# US 11,896,325 B2 · Systems and methods for a control station for robotic interventional procedures using a plurality of elongated medical devices > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,896,325 B2 - Document ID: US11896325B2 - Status: Granted - Kind: B2 - Application number: 17/597,411 - Filed: 2020-07-14 - Published: 2022-07-07 - Granted: 2024-02-13 - Earliest claimed: 2019-07-15 - Assignees: Corindus, Inc. - Applicants: Corindus, Inc. - Inventors: Andrew Clark; Eric Klem; Omid Saber; Saeed Sokhanvar; Per Bergman; Cameron Canale; Steven J. Blacker; Dino Kasvikis - Web page: https://patentgrep.com/patent/US11896325B2 ## CPC - A61B 34/30: Surgical robots - A61B 34/25: {User interfaces for surgical systems} - A61B 34/74: {Manipulators with manual electric input means} - B25J 13/065: {comprising joy-sticks} - G05G 1/01: Arrangements of two or more controlling members with respect to one another (double foot control, e.g. for instruction vehicles G05G1/34; mounting units comprising an assembly with two or more pedals G05G1/36) - A61B 2034/2059: {Mechanical position encoders} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/742: {Joysticks} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61B 2090/376: {using X-rays, e.g. fluoroscopy} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - 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 A system for controlling a catheter-based procedure system that includes a robotic drive configured to control rotational motion and axial motion of one or more elongated medical devices may include a body, a first control coupled to the body, and a second control coupled to the body. First control is configured to instruct the robotic drive to axially move one of the one or more elongated medical devices in response to manipulation of the first control by a user, and the second control is configured to instruct the robotic drive to rotate one of the one or more elongated medical devices in response to manipulation of the second control by the user, wherein the first control and the second control are positioned on the body so the first control and the second control can be simultaneously manipulated by a first digit and a second digit on a hand of the user. ## Claims ### Claim 1 An input system for controlling a catheter-based procedure system that includes a robotic drive, the input system comprising: a body; a first control coupled to the body and configured to instruct the robotic drive to axially move a first elongated medical device in response to manipulation of the first control by a user; and a second control coupled to the body and configured to instruct the robotic drive to rotate the first elongated medical device in response to manipulation of the second control by the user, wherein the first control and the second control are positioned on the body so that the first control and the second control can be simultaneously manipulated by a first digit and a second digit on a hand of the user. ### Claim 2 (depends on 1) An input system according to claim 1, further comprising a third control coupled to the body, wherein the first control and the second control are configured to instruct the robotic drive only if the third control is manipulated by the user. ### Claim 3 (depends on 2) An input system according to claim 2, wherein the first control is configured to instruct the robotic drive to axially move the first elongated medical device at a constant speed in response to manipulation of the first control by a user, and wherein the second control is configured to instruct the robotic drive to rotate the first elongated medical device by a discrete angle in response to manipulation of the second control by the user. ### Claim 4 (depends on 1) An input system according to claim 1, further comprising a third control coupled to the body and configured to map the first control and the second control to a second elongated medical device, wherein mapping the first control and the second control to the second elongated medical device results in configuration of the first control to instruct the robotic drive to axially move the second elongated medical device in response to manipulation of the first control by the user, and configuration of the second control to instruct the robotic drive to rotate the second elongated medical device in response to manipulation of the second control by the user. ### Claim 5 (depends on 4) An input system according to claim 4, further comprising a fourth control coupled to the body, wherein the first control and the second control are configured to instruct the robotic drive only if the fourth control is manipulated by the user. ### Claim 6 (depends on 5) An input system according to claim 5, further comprising a fifth control coupled to the body and configured to map the third control and the fourth control to a third elongated medical device, wherein mapping the third control and the fourth control to the third elongated medical device configures the third control to instruct the robotic drive to axially move the third elongated medical device in response to manipulation of the third control by the user and configures the fourth control to instruct the robotic drive to rotate the third elongated medical device in response to manipulation of the fourth control by the user. ### Claim 7 (depends on 1) An input system according to claim 1, further comprising a third control coupled to the body, wherein the first control and the second control are configured to instruct the robotic drive only if the third control is manipulated by the user. ### Claim 8 (depends on 1) An input system according to claim 1, wherein the first control is configured to instruct the robotic drive to axially move the first elongated medical device a continuous speed in response to manipulation of the first control by a user, and wherein the second control is configured to instruct the robotic drive to rotate the first elongated medical device by a discrete angle in response to manipulation of the second control by the user. ### Claim 9 (depends on 1) An input system according to claim 1, further comprising: a third control coupled to the body and configured to instruct the robotic drive to axially move a second elongated medical device in response to manipulation of the third control by a second hand of the user. ### Claim 10 (depends on 9) An input system according to claim 9, further comprising: a fourth control coupled to the body and configured to map the first control and the second control to a selected one of two or more elongated medical devices; and a fifth control coupled to the body and configured to map the third control to a second selected one of two or more elongated medical devices. ### Claim 11 (depends on 10) An input system according to claim 10, wherein the fourth control is configured to map the first control and the second control to the selected one of two or more elongated medical devices only while the fourth control is manipulated by the user, and wherein the fifth control is configured to map the third control to the second selected one of two or more elongated medical devices only while the fifth control is manipulated by the user. ### Claim 12 A method for an input system for controlling a catheter-based procedure system that includes a robotic drive, the method comprising: receiving a first manipulation by a first digit of a first hand of a user of a first control coupled to a body of the input system; receiving a second manipulation by a second digit of the first hand of the user of a second control coupled to the body of the input system; responsive to the first manipulation, instructing the robotic drive to