data from the torque measuring device is used to ensure that the torque in the motor or tension in the pull-wire closely matches the motor torque command from the control computer. | 09-18-2014 |
20140276646 | INTEGRATED CATHETER AND GUIDE WIRE CONTROLLER - A device may operate a guide wire and be operable by a single operator digit. The device may include an insertion control device for advancing the guide wire in a forward and in a reverse direction and along a longitudinal axis of the guide wire; and a rotary device for rolling a guide wire about the longitudinal axis. A robotic instrument driver may be operatively coupled to the device and configured to control axial movement of the guide wire along the longitudinal axis according to input received from the insertion control device and to control rotational movement of the guide wire according to input received from the rotary device. | 09-18-2014 |
20140276594 | CATHETER TENSION SENSING - This disclosure covers various concepts to use for obtaining measurement of tension in catheter pullwires to improve controllability of a robotic surgical system. | 09-18-2014 |
20140276394 | INPUT DEVICE FOR CONTROLLING A CATHETER - An input device includes a plurality of orientation blocks each representing a portion of a catheter assembly and a controller configured to determine an orientation of the plurality of orientation blocks relative to one another. The controller is further configured to output a control signal that causes a tip of a catheter assembly to adopt the orientation determined by the controller. A system includes an actuator configured to manipulate a position and orientation of the catheter assembly. The controller of the input device is configured to output a control signal to the actuator to make a tip of a catheter assembly adopt the orientation determined by the controller. The input device can be virtually represented on a computing device. | 09-18-2014 |
20140276392 | INPUT DEVICE FOR ROBOTIC CATHETER AND GUIDE WIRE SYSTEM - An input device for a robotic catheter system includes an inner member having a generally cylindrical shape and defining an axis, and an outer member coaxially disposed on the inner member and configured to rotate about and move along the axis defined by the inner member to control a position and orientation of at least one of a catheter and a guide wire. Rotating the outer member about the axis causes the catheter, the guide wire, or both, to rotate and wherein moving the outer member along the axis causes the catheter, the guide wire, or both, to advance or retract relative to a patient's body. | 09-18-2014 |
20140276391 | CATHETER INSERTION SYSTEM AND METHOD OF FABRICATION - A robotic instrument driver for elongate members includes a first carriage positionable on a bed and beside a patient access site for manipulating a first elongate member, and a second carriage positionable proximate the bed, the second carriage configured to articulate the first elongate member, wherein the second carriage is movable independent from the first carriage. | 09-18-2014 |
20140275988 | FLEXIBLE INSTRUMENT LOCALIZATION FROM BOTH REMOTE AND ELONGATION SENSORS - A system and method of tracking a flexible elongate instrument within a patient is disclosed herein. The system is configured to obtain remote localization measurement data of the flexible elongate instrument and obtain elongation measurement data of the flexible elongate instrument. This data is combined and transformed to a coordinate reference frame to produce a localization of the flexible elongate instrument that is more accurate than the remote localization measurements or elongation measurement data alone. The combined localization is then provided to a localization consumer. | 09-18-2014 |
20140264081 | REDUCING INCREMENTAL MEASUREMENT SENSOR ERROR - For position sensors, e.g., a fiber-based system, that build a shape of an elongated member such as a catheter using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors. | 09-18-2014 |
20140261453 | NONCONTACT ENCODER FOR MEASURING CATHETER INSERTION - A robotically controlled surgical system includes a guidewire coupled to a catheter, an active drive system coupled to the guidewire and configured to drive the guidewire in an axial direction; a sensor positioned proximate the guidewire and configured to detect optical characteristics of a surface of the guidewire, and a computer coupled to the sensor. The computer programmed to drive the guidewire in the axial direction a desired distance, detect a first pattern on the surface of the guidewire when the guidewire is at a first axial position, detect a second pattern on the surface of the guidewire when the guidewire is at a second axial position, calculate an actual distance that the guidewire has actually traveled based on the detected first and second patterns, and compare the desired distance to the actual distance. | 09-18-2014 |
20140257334 | SLIDER CONTROL OF CATHETERS AND WIRES - One exemplary user interface for a medical robotics system may include a control panel and one or more sliders that may be slidably carried by the control panel to actuate one or more motors for moving a surgical instrument of the medical robotics system. The sliders may be configured to actuate the motors to move the surgical instrument along a respective one of a plurality of degrees of freedom. | 09-11-2014 |
20140171943 | CATHETER DRIVER SYSTEM - An apparatus for performing medical procedures on an anatomical body includes an extension with an element near its distal end to be extended into the body, and a driver that moves the extension axially into the body, and that causes flexure of the distal end of the extension. The movement and flexure of the extension is driven by the driver from the proximal end of the extension, and an electronic controller directs the operation of the driver. | 06-19-2014 |
20140148759 | CATHETER HAVING UNIRAIL PULLWIRE ARCHITECTURE - A steerable catheter comprises a flexible catheter body including a proximal shaft section and a distal articulating section, a proximal steering interface coupled to the proximal shaft section, and at least one hollow stiffening member extending through the proximal shaft section. The stiffening member(s) is more rigid than the proximal shaft section and is laterally offset from a geometric cross-sectional center of the proximal shaft section. The steerable catheter further comprises circumferentially spaced lumens extending through the distal articulating section, and pullwires extending through the stiffening member(s) in the proximal shaft section and the respective lumens in the distal articulating section. Each of the pullwires has a distal end that terminates in the catheter body distal to the distal articulating section and a proximal end that terminates in the steering interface. The steering interface is manipulatable to selectively tension the pullwires to bend the distal articulating section. | 05-29-2014 |
20140148673 | METHOD OF ANCHORING PULLWIRE DIRECTLY ARTICULATABLE REGION IN CATHETER - A catheter comprises a flexible polymer catheter body including a proximal shaft section and a distal working section, a wire support structure embedded within the distal working section of the catheter body, a proximal adapter mounted to the proximal shaft section of the catheter body, and a wire disposed within the catheter body. The wire has a proximal end and a distal end. The proximal end of the wire being operably connected to the proximal adapter, and the distal end of the wire is anchored to the wire support structure. | 05-29-2014 |
20140081292 | ROBOTIC CATHETER SYSTEM AND METHODS - The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other. | 03-20-2014 |
20140069437 | MODULAR INTERFACES AND DRIVE ACTUATION THROUGH BARRIER - The invention relates generally to robotically controlled systems, such as medical robotic systems. In one variation, a robotic catheter system is configured with a sterile barrier capable for transmitting a rotary force from a drive system on one side of the barrier to surgical tool on the other side of the sterile barrier for performing minimally invasive diagnostic and therapeutic procedures. Modularized drive systems for robotics are also disclosed herein. | 03-13-2014 |
