# US 11,998,290 B2 · Occlusion traversal robotic catheter system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,998,290 B2 - Document ID: US11998290B2 - Status: Granted - Kind: B2 - Application number: 17/444,571 - Filed: 2021-08-06 - Published: 2021-11-25 - Granted: 2024-06-04 - Earliest claimed: 2010-10-14 - Assignees: Corindus, Inc. - Applicants: Corindus, Inc. - Inventors: John Murphy; Tal Wenderow - Web page: https://patentgrep.com/patent/US11998290B2 ## CPC - A61B 34/30: Surgical robots - A61B 17/320758: {with a rotating cutting instrument, e.g. motor driven (A61B17/320725, A61B17/32075 and A61B17/320783 take precedence; for removing intra-ocular material A61F9/00763; endoscopic rotatable cutting instruments A61B17/32002)} - A61B 90/98: using electromagnetic means, e.g. transponders - A61M 25/0158: {with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials} - A61B 17/320725: {with radially expandable cutting or abrading elements (A61B17/32075 takes precedence)} - A61B 18/1492: {having a flexible, catheter-like structure, e.g. for heart ablation (A61B18/1477 takes precedence)} - A61B 2017/22042: {Details of the tip of the guide wire} - A61B 2017/22044: {with a pointed tip} - A61B 2017/22094: {for crossing total occlusions, i.e. piercing} - A61B 2018/0212: {using an instrument inserted into a body lumen, e.g. catheter} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - 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 A robotic catheter procedure system for performing a procedure to treat a vascular lesion including a bedside system and a remote workstation is provided. The bedside system includes a first percutaneous device including an end section, the end section structured to allow the first percutaneous device to create a bore through the vascular lesion. The bedside system includes a second percutaneous device. The bedside system also includes a first actuating mechanism configured to engage and to impart movement to the first percutaneous device and a second actuating mechanism configured to engage and to impart movement to the second percutaneous device. The remote workstation includes a user interface and a control system operatively coupled to the user interface and to the bedside system. The control system controlling the first actuating mechanism to cause movement of the first percutaneous device to create a bore through the lesion and the second actuating mechanism to cause movement of the second percutaneous device through the bore created by the first percutaneous device. ## Claims ### Claim 1 A method for operating a robotic catheter system during treatment of a vascular lesion within a patient comprising: providing a robotic catheter system, the robotic catheter system comprising: a first actuating mechanism configured to engage and to impart movement to a first percutaneous device; and a second actuating mechanism configured to engage and to impart movement to a second percutaneous device; and a control system controlling the first actuating mechanism and the second actuating mechanism, the control system configured to provide movement of the first percutaneous device and the second percutaneous device by operation of a single input control; receiving an operation of the single input control from a user during advancement of the first percutaneous device; and causing movement, responsive to the operation of the single input control, of both the first percutaneous device and the second percutaneous device such that the relative movement between the first percutaneous device and the second percutaneous device is substantially zero. ### Claim 2 (depends on 1) The method of claim 1, wherein the first actuating mechanism causes advancement of the first percutaneous device in response to the operation of the single input control and also causes rotation of the first percutaneous device during advancement of the first percutaneous device in response to the operation of the single input control. ### Claim 3 (depends on 2) The method of claim 2, wherein the first percutaneous device is rotated at a set rotation rate during advancement of the first percutaneous device. ### Claim 4 (depends on 2) The method of claim 2, wherein the first percutaneous device is advanced in the axial direction at a set rate in response to the operation of the single input control. ### Claim 5 (depends on 1) The method of claim 1, wherein the operation of the single input control controls the relative movement between the first percutaneous device and the second percutaneous device and one or more additional percutaneous devices. ### Claim 6 (depends on 1) The method of claim 1, wherein an end section of the second percutaneous device comprises a helical shaped section including a coil diameter and a coil angle, wherein the coil diameter and coil angle are changeable during the procedure. ### Claim 7 (depends on 6) The method of claim 6, wherein the robotic catheter system includes a third actuating mechanism configured to change the coil diameter and coil angle of the helical shaped section. ### Claim 8 (depends on 6) The method of claim 6, further comprising operating the single input control to change the coil diameter and the coil angle via the third actuating mechanism. ### Claim 9 (depends on 1) The method of claim 1, wherein the first percutaneous device is a guide wire and further wherein an end section of the guide wire comprises a plurality of helically disposed projections. ### Claim 10 (depends on 9) The method of claim 9, wherein the projections are expandable in the radial direction. ### Claim 11 A method for operating a robotic catheter system during treatment of a vascular lesion within a patient comprising: providing a robotic catheter system, the robotic catheter system comprising: a first actuating mechanism configured to engage and to impart movement to a first percutaneous device; and a second actuating mechanism configured to engage and to impart movement to a second percutaneous device; and a control system controlling the first actuating mechanism and the second actuating mechanism, the control system configured to provide movement of the first percutaneous device and the second percutaneous device by operation of a single input control; receiving an operation of the single input control from a user during advancement of the first percutaneous device; and causing movement, responsive to the operation of the single input control, of both the first percutaneous device and the second percutaneous device, wherein the operation of the single input control controls relative movement between the first percutaneous and second percutaneous devices based on the operation of the single input control, wherein the relative movement includes movement of the first percutaneous device at a selected rate relative to movement of the second percutaneous device. ### Claim 12 (depends on 11) The method of claim 11, wherein the movement of the first percutaneous device at a selected rate relative to movement of the second percutaneous device includes axial movement of the first percutaneous device at a first rate and axial movement of the first percutaneous device at a second rate. ### Claim 13 (depends on 11) The method of claim 11, wherein the movement of the first percutaneous device at a selected rate relative to movement of the second percutaneous device includes axial movement of the first percutaneous device and rotational movement of the first percutaneous device at a second rate. ### Claim 14 (depends on 11) The method of claim 11, wherein the operation of the single input control controls the relative movement between the first percutaneous device and the second percutaneous device and one or more additional percutaneous devices. ### Claim 15 (depends on 11) The method of claim 11, wherein an end section of the second percutaneous device comprises a helical shaped section including a coil diameter and a coil angle, wherein the coil diameter and coil angle are changeable during the procedure. ### Claim 16 (depends on 15) The method of claim 15, wherein the robotic catheter system includes a third actuating mechanism configured to change the coil diameter and coil angle of the helical shaped section. ### Claim 17 (depends on 15) The method of claim 15, further comprising operating the single input control to change the coil diameter and the coil angle via the third actuating mechanism. ### Claim 18 (depends on 11) The method of claim 11, wherein the first percutaneous device is a guide wire and further wherein an end section of the guide wire comprises a plurality of helically disposed projections. ### Claim 19 (depends on 18) The method of claim 18, wherein the projections are expandable in the radial direction. ### Claim 20 A method for operating a robotic catheter system during treatment of a vascular lesion within a patient comprising: providing a robotic catheter system, the robotic catheter system comprising: a first actuating mechanism configured to engage and to impart movement to a first percutaneous device; and a second actuating mechanism configured to engage and to impart movement to a second percutaneous device; and a control system controlling the first actuating mechanism and the second actuating mechanism, the control system configured to provide movement of the first percutaneous device and the second percutaneous device by operation of a single input control; receiving an operation of the single input control from a user during advancement of the first percutaneous device; and causing movement, responsive to the operation of the single input control, of both the first percutaneous device and the second percutaneous device, wherein the operation of the single input control causes axial movement of the first percutaneous and rotational movement of the second percutaneous devices based on the operation of the single input control.