# US 10,441,374 B2 · System for catheter manipulation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,441,374 B2 - Document ID: US10441374B2 - Status: Granted - Kind: B2 - Application number: 15/517,629 - Filed: 2015-10-08 - Published: 2017-10-26 - Granted: 2019-10-15 - Earliest claimed: 2014-10-08 - Assignees: Mohammad Ali Tavallaei; Maria Drangova - Applicants: Mohammad Ali Tavallaei; Maria Drangova - Inventors: Mohammad Ali Tavallaei; Maria Drangova; Michael Konstantine Lavdas; Jeffrey Bax; Aaron Fenster - Web page: https://patentgrep.com/patent/US10441374B2 ## CPC - A61B 34/35: for telesurgery - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/30: Surgical robots - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback} - A61M 25/0113: {Mechanical advancing means, e.g. catheter dispensers} - A61M 25/0136: {Handles therefor} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2090/065: {for measuring contact or contact pressure} - A61M 2205/0216: Materials providing elastic properties, e.g. for facilitating deformation and avoid breaking - 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)} ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The system of claim 1, wherein the first geartrain comprises: a first drive gear mechanically coupled to the third motor; and a base gear mechanically coupled to the first drive gear and configured to rotate the catheter. ### Claim 3 (depends on 2) The system of claim 2, wherein the second geartrain comprises: a second drive gear mechanically coupled to the fourth motor; a ring gear mechanically coupled to the second drive gear; a plurality of planetary gears mechanically coupled to the ring gear; and a plurality of miter gears mechanically coupled to the plurality of planetary gears to cause rotation of a plurality of active rollers. ### Claim 4 (depends on 2) The system of claim 2, wherein the base gear is further coupled to the miter gears such that a rotational speed of the miter gears is proportional to the difference of a rotational speed of the base gear and a rotational speed of the ring gear. ### Claim 5 (depends on 1) The system of claim 1, wherein the compact catheter manipulator further comprises a plurality of idle rollers, and wherein the idle rollers are mechanically coupled to one another via a binding device, wherein the binding device is selected from the group consisting of an elastomeric device, a spring device, or a clamping device. ### Claim 6 (depends on 5) The system of claim 5, wherein the idle rollers are adapted to receive any catheter having a size within a range. ### Claim 7 (depends on 1) The system of claim 1, wherein the plunger actuator is made of non-magnetic materials. ### Claim 8 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. ### Claim 9 (depends on 8) The method of claim 8, further comprising providing the catheter, wherein the catheter is configured to be manipulated by the compact catheter manipulator. ### Claim 10 (depends on 9) The method of claim 9, and further comprising providing an elastomeric band that can be coupled with the compact catheter manipulator to hold the catheter. ### Claim 11 (depends on 10) The method of claim 10, wherein the elastomeric band and the compact catheter manipulator are configured to hold any catheter having a diameter of between about 3 Fr and about 15 Fr.