20130317519 | LOW FRICTION INSTRUMENT DRIVER INTERFACE FOR ROBOTIC SYSTEMS - A medical robotic system includes a base having a first opening, and a first protrusion next to the first opening, a first rotary member configured for detachably coupling to a component of the medical robotic system in a manner such that the first rotary member is rotatable relative to the base and at least a part of the first rotary member is located in the first opening of the base when the first rotary member is coupled to the system component, and a cover coupled to the base, wherein the first rotary member comprises a first end, a second end, a body extending between the first and second ends, and a flange disposed circumferentially around a part of the body, the flange having a first circumferential slot for receiving the first protrusion. | 11-28-2013 |
20130253534 | APPARATUS SYSTEMS AND METHODS FOR FLUSHING GAS FROM A CATHETER OF A ROBOTIC CATHETER SYSTEM - Apparatus, systems and methods for flushing a lumen of a catheter instrument to reduce or eliminate bubbles within the lumen. An interface valve is adapted for attachment to a proximal end of the catheter instrument and can receive a working instrument for insertion into the catheter instrument lumen. A fluid supply line and purge lines are coupled to the interface valve and in fluid communication with at least a portion of the interface valve lumen. Flow of fluid (e.g. saline and a gas such as bubbles) through purge lines is controllable using clamps such that fluid flowing into the interface valve lumen can be manipulated to flow in different directions through different portions of the interface valve lumen for evacuation through different purge lines, thus allowing for purging of forward and backward flows to remove gas or bubbles from the catheter instrument lumen. | 09-26-2013 |
20130231679 | ROBOTIC CATHETER SYSTEM - A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device. | 09-05-2013 |
20130190741 | SYSTEMS AND METHODS FOR PERFORMING MINIMALLY INVASIVE PROCEDURES - A robotic medical surgical system configured for performing prostate procedures includes a controller including a master input device, an instrument driver in communication with the controller, an instrument assembly operatively coupled to the instrument driver, and a surgical tool operatively coupled to the controller and carried on the distal end portion of the instrument assembly, wherein the controller and master input device are configured to allow a system operator to position the surgical tool proximate a prostate abnormality without entering a restricted zone, at least partially automatically controlled based on an images obtained of the surgical zone. | 07-25-2013 |
20130165945 | METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE INSTRUMENT - Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include of controlling a shapeable instrument within an anatomical region using a robotic medical system. | 06-27-2013 |
20130158477 | APPARATUS AND METHOD FOR SENSING FORCE ON A ROBOTICALLY CONTROLLED MEDICAL INSTRUMENT - A medical system comprises a medical probe including an elongated probe body, a lumen extending within the probe body, an axially flexible section, and a push-pull member slidably disposed within the lumen. The system comprises a ditherer mechanically coupled to the member for cyclically displacing it axially back and forth within the lumen, such that the ends of the probe body are axially displaced relative to each other via the axially flexible section. The system further comprises a sensor for sensing a force axially applied to the distal end of the probe body. A method comprises introducing a medical probe into a patient, axially dithering the distal end of the medical probe back and forth relative to the proximal end of the medical probe, and sensing a force applied between tissue of the patient and the distal end of the medical probe while the distal end is axially dithered. | 06-20-2013 |
20130072944 | AUTOMATED ALIGNMENT - Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed. | 03-21-2013 |
20130030363 | SYSTEMS AND METHODS UTILIZING SHAPE SENSING FIBERS - Systems and methods that utilize shape sensing fibers are described herein. In certain variations, a fiber may include a service loop or other length that allows for sliding or displacing of a fiber within the lumen of an elongate instrument when the distal portion of the elongate instrument is articulated. Systems and methods for registering a shape sensing fiber, including registration fixtures and registration techniques are also described herein. | 01-31-2013 |
20130028554 | APPARATUS AND METHODS FOR FIBER INTEGRATION AND REGISTRATION - Systems and methods for integrating and/or registering a shape sensing fiber in or to various instruments are described herein. Registration fixtures and registration techniques for matching the coordinate system of a fiber to the coordinate system of an elongate instrument or other device are provided. Various systems and methods for integrating a shape sensing fiber into an elongate instrument or other device are also described herein. | 01-31-2013 |
20120296161 | BALLOON VISUALIZATION FOR TRAVERSING A TISSUE WALL - Systems and methods for controllably traversing a tissue wall. In one embodiment, a distal end of a catheter is positioned and/or repositioned utilizing direct visualization out the distal end of the catheter, as facilitated by an imaging element disposed within the distal tip of the catheter. An inflatable balloon may comprise a portion of the distal tip of the catheter for structural and/or visualization media purposes. A tissue traversing element may be forwarded through a working lumen defined by the catheter and controllably pushed through a tissue wall as observed with the imaging element. The tissue traversing element may comprise sensors and the like to facilitate monitoring of changes in pressure, color, oxygen saturation, flow rate, and echo timing, to determine the position of the tissue traversing member relative to the tissue wall. | 11-22-2012 |
20120253332 | SURGERY METHODS USING A ROBOTIC INSTRUMENT SYSTEM - Various methods for performing various surgical procedures using a robotic instrument system are disclosed. In one embodiment, the method comprises advancing a guide instrument into a patient's body and to the vicinity of a treatment area. The guide instrument may be a robotically controlled catheter which is controlled by a robotic catheter system. The guide instrument comprises an elongate flexible body having a proximal end and a distal end, and an end effector coupled to the distal end. The end effector may comprise various devices for assisting and performing the surgical procedure. For example, the end effector may be a clip applier, a laser fiber, a cryo fiber, or a needle and grasper. An image capture device may also be coupled to the distal end to assist in positioning and operating the guide instrument. | 10-04-2012 |
20120241576 | MOUNTING SUPPORT ASSEMBLY FOR SUSPENDING A MEDICAL INSTRUMENT DRIVER ABOVE AN OPERATING TABLE - An adjustable mounting assembly, includes a load distributing plate configured for resting on, and being supported by, a top surface of a patient table; a first clamp assembly adjustably coupled to a first side of the load distributing plate and configured for removable attachment to a first side rail of the patient table; a second clamp assembly coupled to a second side of the load distributing plate and configured for removable attachment to a second side rail of the patient table; and an adapter rail fixed to the second side of the load distributing plate and configured to detachably couple to a support assembly interface, such that an adjustable support assembly may be coupled to the load distributing plate to thereby allow for an off-center load attached to the support assembly to be moved relative to the patient table while the load remains substantially supported by the table surface. | 09-27-2012 |
