# US 10,245,112 B2 · Interlocking system and method for joysticks in a catheter procedure system

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- Number: US 10,245,112 B2
- Document ID: US10245112B2
- Status: Granted
- Kind: B2
- Application number: 15/193,370
- Filed: 2016-06-27
- Published: 2017-12-28
- Granted: 2019-04-02
- Earliest claimed: 2016-06-27
- Assignees: Corindus, Inc.
- Applicants: Corindus, Inc.
- Inventors: Nicholas Kottenstette; Per Bergman; Yao Li; Seth Hunter; Adam Young
- Web page: https://patentgrep.com/patent/US10245112B2

## CPC

- A61B 34/30: Surgical robots
- A61B 6/032: {Transmission computed tomography [CT]}
- A61B 6/503: {for diagnosis of the heart}
- A61B 8/0841: {for locating instruments}
- A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 34/74: {Manipulators with manual electric input means}
- A61B 90/37: {Surgical systems with images on a monitor during operation}
- A61M 25/0105: {Steering means as part of the catheter or advancing means; Markers for positioning (systems for detection of markers A61B)}
- G05G 5/005: {for preventing unintentional use of a control mechanism (G05G5/28 takes precedence)}
- A61B 5/0046: {Arrangements of imaging apparatus in a room, e.g. room provided with shielding or for improved access to apparatus}
- A61B 5/7475: {User input or interface means, e.g. keyboard, pointing device, joystick}
- A61B 6/12: Arrangements for detecting or locating foreign bodies
- A61B 8/0883: {for diagnosis of the heart}
- A61B 2017/00022: {Sensing or detecting at the treatment site}
- A61B 2017/00044: {Sensing electrocardiography, i.e. ECG}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2034/742: {Joysticks}
- A61B 2090/374: {NMR or MRI}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B 2090/3762: {using computed tomography systems [CT]}
- A61B 2090/378: {using ultrasound}
- A61B 2505/05: Surgical care
- G05G 1/06: Details of their grip parts {(G05G1/10 takes precedence)}
- G05G 9/047: the controlling member being movable by hand about orthogonal axes, e.g. joysticks {(for switches H01H25/04)}
- G05G 2009/04744: {Switches}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)}
- G05G: CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY ("Bowden" or like mechanisms F16C1/10; gearings or mechanisms not peculiar to this purpose F16H; speed changing or reversing mechanisms for gearings conveying rotary motion F16H59/00 - F16H63/00)

## Abstract

An interlocking system for a joystick in a catheter procedure system includes a joystick configured to generate a first voltage output signal based on a linear activation of the joystick and a second voltage output signal based on a rotational activation of the joystick. A joystick cover is disposed over the joystick and includes an upper portion having an electrode plating on an inner surface of the upper portion and a lower portion having an inner surface. A capacitive touch detection circuit is coupled to the electrode plating of the upper portion of the joystick cover and is mounted on the inner surface of the lower portion of the joystick cover. The capacitive touch detection circuit is configured to detect a proximal change in capacitance in the electrode plating of the upper portion of the joystick cover and to generate a touch output signal to indicate whether a change in capacitance has been detected. A signal enable circuit is coupled to the joystick and the capacitive touch detection circuit and is configured to generate a linear enable voltage output signal and a rotational enable voltage output signal based on whether a change in capacitance has been detected.

## Claims

### Claim 1

An interlocking system for a joystick in a catheter procedure system, the interlocking system comprising:
a joystick configured to generate a first voltage output signal based on a linear activation of the joystick and a second voltage output signal based on a rotational activation of the joystick;
a joystick cover disposed over the joystick and comprising an upper portion having an electrode plating on an inner surface of the upper portion and a lower portion having an inner surface;
a capacitive touch detection circuit coupled to the electrode plating of the upper portion of the joystick cover, the capacitive touch detection circuit mounted on the inner surface of the lower portion of the joystick cover and configured to detect a proximal change in capacitance in the electrode plating of the upper portion of the joystick cover and to generate a touch output signal to indicate whether a change in capacitance has been detected; and
a signal enable circuit coupled to the joystick and the capacitive touch detection circuit, the signal enable circuit configured to generate a linear enable voltage output signal and a rotational enable voltage output signal based on whether a change in capacitance has been detected.

### Claim 2 (depends on 1)

An interlocking system according to claim 1, wherein the joystick is an analog joystick.

### Claim 3 (depends on 1)

An interlocking system according to claim 1, wherein the capacitive touch detection circuit is coupled to the electrode plating of the upper portion of the joystick cover using a conductor mounted to the joystick cover using a conductive epoxy.

### Claim 4 (depends on 1)

An interlocking system according to claim 1, wherein the signal enable circuit is coupled to the capacitive touch detection circuit using a communication link configured to provide a supply voltage to the capacitive touch detection circuit.

### Claim 5 (depends on 4)

An interlocking system according to claim 4, wherein the communication link is further configured to provide a ground voltage to the capacitive touch detection circuit.