axially move a first elongated medical device; and responsive to the second manipulation, instructing the robotic drive to rotate the first elongated medical device, wherein the first manipulation and the second manipulation occur simultaneously. ### Claim 13 (depends on 12) A method for an input system according to claim 12, further comprising: receiving a third manipulation of a third control coupled to the body, wherein the robotic drive is instructed only if the third manipulation is received simultaneously with the first manipulation and the second manipulation. ### Claim 14 (depends on 13) A method for an input system according to claim 13, wherein the first control is configured to instruct the robotic drive to axially move the first elongated medical device a continuous speed responsive to manipulation of the first control by a user, and wherein the second control is configured to instruct the robotic drive to rotate the first elongated medical device by a discrete angle responsive to manipulation of the second control by the user. ### Claim 15 (depends on 12) A method for an input system according to claim 12, further comprising: receiving a third manipulation of a third control coupled to the body; and responsive to the third manipulation, mapping the first control and the second control to a second elongated medical device. ### Claim 16 (depends on 15) A method for an input system according to claim 15, further comprising receiving a fourth manipulation of a fourth control coupled to the body, wherein the robotic drive is instructed only if the fourth manipulation is received simultaneously with the first manipulation and the second manipulation. ### Claim 17 (depends on 15) A method for an input system according to claim 15, wherein the first control and the second control are mapped to the second elongated medical device only while the third control is manipulated by the user. ### Claim 18 (depends on 12) A method for an input system according to claim 12, further comprising: receiving a third manipulation by a first digit of a second hand of a user of a third control coupled to a body of the input system; receiving a fourth manipulation by a second digit of the second hand of the user of a fourth control coupled to the body of the input system; responsive to the third manipulation, instructing the robotic drive to axially move a second elongated medical device; and responsive to the fourth manipulation, instructing the robotic drive to rotate the second elongated medical device, wherein the third manipulation and the fourth manipulation occur simultaneously. ### Claim 19 (depends on 12) A method for an input system according to claim 12, further comprising: receiving a third manipulation of a third control coupled to the body, wherein the robotic drive is instructed only if the third manipulation is received simultaneously with the first manipulation and the second manipulation. ### Claim 20 (depends on 12) A method for an input system according to claim 12, wherein the first control is configured to instruct the robotic drive to axially move the first elongated medical device a continuous speed responsive to manipulation of the first control by a user, and wherein the second control is configured to instruct the robotic drive to rotate the first elongated medical device by a discrete angle responsive to manipulation of the second control by the user. ### Claim 21 (depends on 12) A method for an input system according to claim 12, further comprising: receiving a third manipulation of a third control coupled to the body; and responsive to the third manipulation, instructing the robotic drive to axially move a second elongated medical device. ### Claim 22 (depends on 21) A method for an input system according to claim 21, further comprising: receiving a fourth manipulation of a fourth control coupled to the body; responsive to the fourth manipulation, mapping the first control and the second control to a third elongated medical device; receiving a fifth manipulation of a fifth control coupled to the body; and responsive to the fifth manipulation, mapping the third control to a fourth elongated medical device. ### Claim 23 (depends on 22) A method for an input system according to claim 22, wherein the first control and the second control are mapped to the third elongated medical device only while the fourth control is manipulated by the user, and wherein the third control is mapped to the second elongated medical device only while the fifth control is manipulated by the user. ### Claim 24 An input system for controlling a catheter-based procedure system that includes a robotic drive configured to control movement of an elongated medical device, the input system comprising: a first control configured to instruct the robotic drive to move the elongated medical device a discrete amount in a first degree of freedom in response to activation of the first control by a user; and a second control configured to instruct the robotic drive to continuously move the elongated medical device in the first degree of freedom in response to activation of the second control by the user. ### Claim 25 (depends on 24) An input system according to claim 24, wherein the first control is configured to instruct the robotic drive to move the elongated medical device linearly a discrete distance in response to activation of the first control by the user, and wherein the second control is configured to instruct the robotic drive to move the elongated medical device linearly at a constant speed in response to activation of the second control by the user. ### Claim 26 (depends on 25) An input system according to claim 25, wherein the first control is configured to instruct the robotic drive to change the discrete distance the elongated medical device is linearly moved in response to activation of the first control by the user, and wherein the second control is configured to instruct the robotic drive to change the constant speed at which the elongated medical device is linearly moved in response to activation of the second control by the user. ### Claim 27 (depends on 24) An input system according to claim 24, wherein the first control is configured to instruct the robotic drive to rotate the elongated medical device by a discrete angle in response to activation of the first control by the user, and wherein the second control is configured to instruct the robotic drive to rotate the elongated medical device at a constant speed in response to activation of the second control by the user. ### Claim 28 (depends on 27) An input system according to claim 27, wherein the first control is configured to instruct the robotic drive to change the discrete angle by which the elongated medical device is rotated in response to activation of the first control by the user, and wherein the second control is configured to instruct the robotic drive to change the constant speed at which the elongated medical device is rotated in response to activation of the second control by the user. ### Claim 29 (depends on 24) An input system according to claim 24, further comprising: a third control configured to instruct the robotic drive to move the elongated medical device in a second degree of freedom in response to activation of the third control by a user. ### Claim 30 (depends on 29) An input system according to claim 29, further comprising: a fourth control to map the first, second and third controls to one or more of a plurality of elongated medical devices. ### Claim 31 (depends on 24) An input system according to claim 24, further comprising: a fourth control to map the first and second controls to one of a plurality of elongated medical devices.