20120238897 | SYSTEM AND METHOD FOR DETERMINING ELECTRODE-TISSUE CONTACT BASED ON AMPLITUDE MODULATION OF SENSED SIGNAL - Methods and systems for monitoring contact between a medical probe and tissue are provided. A medical probe is introduced into a patient adjacent the tissue. An electrical parameter, e.g., electrical admittance, is measuring between a first electrode located on the medical probe and a second electrode remote from the first electrode. The electrical parameter is amplitude modulated in response to a physiological cycle of the patient. Contact between the medical probe and the tissue is detected based on the amplitude modulation of the measured electrical parameter. | 09-20-2012 |
20120226227 | COAXIAL CATHETER SYSTEM - A medical system includes first and second medical probes in an arrangement and configured for insertion into a lumen or vessel of a patient, the first medical probe having indicia, and a detector is fixedly coupled to the second medical probe and configured for insertion into and advancement through the lumen or vessel along with the second medical probe, wherein the detector detects passage of the indicia as the first and second medical probes are moved relative to each other within the lumen or body vessel. An electromechanical driver is coupled to, and operable to move the first and second medical probes. A system controller is configured for directing the electromechanical driver to move the first and second medical probes relative to each other within the lumen or body vessel based on signals received from the detector when the detector is positioned within the lumen or body vessel. | 09-06-2012 |
20120209293 | Robotic catheter systems and methods - A robotic instrument system having an elongate sheath instrument and an elongate catheter instrument positioned within a working lumen of the sheath instrument is controlled by selectively operating an instrument driver coupled to the catheter instrument to place a control element extending through the catheter instrument in tension, and thereby articulate at least a distal end portion the catheter instrument, while automatically compensating for a torsional force exerted on the sheath instrument in a first direction due to articulation of the distal end portion of the catheter, by urging the sheath instrument to twist in a second direction opposite of the first direction. | 08-16-2012 |
20120209174 | Robotic catheter system and methods - The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other. | 08-16-2012 |
20120191086 | System and method for endoluminal and translumenal therapy - A robotic instrument system comprises a controller configured to control actuation of at least one servo motor and an elongate instrument configured to move in response to actuation of the at least one servo motor, wherein the controller controls positioning of the instrument based at least in part upon an electroanatomic model of the neural plexus adjacent the renal artery. | 07-26-2012 |
20120191083 | System and method for endoluminal and translumenal therapy - A system for conducting denervation of the neural plexus adjacent the renal artery, comprises a pre-shaped ablative element operatively coupled to an elongate deployment member configured to be navigated into the renal artery, the pre-shaped ablative element comprising one or more RF electrodes disposed in an arcuate pattern; and an energy source operatively coupled to the one or more RF electrodes and being configured to cause current to flow from the pre-shaped ablative element and cause localized heating sufficient to denervate nearby neural tissue. | 07-26-2012 |
20120191079 | System and method for endoluminal and translumenal therapy - A system for conducting a denervation of the neural plexus adjacent the renal artery of a patient comprises a first elongate member operatively coupled to a testing element, a second elongate member having a distal portion coupled to an ablative element, and a controller configured to: activate an ablative element to selectively denervate a portion of the neural plexus which is positioned adjacent the ablative element; monitor a level of a compound in blood sampled from the testing element of the first elongate member; and modulate the activation of the ablative element based at least in part upon the level of renin monitored using the testing element. | 07-26-2012 |
20120130400 | FLEXIBLE INSTRUMENT - A robotic medical system comprises a catheter having an elongated shaft with a plurality of flexible segments spaced apart along the catheter, and a drive unit coupled to the catheter. The catheter may have a plurality of cables respectively terminating at the flexible segments, in which case, the drive unit will be coupled to the plurality of cables. The robotic medical system further comprises a user interface remote from the drive unit and configured for generating at least one command, and an electric controller configured, in response to the command(s), for directing the drive unit to independently bend the flexible segments (e.g., three flexible segments). | 05-24-2012 |
20120116253 | Apparatus for Measuring Distal Forces on a Working Instrument - A robotic catheter manipulator includes a guide catheter including proximal and distal ends and lumen extending there through. A flexible bellows is secured at one end to the proximal end of the guide catheter and at the other end to a seal configured to receive a working catheter. In a loaded state, the working catheter is fixed relative to the seal. A ditherer is operatively connected to the seal for dithering the working catheter relative to the guide catheter when placed therein. The robotic catheter manipulator includes at least one force sensor for measuring the force applied to the working catheter by the ditherer. Force measurements may be translated into an estimated force that is experienced at the distal end of the working catheter which may then be displayed to the physician via a monitor or display. | 05-10-2012 |
20120065467 | ROBOTIC CATHETER SYSTEM AND METHODS - The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other. | 03-15-2012 |
20120035481 | SYSTEMS AND METHODS FOR THREE-DIMENSIONAL ULTRASOUND MAPPING - An automated medical system comprises a first instrument assembly including a first ultrasound transducer having a first transducer field of view that transmits and receives ultrasound signals in imaging planes disposed circumferentially about a guide instrument, and a second instrument assembly including a second ultrasound transducer having a second transducer field of view coupled to one of a second flexible guide instrument and a working instrument. A computing system is operatively coupled to the respective first and second transducers and configured to determine a relative spatial orientation of the respective first and second transducers based at least in part on detecting a signal transmitted by one of the first and second transducers and received by the other of the first and second transducers, the received signal having an amplitude indicating the receiving one of the transducers is in the field of view of the transmitting one of the transducers. | 02-09-2012 |
20120022405 | METHOD OF SENSING FORCES ON A WORKING INSTRUMENT - A method for estimating the force on a distal end of a working catheter includes positioning a portion of a robotically controlled guide catheter and working catheter into a body lumen wherein a distal end of the working catheter projects distally from a distal end of the guide catheter. The working catheter and guide catheter are dithered with respect to one another using a dithering device operatively connected to a proximal portion of the working catheter. The coupling may occur directly to the working catheter or via a seal such as a Touhy seal. The force experienced by the working catheter at a proximal region is measured through at least one dithering cycle. The force at the distal end of the working catheter is then estimated based on the measured force at the proximal region. The estimated force may be displayed to a physician on, for example, a monitor. | 01-26-2012 |
20120016291 | ROBOTICALLY CONTROLLED INTRAVASCULAR TISSUE INJECTION SYSTEM - A robotic catheter system includes a controller including a master input device and instrument driver in communication with the controller. An elongate flexible guide instrument is operatively coupled to the instrument driver. A fluid injection needle may be advanced from, or retracted into, a distal portion of the guide instrument. | 01-19-2012 |
