System for catheter manipulation
AssigneesMohammad Ali Tavallaei, Maria Drangova
InventorsMohammad Ali Tavallaei, Maria Drangova, Michael Konstantine Lavdas, Jeffrey Bax, Aaron Fenster
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Abstract
Embodiments relate to systems and methods for catheter manipulation. In particular, systems as described herein can be used to drive a catheter while maintaining control along three degrees of freedom. Systems as described herein can be used in a wide variety of settings, including MRI in which small, non-magnetic robot systems having motors that remain stationary during use are advantageous.
Claims11
A tele-robotic system for remote manipulation of a catheter having a catheter handle and a catheter plunger, the system comprising:
- a plunger actuator comprising:
- a first motor mechanically coupled to a winch, wherein the winch is further mechanically coupled to the catheter plunger, and
- a second motor mechanically coupled to a rotatable gantry, wherein the rotatable gantry is further coupled to a catheter housing configured to hold the catheter handle;
- and
- a compact catheter manipulator comprising:
- a third motor mechanically coupled to a first geartrain, and a fourth motor mechanically coupled to a second geartrain, wherein the first geartrain and the second geartrain cooperate to manipulate radial and axial movement of the catheter.
A method of manipulating a catheter having a catheter handle and a catheter plunger, the method comprising:
- providing a plunger actuator comprising:
- a first motor mechanically coupled to a winch, wherein the winch is further coupled to the catheter plunger, and
- a second motor mechanically coupled to a rotatable gantry, wherein the rotatable gantry is further coupled to a catheter housing configured to hold the catheter handle;
- and
- providing a compact catheter manipulator comprising:
- a third motor mechanically coupled to a first geartrain, and a fourth motor mechanically coupled to a second geartrain, wherein the first geartrain and the second geartrain cooperate to manipulate radial and axial movement of the catheter.
Dependencies are inferred from the claim text.