### Claim 6 (depends on 1)

An interlocking system according to claim 1, wherein the signal enable circuit receives a zero velocity reference voltage input.

### Claim 7 (depends on 6)

An interlocking system according to claim 6, wherein the linear enable voltage output signal is equal to the zero velocity reference voltage when a change in capacitance is not detected by the capacitive touch detection circuit.

### Claim 8 (depends on 6)

An interlocking system according to claim 6, wherein the rotational enable voltage output signal is equal to the zero velocity reference voltage when a change in capacitance is not detected by the capacitive touch detection circuit.

### Claim 9 (depends on 1)

An interlocking system according to claim 1, wherein the linear enable voltage output signal is equal to the first voltage output signal when a change in capacitance is detected by the capacitive touch detection circuit.

### Claim 10 (depends on 1)

An interlocking system according to claim 1, wherein the rotational enable voltage output signal is equal to the second voltage output signal when a change in capacitance is detected by the capacitive touch detection circuit.

### Claim 11 (depends on 1)

An interlocking system according to claim 1, further comprising a joystick actuated detection circuit coupled to the joystick and the signal enable circuit, the joystick actuated enable circuit configured to detect whether the joystick is in an actuated state and to generate a joystick actuated output signal.

### Claim 12 (depends on 11)

An interlocking system according to claim 11, wherein the signal enable circuit generates a control signal for an imaging system based on the touch output signal and the joystick actuated output signal.

### Claim 13 (depends on 12)

An interlocking system according to claim 12, wherein the joystick is used to control a percutaneous device in the catheter procedure system and the control signal causes the imaging system to begin acquiring images before actuation of the percutaneous device.

### Claim 14 (depends on 1)

An interlocking system according to claim 1, wherein the capacitive touch detection circuit is mounted on the inner surface of the lower portion of the joystick cover.

### Claim 15 (depends on 1)

An interlocking system according to claim 1, wherein the capacitive touch detection circuit is mounted on the inner surface of the lower portion of the joystick cover.

### Claim 16

A catheter procedure system comprising:
a bedside system comprising a percutaneous device and at least one drive mechanism coupled to the percutaneous device; and
a workstation coupled to the bedside system, the workstation comprising:
a joystick configured to generate a first voltage output signal based on a linear activation of the joystick and a second voltage output signal based on a rotational activation of the joystick;
a joystick cover disposed over the joystick and comprising an upper portion having an electrode plating on an inner surface of the upper portion and a lower portion having an inner surface;
a capacitive touch detection circuit coupled to the electrode plating of the upper portion of the joystick cover, the capacitive touch detection circuit mounted on the inner surface of the lower portion of the joystick cover and configured to detect a proximal change in capacitance in the electrode plating of the upper portion of the joystick cover and to generate a touch output signal to indicate whether a change in capacitance has been detected; and
a signal enable circuit coupled to the joystick and the capacitive touch detection circuit, the signal enable circuit configured to generate a linear enable voltage output signal and a rotational enable voltage output signal based on whether a change in capacitance has been detected.

### Claim 17 (depends on 16)

A catheter procedure system according to claim 16, wherein the signal enable circuit receives a zero velocity reference voltage input.

### Claim 18 (depends on 17)

A catheter procedure system according to claim 17, wherein the linear enable voltage output signal is equal to the zero velocity reference voltage when a change in capacitance is not detected by the capacitive touch detection circuit.

### Claim 19 (depends on 17)

A catheter procedure system according to claim 17, wherein the rotational enable voltage output signal is equal to the zero velocity reference voltage when a change in capacitance is not detected by the capacitive touch detection circuit.

### Claim 20 (depends on 16)

A catheter procedure system according to claim 16, wherein the linear enable voltage output signal is equal to the first voltage output signal when a change in capacitance is detected by the capacitive touch detection circuit.

### Claim 21 (depends on 16)

A catheter procedure system according to claim 16, wherein the rotational enable voltage output signal is equal to the second voltage output signal when a change in capacitance is detected by the capacitive touch detection circuit.

### Claim 22 (depends on 16)

A catheter procedure system according to claim 16, wherein the workstation further comprises a joystick actuated detection circuit coupled to the joystick and the signal enable circuit, the joystick actuated enable circuit configured to detect whether the joystick is in an actuated state and to generate a joystick actuated output signal.

### Claim 23 (depends on 22)

A catheter procedure system according to claim 22, wherein the signal enable circuit generates a control signal for an imaging system based on the touch output signal and the joystick actuated output signal.

### Claim 24 (depends on 23)

A catheter procedure system according to claim 23, wherein the joystick is used to control the percutaneous device and the control signal causes the imaging system to begin acquiring images before actuation of the percutaneous device.

### Claim 25 (depends on 16)

A catheter procedure system according to claim 16, wherein the capacitive touch detection circuit is mounted on the inner surface of the lower portion of the joystick.

### Claim 26 (depends on 16)

A catheter procedure system according to claim 16, wherein the capacitive touch detection circuit is mounted on the inner surface of the lower portion of the joystick cover.