20120004668 | ROBOTIC CATHETER SYSTEM - A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device. | 01-05-2012 |
20110319910 | METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE INSTRUMENT - Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include of controlling a shapeable instrument within an anatomical region using a robotic medical system. | 12-29-2011 |
20110319815 | FIBER OPTIC INSTRUMENT SENSING SYSTEM - Systems are described herein that improve control of a shapeable or steerable instrument using shape data. Additional systems use such shape data for improved mapping or adjusting models of the instrument. Such systems include robotic medical systems for controlling a shapeable instrument within an anatomical region having a controller, one or more actuators, and a localization system for guiding one or more shapeable instruments. | 12-29-2011 |
20110319714 | METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE MEDICAL DEVICE - Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region. | 12-29-2011 |
20110301699 | APPARATUS AND METHODS FOR TREATING TISSUE - Apparatus and methods are provided for thermally and/or mechanically treating tissue, such as valvular structures, to reconfigure or shrink the tissue in a controlled manner. Mechanical clips are implanted over the leaflets of a valve, e.g., in the heart, either alone or after thermal treatment to cause the valve to close more tightly. The clips are delivered by a catheter and may be configured to traverse directly over the valve itself or to lie partially over the periphery of the valve to prevent obstruction of the valve channel. The clips can be coated with drugs or a radiopaque coating. Alternatively, individual anchors with a tensioning element, like a suture, may be used to approximate the valves towards each other. The catheter can also incorporate sensors or energy delivery devices, e.g., transducers, on its distal end. | 12-08-2011 |
20110295268 | SYSTEM AND METHOD FOR AUTOMATED MASTER INPUT SCALING - Embodiments are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic medical instrument system, comprising an elongate instrument having proximal and distal ends; a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move the instrument; a master input device in communication with the controller and configured to generate input commands in response to a directional movement of the master input device; and a load sensor operatively coupled to the elongate instrument and configured to sense magnitude and direction of loads applied to the distal end of the elongate instrument; wherein the controller is configured to compute an instrument movement command to selectively move the instrument based upon the input commands and an input command scaling factor applied to the input commands, the input command scaling factor being variable with the magnitude of sensed loads. | 12-01-2011 |
20110295267 | SYSTEM AND METHOD FOR AUTOMATED TISSUE STRUCTURE TRAVERSAL - Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic tissue structure traversal system may comprise a controller including a master input device, an electromechanically controlled elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion comprising a traversing tip and being configured to be interactively navigated about internal structures of a patient's body in response to signals from the controller; and a load sensor operatively coupled between the distal portion of the elongate instrument and the controller; wherein the controller is configured to automatically advance the traversing tip through a thickness of an internal structure by observing loads from the load sensor. | 12-01-2011 |
20110295248 | SYSTEM AND METHOD FOR AUTOMATED MINIMALLY INVASIVE INSTRUMENT COMMAND - In one embodiment a system may comprise a controller including a master input device; and an electromechanically steerable elongate instrument having proximal interface and portions, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion being configured to be interactively navigated adjacent internal tissue structures of a patient's body in response to signals from the controller; wherein the controller is operatively coupled to a treatment interactivity variable sensor selected from the group consisting of: a cardiac electrogram electrode, an RF generator power output sensor, an instrument distal portion impedance sensor, and an instrument distal portion force sensor; and wherein the controller is configured to affect the operation of the electromechanically steerable elongate catheter by automatically executing an instrument movement or treatment command based upon changes in information received from the treatment interactivity variable sensor. | 12-01-2011 |
20110295247 | SYSTEM AND METHOD FOR AUTOMATED MINIMALLY INVASIVE THERAPY USING RADIOMETRY - Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. In one embodiment a robotic catheter system may comprise a controller including a master input device; and an electromechanically steerable elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion being configured to be interactively navigated adjacent internal tissue structures of a patient's body in response to signals from the controller; wherein the distal portion of the elongate instrument comprises an antenna operatively coupled to the controller, and wherein the controller is configured to determine the temperature of structures adjacent to the distal portion of the elongate instrument utilizing radiometry analysis. | 12-01-2011 |
20110270273 | SYSTEMS AND METHODS FOR PERFORMING MINIMALLY INVASIVE SURGICAL OPERATIONS - A robotic surgical system ( | 11-03-2011 |
20110238083 | ROBOTIC CATHETER SYSTEM AND METHODS - The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other. | 09-29-2011 |
20110230896 | ROBOTIC CATHETER SYSTEM - A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device. | 09-22-2011 |
20110213383 | SURGICAL INSTRUMENT COUPLING MECHANISM - A medical system and surgical instrument adapter are provided. The medical system comprises a surgical instrument carrying a distal tool configured for performing a medical procedure on a patient, an adapter having a clam-shell configuration configured for removably receiving a proximal end of the surgical instrument, and a drive unit configured for being coupled to the adapter to control the movement of the surgical instrument within at least one degree-of-freedom. The surgical instrument adapter may comprise a base portion configured for receiving a proximal end of the surgical instrument, and a clam-shell that pivots relative to the base portion between a first position that encloses the proximal end of the surgical instrument within the base portion and a second position that allows the proximal end of the surgical instrument to be removed from the base portion. | 09-01-2011 |
20110172535 | SYSTEM AND METHOD FOR 3-D IMAGING - A system and method for recording and depicting ultrasound images of a moving object are disclosed. In a preferred embodiment, ultrasound images are acquired as the field of view of an ultrasound probe is advanced across the tissues of interest during a resting period between periods of relatively large-scale heart cycle motion. A series of images acquired during a particular resting period may be represented as a three-dimensional volume image, and the comparison of volume images from adjacent cardiac resting periods enables three-dimensional volume image modulation analysis which may be presented for a user as a moving volume image of the objects of interest within the field of view. | 07-14-2011 |
20110160724 | SYSTEM AND METHOD FOR DENATURING AND FIXING COLLAGENOUS TISSUE - A method for modifying a geometry of a collagenous tissue mass includes heating the collagenous tissue mass to a temperature sufficient to cause denaturation, and introducing a biocompatible fixative, such as genepin, into the collagenous tissue mass. | 06-30-2011 |
