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US 12,752,086 B2Granted
Systems and methods for the control of multiple degrees-of-freedom bending and the bending length of a coaxially aligned robotically steerable guidewire
AssigneeGeorgia Tech Research Corporation
InventorsJaydev P. Desai, Yash Chetan Chitalia, Seokhwan Jeong
Life of this patent
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Abstract
The current disclosure generally relates to systems and methods of guidewire control, and in particular to systems and methods for the control of multiple degrees-of-freedom bending and the bending length of a coaxially aligned robotically steerable guidewire. The current disclosure is manually actuated, and in others, is automatically/robotically actuated.
Claims29
A system comprising:
- a path-providing guide comprising:
- an arrangement of guide elements;
- and
- at least one tendon:
- routed through an inner channel of an inner guide element of the arrangement of guide elements;
- and
- attached to an intermediate guide element of the arrangement of guide elements;
- wherein the inner guide element is rotationally displaceable within the intermediate guide element;
- and
- a control unit operably connected to the path-providing guide;
- wherein the path-providing guide and control unit are cooperatively configured to control:
- a curvature of at least a portion of the path-providing guide;
- and
- an arc length of at least a portion of the path-providing guide via a relative position of the inner guide element among a telescopic displacement of an arrangement of one or more of other guide elements different from the inner guide element.
11 more elements
A system comprising:
- a path-providing guide comprising an arrangement of guide elements;
- and
- a control unit operably connected to the path-providing guide;
- wherein the path-providing guide and control unit are cooperatively configured to simultaneously and independently control both:
- a curvature of at least a portion of the path-providing guide;
- and
- an arc length of at least a portion of the path-providing guide via a relative position of an inner guide element of the guide elements among a telescopic displacement of an arrangement of one or more of other guide elements different from the inner guide element.
4 more elements
A system comprising:
- a path-providing guide comprising:
- an arrangement of guide elements comprising at least a first guide element and a second guide element, the first guide element being rotationally displaceable within the second guide element;
- and
- at least one tendon:
- routed through an inner channel of the first guide element;
- and
- attached to the second guide element;
- and
- a control unit operably connected to the path-providing guide;
- wherein the path-providing guide and control unit are cooperatively configured to control:
- a curvature of at least a portion of the path-providing guide via activation of the tendon;
- and
- an arc length of at least a portion of the path-providing guide via a relative position of the first guide element among a telescopic displacement of an arrangement of one or more of other guide elements different from the first guide element.
10 more elements
A system comprising:
- a path-providing guide comprising:
- an arrangement of three or more sequential guide elements, the arrangement extending from a first of the sequential guide elements to a last of the sequential guide elements;
- and
- at least one tendon routed through an inner channel of the first of the sequential guide elements and attached to a second of the sequential guide elements;
- and
- a control unit operably connected to the path-providing guide;
- wherein:
- the second of the sequential guide elements has greater cross-sectional dimensions than the first of the sequential guide elements;
- the first of the sequential guide elements is rotationally and telescopically displaceable within at least a portion of the second of the sequential guide elements;
- each subsequent one of the sequential guide elements from a third of the sequential guide elements to the last of the sequential guide elements has greater cross-sectional dimensions than a respective previous one of the sequential guide elements;
- each respective previous one of the sequential guide elements is rotationally and telescopically displaceable within at least a portion of the respective subsequent one of the sequential guide elements;
- two or more of the sequential guide elements each have a stiffness feature comprising notches extending along at least a portion of a length of the respective sequential guide element;
- an interplay between the notches varies a stiffness along a length of the path-providing guide;
- and
- the path-providing guide and control unit are cooperatively configured to control:
- a curvature of at least a portion of the path-providing guide;
- and
- an arc length of at least a portion of the path-providing guide via a relative position of the first of the sequential guide elements among a telescopic displacement of an arrangement of one or more of other of the sequential guide elements different from the first of the sequential guide elements.
15 more elements
Dependencies are inferred from the claim text.