# US 11,994,375 B2 · System and method for detecting a position of a guide catheter support > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,994,375 B2 - Document ID: US11994375B2 - Status: Granted - Kind: B2 - Application number: 18/187,179 - Filed: 2023-03-21 - Published: 2023-07-27 - Granted: 2024-05-28 - Earliest claimed: 2015-06-30 - Assignees: Corindus, Inc. - Applicants: Corindus, Inc. - Inventors: Nicholas Kottenstette; Peter Falb; Timothy Deignan; Per Bergman - Web page: https://patentgrep.com/patent/US11994375B2 ## CPC - G01B 11/14: for measuring distance or clearance between spaced objects or spaced apertures (G01B11/26 takes precedence; rangefinders G01C3/00) - A61B 5/1076: {for measuring dimensions inside body cavities, e.g. using catheters (A61B3/1005 takes precedence)} - 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) - G01B 11/002: {for measuring two or more coordinates} - A61B 5/0036: {including treatment, e.g., using an implantable medical device, ablating, ventilating} - A61B 6/503: {for diagnosis of the heart} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/2055: {Optical tracking systems} - 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 2090/061: {for measuring dimensions, e.g. length} - A61F 2/958: Inflatable balloons for placing stents or stent-grafts - A61M 39/105: {Multi-channel connectors or couplings, e.g. for connecting multi-lumen tubes (multi-channel connectors in general F16L37/56)} - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) - 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 A catheter procedure system includes a base and a robotic mechanism having a longitudinal axis and being movable relative to the base along the longitudinal axis. The robotic mechanism includes a robotic drive base including at least one drive mechanism, a cassette operatively secured to the robotic drive base, a rigid guide coupled to the cassette and fixed relative to the robotic mechanism and a flexible track having a distal end, a proximal end and a plurality of reflective sections. At least a portion of the flexible track is disposed within the rigid guide. The robotic mechanism also includes a position detector mounted to the robotic drive base and positioned beneath the flexible track. The position detector is configured to detect light reflected off of the reflective sections of the flexible track and to determine the position of the distal end of the flexible track based on the detected reflected light. ## Claims ### Claim 1 A catheter procedure system comprising: a base; a cassette operatively coupled to the base; a flexible track having a distal end and a proximal end, the flexible track secured to the cassette; a position detector configured to determine the position of the distal end of the flexible track relative to the cassette, and a controller configured to control movement of the cassette relative to the base based on the position of the distal end of the flexible track relative to the cassette. ### Claim 2 (depends on 1) A catheter procedure system according to claim 1, wherein the flexible track includes a plurality of reflective sections, and wherein the position detector is configured to detect light reflected off of the reflective sections of the flexible track and to determine the position of the distal end of the flexible track relative to the cassette based on the detected reflected light. ### Claim 3 (depends on 2) A catheter procedure system according to claim 2, wherein the position detector is positioned between the flexible track and the base. ### Claim 4 (depends on 2) A catheter procedure system according to claim 2, wherein the position detector comprises at least one optical detector. ### Claim 5 (depends on 4) A catheter procedure system according to claim 4, wherein the at least one optical detector comprises a light emitting diode (LED) and a photo diode. ### Claim 6 (depends on 4) A catheter procedure system according to claim 4, wherein the position detector further comprises a housing having at least one transparent section. ### Claim 7 (depends on 6) A catheter procedure system according to claim 6, wherein the at least one optical detector is configured to emit light that passes through the transparent section of the housing onto the flexible track and to detect light reflected off of the reflective sections of the flexible track. ### Claim 8 (depends on 2) A catheter procedure system according to claim 2, wherein the position detector comprises a first translational optical detector and a second translational optical detector. ### Claim 9 (depends on 8) A catheter procedure system according to claim 8, wherein the first translational optical detector and the second translational optical detector are located within the position detector to output a two-bit Gray Code. ### Claim 10 A catheter procedure system comprising: a base; a cassette coupled to the base and movable in a distal direction and a proximal direction relative to the base; a flexible track having a distal end and a proximal end, wherein at least a portion of the flexible track is disposed within the cassette; a position detector configured to determine the position of the distal end of the flexible track relative to the cassette; and a controller configured to limit movement of the cassette in the distal direction based on the position of the distal end of the flexible track relative to the cassette. ### Claim 11 (depends on 10) A catheter procedure system according to claim 10, wherein the cassette is fixed relative to a robotic mechanism. ### Claim 12 (depends on 10) A catheter procedure system according to claim 10, wherein the flexible track includes a plurality of reflective sections, and wherein the position detector is configured to detect light reflected off of the reflective sections of the flexible track and to determine the position of the distal end of the flexible track relative to the cassette based on the detected reflected light. ### Claim 13 (depends on 12) A catheter procedure system according to claim 12, wherein the detector is positioned between the flexible track and the base. ### Claim 14 A method, comprising: coupling a cassette to a base; providing a flexible track having a distal end and a proximal end, wherein at least a portion of the flexible track is secured to the cassette; providing a position detector positioned proximate the flexible track; moving the cassette relative to the base in a distal direction; during the movement of the cassette relative to the base, using the position detector to determine the position of the distal end of the flexible track relative to the cassette; and controlling the movement of the cassette relative to the base based on the position of the distal end of the flexible track relative to the cassette. ### Claim 15 (depends on 14) A method according to claim 14, wherein the flexible track includes a plurality of reflective sections, the method further comprising: detecting, by the position detector, light reflected off of the reflective sections of the flexible track and to determine the position of the distal end of the flexible track relative to the cassette based on the detected reflected light. ### Claim 16 (depends on 15) A method according to claim 15, wherein the position detector is positioned between the flexible track and the base. ### Claim 17 (depends on 15) A method according to claim 15, wherein the position detector comprises at least one optical detector. ### Claim 18 (depends on 17) A method according to claim 17, wherein the at least one optical detector comprises a light emitting diode (LED) and a photo diode. ### Claim 19 (depends on 17) A method according to claim 17, wherein the position detector further comprises a housing having at least one transparent section. ### Claim 20 (depends on 19) A method according to claim 19, wherein the at least one optical detector is configured to emit light that passes through the transparent section of the housing onto the flexible track and to detect light reflected off of the reflective sections of the flexible track.