20110152883 | APPARATUS SYSTEMS AND METHODS FOR FLUSHING GAS FROM A CATHETER OF A ROBOTIC CATHETER SYSTEM - Apparatus, systems and methods for flushing a lumen of a catheter instrument to reduce or eliminate bubbles within the lumen. An interface valve is adapted for attachment to a proximal end of the catheter instrument and can receive a working instrument for insertion into the he catheter instrument lumen. A fluid supply line and purge lines are coupled to the interface valve and in fluid communication with at least a portion of the interface valve lumen. Flow of fluid (e.g. saline and a gas such as bubbles) through purge lines is controllable using clamps such that fluid flowing into the interface valve lumen can be manipulated to flow in different directions through different portions of the interface valve lumen for evacuation through different purge lines, thus allowing for purging of forward and backward flows to remove gas or bubbles from the catheter instrument lumen. | 06-23-2011 |
20110152880 | FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS WITH TORSION CONTROL - An instrument for performing minimally invasive surgical procedures includes an elongate body and a support member disposed within or along the elongate body. The support member is configured to support steering, articulation, and angular rotational movement of the elongate body, provide torsion control, and support precise and accurate placement of the distal portion of the elongate body so that complex surgical procedure may be performed using the instrument. | 06-23-2011 |
20110144656 | ROBOTICALLY CONTROLLED MEDICAL INSTRUMENT - A medical instrument assembly comprises an elongated shaft, a tool carried by the distal end of the elongated shaft for performing a medical procedure on a patient, a plurality of controllably bendable sections spaced along the elongated shaft and disposed proximal to the tool, a plurality of actuation elements extending within the elongated shaft for respectively actuating the controllably bendable sections, and an instrument coupler mounted to the proximal end of the elongated shaft, with the instrument coupler configured for coupling an electromechanical drive to the actuation elements. A robotic medical system comprises the previously described medical instrument assembly, a user interface configured for generating at least one command, a drive unit coupled to the plurality of actuating elements of the medical instrument assembly, and an electric controller configured, in response to the command(s), for directing the drive unit to moves the actuating elements to actuate the controllably bendable sections. | 06-16-2011 |
20110118756 | INTERCHANGEABLE SURGICAL INSTRUMENT - A robotic medical system comprises a medical instrument assembly having a retainer, a serial array of instruments disposed in the retainer, a chamber, and an instrument driver. The robotic medical system further comprises a user interface configured for generating at least one command signal, a drive unit coupled to the first mechanism, second mechanism, and instrument driver, and an electric controller configured, in response to the command signal(s), for directing the drive unit to linearly displace the array of instruments within the retainer, to displace a selected one of the instruments from the retainer into the chamber, and to distally advance the instrument driver within the chamber to engage the selected instrument. | 05-19-2011 |
20110090486 | FIBER SHAPE SENSING SYSTEMS AND METHODS - In certain variations, fiber shape sensing or measuring systems, devices and methods are described herein, which allow for measurement of three dimensional bending as well as twist measurements of various fibers, e.g., optical fibers and fiber optic probes of various sizes. In certain variations, the systems are designed to take advantage of unique light guiding properties of optical fibers and various fiber gratings. | 04-21-2011 |
20110015648 | ENDOSCOPIC ROBOTIC CATHETER SYSTEM - A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device. | 01-20-2011 |
20110011917 | METHODS, DEVICES, AND KITS FOR TREATING VALVE PROLAPSE - Methods, devices, and kits are described for addressing cardiac valve repair. A system for deploying a tensile member between two tissue structures may comprise a first anchor insertion instrument defining a working lumen therethrough, and a second anchor insertion instrument movably coupled through the working lumen, wherein the first anchor instrument defines a jaw space and is configured to deploy a staple prosthesis into a portion of a first tissue structure which may be captured within the jaw space, and wherein the second anchor instrument is configured to deploy an implantable anchor, such as an anchor dart, into a second tissue structure which is coupled to the staple prosthesis by a tensile member, such as a suture. | 01-20-2011 |
20100331856 | MULTIPLE FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS FOR MINIMALLY INVASIVE OPERATIONS - Configurations are described for conducting minimally invasive medical interventions utilizing elongate robotically controlled instruments and assemblies thereof. In one embodiment, a junction sheath may be utilized to facilitate surgical triangulation of two interventional instrument assemblies, while also directing them to the surgical theater through a minimal single wound or surgical port. One or more instrument drivers, and one or more master input devices comprising an operator workstation, may be utilized to independently and simultaneously control multiple degrees of freedom pertinent to each instrument comprising one or more instrument assembly. | 12-30-2010 |
20100308195 | SUPPORT ASSEMBLY FOR ROBOTIC CATHETER SYSTEM - A support assembly for supporting a remotely-controlled instrument driver, including a first member, a second member for supporting the instrument driver, and an interface assembly for allowing the second member to rotate relative to the first member about a first axis, and for allowing the second member to rotate relative to the first member about a second axis that forms an angle relative to the first axis, wherein the interface assembly comprises a ball that is rotatable relative to the first member, and a shaft extending through the ball, the shaft configured for coupling to the second member. | 12-09-2010 |
20100280525 | FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS WITH SHAPE CONTROL AND SUPPORT ELEMENTS - An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member. Furthermore, the flex member may be configured to selectively decouple articulation or steering forces of a first portion of the elongate body away from a second portion of the elongate body; thereby, preventing compression of the second portion of the elongate body while maintaining elasticity or flexibility of the second portion of the elongate body. | 11-04-2010 |
20100280449 | FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS WITH SHAPE CONTROL AND SUPPORT ELEMENTS - An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member. Furthermore, the flex member may be configured to selectively decouple articulation or steering forces of a first portion of the elongate body away from a second portion of the elongate body; thereby, preventing compression of the second portion of the elongate body while maintaining elasticity or flexibility of the second portion of the elongate body. | 11-04-2010 |
20100280320 | FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS WITH SHAPE CONTROL AND SUPPORT ELEMENTS - An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member. Furthermore, the flex member may be configured to selectively decouple articulation or steering forces of a first portion of the elongate body away from a second portion of the elongate body; thereby, preventing compression of the second portion of the elongate body while maintaining elasticity or flexibility of the second portion of the elongate body. | 11-04-2010 |
20100228191 | LOCKABLE SUPPORT ASSEMBLY AND METHOD - Assemblies and methods related to controllably lockable support structures are described. An assembly may comprise an interface defined by two adjacent tubular structures whereby the adjacent structures may be spatially locked and unlocked relative to each other with application of a load. The tubular structures may comprise one or more spring members configured to deflect with application of a load greater than a preconfigured threshold, thereby causing a locking state of the interface to change from a first locking state to a second locking state. Embodiments are described wherein such load may be a tensile and/or compressive load. Various embodiments are described wherein an interface may be locked without application of a load and unlocked upon application of the requisite load, or locked only after application of a load. | 09-09-2010 |
20100175701 | MODULAR INTERFACES AND DRIVE ACTUATION THROUGH BARRIER - The invention relates generally to robotically controlled systems, such as medical robotic systems. In one variation, a robotic catheter system is configured with a sterile barrier capable for transmitting a rotary force from a drive system on one side of the barrier to surgical tool on the other side of the sterile barrier for performing minimally invasive diagnostic and therapeutic procedures. Modularized drive systems for robotics arc also disclosed herein. | 07-15-2010 |
20100170519 | STERILE INTERFACE APPARATUS - A robotic surgical system configured to perform minimally invasive surgical procedures. In one variation, this robotic surgical system includes an instrument driver configured to steer an elongate instrument of an instrument assembly in one or more degrees of motion. A drape is disposed between the instrument driver and the instrument assembly. A drive interface apparatus is operatively coupled to the drape. The drape and drive interface apparatus may form a fluid barrier between the instrument driver and the instrument assembly. Drive interface apparatus may be disposed on a top surface of the instrument driver and on a bottom surface of the instrument assembly. The drive interface apparatus may transmit torque from the instrument driver to the instrument assembly. The input torque drives a pulley in the instrument assembly that operates one or more control wires to steer an elongate instrument of the instrument assembly for performing minimally invasive surgical procedures. | 07-08-2010 |
20100125285 | AUTOMATED ALIGNMENT - Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed. | 05-20-2010 |
20100125284 | REGISTERED INSTRUMENT MOVEMENT INTEGRATION - Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed. | 05-20-2010 |
20100121269 | APPARATUS AND METHOD FOR SENSING FORCE ON A ROBOTICALLY CONTROLLED MEDICAL INSTRUMENT - A medical system comprises a medical probe including an elongated probe body, a lumen extending within the probe body, an axially flexible section, and a push-pull member slidably disposed within the lumen. The system comprises a ditherer mechanically coupled to the member for cyclically displacing it axially back and forth within the lumen, such that the ends of the probe body are axially displaced relative to each other via the axially flexible section. The system further comprises a sensor for sensing a force axially applied to the distal end of the probe body. A method comprises introducing a medical probe into a patient, axially dithering the distal end of the medical probe back and forth relative to the proximal end of the medical probe, and sensing a force applied between tissue of the patient and the distal end of the medical probe while the distal end is axially dithered. | 05-13-2010 |
20100121138 | APPARATUS AND METHOD FOR SENSING FORCE - A medical system comprises a medical probe including an elongated probe body, a lumen extending within the probe body, an axially flexible section, and a push-pull rod slidably disposed within the lumen. The system comprises a ditherer mechanically coupled to the rod for cyclically displacing it axially back and forth within the lumen, such that the ends of the probe body are axially displaced relative to each other via the axially flexible section. The system further comprises a sensor for sensing a force axially applied to the distal end of the probe body. A method comprises introducing a medical probe into a patient, axially dithering the distal end of the medical probe back and forth relative to the proximal end of the medical probe, and sensing a force applied between tissue of the patient and the distal end of the medical probe while the distal end is axially dithered. | 05-13-2010 |
20100114115 | FIBER OPTIC INSTRUMENT SENSING SYSTEM - A medical instrument system comprises an elongate instrument body; an optical fiber coupled in a constrained manner to the elongate instrument body, the optical fiber including one or more Bragg gratings; a detector operably coupled to a proximal end of the optical fiber and configured to detect respective light signals reflected by the one or more Bragg gratings; and a controller operatively coupled to the detector, wherein the controller is configured to determine a geometric configuration of at least a portion of the elongate instrument body based on a spectral analysis of the detected reflected portions of the light signals. | 05-06-2010 |
20100094125 | SYSTEM AND METHOD FOR 3-D IMAGING - A system and method for recording and depicting ultrasound images of a moving object are disclosed. In a preferred embodiment, ultrasound images are acquired as the field of view of an ultrasound probe is advanced across the tissues of interest during a resting period between periods of relatively large-scale heart cycle motion. A series of images acquired during a particular resting period may be represented as a three-dimensional volume image, and the comparison of volume images from adjacent cardiac resting periods enables three-dimensional volume image modulation analysis which may be presented for a user as a moving volume image of the objects of interest within the field of view. | 04-15-2010 |
20100048998 | AUXILIARY CAVITY LOCALIZATION - A method and system for maintaining calibration of a distributed localization system are presented. After a baseline calibration of sensors distributed on a working instrument and reference instrument, if movement of the reference instrument is detected, shape sensing data from a Bragg shape sensing fiber also coupled to the reference instrument may be utilized to recalibrate the localization system. The reference instrument preferably is located intraoperatively in a relatively constrained anatomical environment, such as in the coronary sinus of the heart, to prevent significant movement. | 02-25-2010 |
20090312756 | IRRIGATED ABLATION CATHETERS - An apparatus for ablating tissue includes an elongate flexible member having a proximal end and a distal end. The elongate flexible member includes an irrigation lumen disposed between the proximal end and the distal end of the elongate flexible member. The irrigation lumen is configured to deliver irrigation fluid from the proximal portion of the elongate flexible member to the distal portion of the elongate flexible member. An ablation member is coupled to the distal end of the elongate flexible member. The ablation member is in fluid communication with the irrigation lumen. The ablation member comprises of a shell having a side wall and a distal wall. The side wall and distal walls of the shell define a cavity or reservoir for containing the irrigation fluid. The side wall includes a plurality of ports for dispensing fluid from the reservoir. A thermocouple is disposed from the proximal end of the elongate flexible member to a distal portion of the elongate member, wherein a distal tip of the thermocouple is positioned proximal to the irrigation reservoir and the thermocouple is electrically isolated from the ablation member. | 12-17-2009 |
20090264994 | APPARATUS AND METHODS FOR TREATING TISSUE - Apparatus and methods are provided for thermally and/or mechanically treating tissue, such as valvular structures, to reconfigure or shrink the tissue in a controlled manner. Mechanical clips are implanted over the leaflets of a valve, e.g., in the heart, either alone or after thermal treatment to cause the valve to close more tightly. The clips are delivered by a catheter and may be configured to traverse directly over the valve itself or to lie partially over the periphery of the valve to prevent obstruction of the valve channel. The clips can be coated with drugs or a radiopaque coating. Alternatively, individual anchors with a tensioning element, like a suture, may be used to approximate the valves towards each other. The catheter can also incorporate sensors or energy delivery devices, e.g., transducers, on its distal end. | 10-22-2009 |
20090254083 | ROBOTIC ABLATION CATHETER - Assemblies, systems, and methods related to remotely-steerable ablation procedures are described. A necked-down ablation catheter may be coupled within a working lumen of a robotically-steerable sheath configured to be driveably coupled to an electromechanical instrument driver. The ablation catheter may be an irrigated ablation catheter having an irrigation fluid reservoir at its distal tip. The outer diameter of the distal portion of the ablation catheter is generally larger than that of the more proximal aspects due, in part, to the fact that the proximal aspects are designed to fit through a relatively low-profile steerable sheath. | 10-08-2009 |
20090138025 | APPARATUS SYSTEMS AND METHODS FOR FORMING A WORKING PLATFORM OF A ROBOTIC INSTRUMENT SYSTEM BY MANIPULATION OF COMPONENTS HAVING CONTROLLABLY RIGIDITY - Robotic instrument systems, apparatus, and methods for controllably manipulating the rigidity of a distal portion of one or more sheath catheters advanced through an elongate sheath to controllably form a temporary, substantially rigid platform from which other robotically controlled instruments may be manipulated. The platform is formed by one or more multi-segment sheath catheters that can be controlled to be flexible during advancement and substantially rigid at the target site, thereby reducing the length of the operational lever arm of the instrument. For this purpose, a sheath catheter includes a plurality segments that interlock and do not rotate when drawn together, and are connected by a control element, the tension of which may be manipulated by a robotic instrument system to transform the sheath catheter between a flexible state during advancement through the elongate sheath and a substantially rigid state when the sheath catheter is to serve as a platform or component thereof. | 05-28-2009 |
20090123111 | OPTICAL FIBER GRATING SENSORS AND METHODS OF MANUFACTURE - Systems and methods comprise or involve optical fibers having Bragg gratings. The optical fibers can be assembled in a parallel manner into a fiber sensor configuration. Bragg gratings can be written onto different cores of optical fibers. Bragg gratings may be written at a same or nearly same axial position for all optical fibers in the configuration and may be written at the same time and may have a substantially equal index of refraction variation and unequal lengths. Spaced Bragg gratings may also have characteristic sidelobe spectrums for tagging the respective gratings. Gratings can also be written at different wavelengths and over another grating at the same location. | 05-14-2009 |
20090105639 | CATHETER DRIVER SYSTEM - An apparatus for performing medical procedures on an anatomical body includes an extension with an element near its distal end to be extended into the body, and a driver that moves the extension axially into the body, and that causes flexure of the distal end of the extension. The movement and flexure of the extension is driven by the driver from the proximal end of the extension, and an electronic controller directs the operation of the driver. | 04-23-2009 |
20090076476 | SYSTEMS AND METHODS EMPLOYING FORCE SENSING FOR MAPPING INTRA-BODY TISSUE - A medical instrument system includes a controller and a guide instrument coupled to an instrument driver, the instrument driver configured to manipulate a distal end portion of the guide instrument in response to control signals generated by the controller. A force sensor is associated with the guide instrument or with a working instrument carried by the guide instrument, and generates force signals responsive to a force applied to a respective distal end portion of the guide instrument or working instrument. A position determining system generates position data indicative of a position of the respective guide or working instrument distal end portion associated with the force sensor, and a processor operatively coupled to the force sensor and position determining system processes respective force signals and position data to generate and display a geometric rendering of an internal body tissue surface based on sensed forces applied to the respective instrument distal end portion as the guide instrument is maneuvered within an interior region of a body containing the body surface. | 03-19-2009 |
20090062602 | APPARATUS FOR ROBOTIC INSTRUMENT HAVING VARIABLE FLEXIBILITY AND TORQUE TRANSMISSION - A flexible spine for use in one or more surgical instruments including a catheter and/or sheath of a robotic instrument system. The spine includes an elongate body that defines a central lumen and that is a unitary structure having a plurality of discrete sections, each of which has a distinguishing structural attribute that differentiates it from the other sections. Such distinguishing structural attributes may include, without limitation, materials, material attributes, shapes, sizes and/or attributes related to apertures in a wall of the elongate body, such as a number, shape, size, spacing and degree of overlap of such apertures. The arrangement of discrete, structurally different sections results in varying flexibility of the elongate spine and of corresponding sections of a surgical instrument incorporating the spine. | 03-05-2009 |
20090036900 | SURGERY METHODS USING A ROBOTIC INSTRUMENT SYSTEM - Various methods for performing various surgical procedures using a robotic instrument system are disclosed. In one embodiment, the method comprises advancing a guide instrument into a patient's body and to the vicinity of a treatment area. The guide instrument may be a robotically controlled catheter which is controlled by a robotic catheter system. The guide instrument comprises an elongate flexible body having a proximal end and a distal end, and an end effector coupled to the distal end. The end effector may comprise various devices for assisting and performing the surgical procedure. For example, the end effector may be a clip applier, a laser fiber, a cryo fiber, or a needle and grasper. An image capture device may also be coupled to the distal end to assist in positioning and operating the guide instrument. | 02-05-2009 |
20090024141 | ROTATIONAL APPARATUS SYSTEM AND METHOD FOR A ROBOTIC INSTRUMENT SYSTEM - Robotic instrument systems, apparatus, and methods for controllably rotating a tool or adapter coupled to a distal portion of a medical instrument such as a catheter. An interface, which may be integral with the medical instrument or a component of a separate rotatable apparatus or adapter, is operably coupled, e.g. fixedly coupled, to the distal end of the instrument. A tool, such as a rotatable portion of a collar or tool base, or a working instrument operably coupled thereto, is rotatable relative to the interface. The interface and collar have guide channels. A control element extends through the medical instrument and respective guide channels such that the tool or collar is controllably rotatable about the instrument axis by axial movement of the control element relative to the instrument. | 01-22-2009 |
20090012533 | Robotic instrument control system - A robotic instrument system includes a controller configured to control actuation of at least one servo motor, and an elongate bendable guide instrument defining a lumen and operatively coupled to, and configured to move in response to actuation of, the at least one servo motor. The controller controls movement of the guide instrument via actuation of the at least one servo motor based at least in part upon a control model, wherein the control model takes into account an attribute of an elongate working instrument positioned in the guide instrument lumen. | 01-08-2009 |
20080300592 | CATHETER DRIVER SYSTEM - An apparatus for performing medical procedures on an anatomical body includes an extension with an element near its distal end to be extended into the body, and a driver that moves the extension axially into the body, and that causes flexure of the distal end of the extension. The movement and flexure of the extension is driven by the driver from the proximal end of the extension, and an electronic controller directs the operation of the driver. | 12-04-2008 |
20080285909 | OPTICAL FIBER SHAPE SENSING SYSTEMS - A medical instrument system includes an elongate flexible instrument body with an optical fiber substantially encapsulated in a wall of the instrument body, the optical fiber including one or more fiber gratings. A detector is operatively coupled to the optical fiber and configured to detect respective light signals reflected by the one or more fiber gratings. A controller is operatively coupled to the detector, and configured to determine a twist of at least a portion of the instrument body based on detected reflected light signals. The instrument may be a guide catheter and may be robotically or manually controlled. | 11-20-2008 |
20080275367 | Systems and methods for mapping intra-body tissue compliance - Robotic instrument systems and methods for generating a geometric map of an area of body tissue which is correlated with a tissue characteristic such as tissue compliance or related property. The system comprises a robotically controlled catheter which is controlled by a robotic instrument driver. A force sensor system is provided generates force signals responsive to a force applied to the distal end of the catheter. A position determination system is also provided which generates position signals responsive to the location of the distal end of the catheter. A computer is configured to receive and process the force signals and position signals to generate a geometric map of an area of body tissue correlated to the tissue compliance of different regions of the body tissue or a tissue characteristic determinable from the tissue compliance. | 11-06-2008 |
20080262513 | INSTRUMENT DRIVER HAVING INDEPENDENTLY ROTATABLE CARRIAGES - An instrument driver operable to control catheter instruments. First and second carriages are movably coupled to a frame of an instrument driver. Each carriage is configured to support a catheter instrument. The first and second carriages are independently rotatable about a longitudinal axis of the respective first and second catheter instruments and rotatable independently of an instrument driver frame. Independent carriage control provides for the carriages being independently movable in at least three different directions with at least two different types of motion. | 10-23-2008 |
20080255505 | Robotic catheter systems and methods - A robotic instrument system having an elongate sheath instrument and an elongate catheter instrument positioned within a working lumen of the sheath instrument is controlled by selectively operating an instrument driver coupled to the catheter instrument to place a control element extending through the catheter instrument in tension, and thereby articulate at least a distal end portion the catheter instrument, while automatically compensating for a torsional force exerted on the sheath instrument in a first direction due to articulation of the distal end portion of the catheter, by urging the sheath instrument to twist in a second direction opposite of the first direction. | 10-16-2008 |
20080249536 | INTERFACE ASSEMBLY FOR CONTROLLING ORIENTATION OF ROBOTICALLY CONTROLLED MEDICAL INSTRUMENT - Interface assemblies for controlling an orientation of a working instrument of a robotic medical instrument system. A base member is coupled to a distal end of an instrument such as a robotically controllable catheter. A spacer element is retained between the base member and a platform member, which is movable relative to the base member about the spacer element. One or more control elements extending through a base member aperture can be used to control an orientation of the platform member and working instrument. | 10-09-2008 |
20080245946 | MOUNTING SUPPORT ASSEMBLY FOR SUSPENDING A MEDICAL INSTRUMENT DRIVER ABOVE AN OPERATING TABLE - An adapter plate assembly which provides a convenient interface between a mounting support assembly for suspending an instrument driver robotic instrument system above a operating table. The adapter plate securely mounts to the operating table, and may be adjustable so that it can be adjusted to fit various sizes and models of operating tables. The adapter plate assembly comprises a main plate which rests on the surface of the operating table. A first clamp assembly which removably attaches to the operating table is mounted on one or more horizontal adjustment rods which are slidably received in one of the main plate in order to provide adjustability to the width of the adapter plate assembly. On the opposing end of the main plate, a second clamp assembly is coupled main plate. In order to secure the support assembly of a robotic instrument system, an adapter rail is also coupled to the main plate. The adapter rail is configured to detachably couple to a support assembly interface of the support assembly, and provides sufficient structural support for suspending the instrument driver above the operating table. | 10-09-2008 |
20080243064 | SUPPORT STRUCTURE FOR ROBOTIC MEDICAL INSTRUMENT - A robotic medical instrument system including a catheter body and an elongate, flexible support member that includes substantially spherical elements and a plurality of non-spherical elements, such as cylindrical elements, which may be configured as a series of alternating substantially spherical and cylindrical elements. The support structure is bendable with the catheter body lumen. The substantially spherical and non-spherical elements may also collectively define a central, inner lumen. Bending of respective catheter body and the flexible support structure may be controllably by manipulation of the control element. | 10-02-2008 |
20080234631 | Apparatus systems and methods for flushing gas from a catheter of a robotic catheter system - Apparatus, systems and methods for flushing a lumen of a catheter instrument to reduce or eliminate bubbles within the lumen. An interface valve is adapted for attachment to a proximal end of the catheter instrument and can receive a working instrument for insertion into the he catheter instrument lumen. A fluid supply line and purge lines are coupled to the interface valve and in fluid communication with at least a portion of the interface valve lumen. Flow of fluid (e.g. saline and a gas such as bubbles) through purge lines is controllable using clamps such that fluid flowing into the interface valve lumen can be manipulated to flow in different directions through different portions of the interface valve lumen for evacuation through different purge lines, thus allowing for purging of forward and backward flows to remove gas or bubbles from the catheter instrument lumen. | 09-25-2008 |
20080218770 | Robotic surgical instrument and methods using bragg fiber sensors - A positionable medical instrument assembly, e.g., a robotic instrument driver configured to maneuver an elongate medical instrument, includes a first member coupled to a second member by a movable joint, with a Bragg fiber sensor coupled to the first and second members, such that relative movement of the first and second members about the movable joint causes a bending of at least a portion of the Bragg fiber sensor. The Bragg fiber sensor has a proximal end operatively coupled to a controller configured to receive signals from the Bragg fiber sensor indicative of a bending thereof, the controller configured to analyze the signals to determine a relative position of the first and second members about the movable joint. | 09-11-2008 |
20080200821 | LEFT ATRIAL ACCESS APPARATUS AND METHODS - Left atrial access apparatus and methods are described herein. Different parameters, such as oxygen saturation difference, between the left and right atrial chambers is utilized to guide a needle or catheter into a desired position within the heart. Various sensing elements can be utilized to detect the physiological parameter difference, such as oxygen levels, in the left atrium. The sensor can be carried by the needle, at its tip or along its body, and can measure the physiological parameter levels contained in the blood, fluid, or tissue. | 08-21-2008 |