Systems and methods for medical device a dvancement and rotation
AssigneeStereotaxis, Inc.
InventorsSteven Ferry, Jennifer Finney, Cam Habeger, Vincent Hackenmueller, Andrew Hall, Reed Houge, Scott Klimek, Michael Pikus
Life of this patent
Estimating the term…
Abstract
A system for moving an elongate medical device has at least one drive element for engaging and moving an elongate medical device. Various embodiments provide for moving the separate inner and outer elements of a telescoping medical device. Some systems also provide for the rotation of a rotatable distal element on a rotatable medical device or the rotation of extension element in a telescoping medical device.
Claims58
An advancer for moving at least one elongate medical device, the advancer comprising:
- a base having a slot with an open top and opposed sides therein;
- a pair of opposed wheels on opposite sides of the slot;
- a drive mechanism adapted to be connected to a motor, for turning at least one of the pair of opposed wheels;
- and
- a cover movably mounted on the base for movement between a loading position in which the top of the slot is open to allow a portion of the at least one elongate device to be inserted into the slot between the wheels, and a drive position in which the cover at least partially blocks the top of the slot to retain the at least one elongate device therein;
- each wheel comprising a circumferential drive member that engages the at least one device in the slot in the drive position, the drive member configured to grip but not damage the device in contact therewith.
An advancer for moving at least one elongate medical device, the advancer comprising:
- a drive base having a plurality of slots, each slot having an open top and opposed sides therein;
- a plurality of pairs of opposed wheels, each pair on opposite sides of a corresponding slot;
- a drive mechanism configured for connection to a plurality of motors, each motor configured to turn at least one wheel of a corresponding pair of opposed wheels;
- and
- for each pair of wheels, a cover movably mounted on the drive base for movement between a loading position in which the top of a slot is open to allow a portion of at least one elongate device to be inserted into the open slot between the corresponding pair of wheels, and a drive position in which the cover at least partially blocks the top of a slot to retain at least one elongate device therein.
A device motion control mechanism for moving at least one elongate medical device, the mechanism comprising:
- a drive base having a plurality of slots, each slot having an open top and opposed sides therein;
- a first plurality of pairs of opposed wheels, each pair on opposite sides of a corresponding slot;
- a drive mechanism configured for connection to a plurality of motors, each motor configured to turn at least one wheel of a corresponding pair of opposed wheels;
- a rotary sleeve into which the device may pass for tight engagement with the sleeve, which sleeve together with device may be axially rotated by means of engagement with a second plurality of opposed wheels, and
- for each first pair of wheels, a cover movably mounted on the drive base for movement between a loading position in which the top of a slot is open to allow a portion of at least one elongate device to be inserted into the open slot between the corresponding pair of wheels, and a drive position in which the cover at least partially blocks the top of a slot to retain at least one elongate device therein.
A device motion control system for moving at least one elongate medical device within a body, the system comprising:
- an advancer and axial rotation mechanism having a drive base with a plurality of slots, each slot having an open top and a pair of opposed wheels on opposed sides of the slot, each wheel pair, when in a drive position, configured to engage at least one elongate device placed lengthwise in the slot;
- a plurality of motors connected to the advancer and axial rotation mechanism, each motor configured to turn at least one wheel of a corresponding wheel pair;
- and
- a user-operable control system configured to control the motors.
A device motion control system for moving at least one elongate medical device within a body, the system comprising:
- an advancer and axial rotation mechanism having a drive base with a plurality of slots, each slot having an open top and a pair of opposed wheels on opposed sides of the slot, each wheel pair, when in a drive position, configured to engage at least one elongate device placed lengthwise in the slot;
- a plurality of motors connected to the advancer and axial rotation mechanism, each motor configured to turn at least one wheel of a corresponding wheel pair;
- a low-level electronic control system configured to control the motors;
- a computer that controls the low-level electronic control system, said computer being capable of translating user-defined high-level commands into low-level controls of actual device motion.
An advancer for moving at least one elongate medical device, the advancer comprising:
- a base having a slot with an open top and opposed sides therein;
- a pair of opposed wheels on opposite sides of the slot;
- a drive shaft operable by a motor to drive at least one of the pair of opposed wheels;
- a slot cover movable between a loading position in which the top of the slot is open to allow a portion of the at least one elongate device to be inserted into the slot between the wheels, and a drive position in which the cover at least partially covers the top of the slot;
- a hemostasis valve adapter fitting at an end of the slot;
- an adapter engagement wheel mounted on the drive shaft;
- and
- an adapter engagement gear configured to engage and turn a valve adapter in the fitting when turned by the adapter engagement wheel.
A method of moving a plurality of elongate medical devices having proximal and distal ends, the method comprising:
- inserting a portion of a first elongate device lengthwise into a first slot in a base of an advancer and between a first opposed pair of wheels;
- inserting a portion of a second elongate device lengthwise into a second slot in the base of the advancer and between a second opposed pair of wheels;
- engaging the first device between the first wheel pair and the second device between the second wheel pair;
- and
- selectively turning at least one wheel of at least one of the wheel pairs to move at least one of the devices.
A method of moving a plurality of elongate medical devices having proximal and distal ends, the method comprising:
- inserting a portion of a first elongate device lengthwise into a slot in a base of a first advancer and between a first opposed pair of wheels;
- inserting a portion of a second elongate device lengthwise into a slot in a base of a second advancer and between a second opposed pair of wheels;
- engaging the first device between the first wheel pair and the second device between the second wheel pair;
- and
- selectively turning at least one wheel of at least one of the wheel pairs to cause elongate movement of at least one of the devices.
A method of advancing a guide wire and a catheter in a body comprising:
- connecting a Y-adapter between a hemostasis valve fitting of an advancer and a proximal end of a guiding catheter positioned in the body;
- inserting a portion of the guide wire lengthwise into a first slot and common slot of the advancer and inserting a distal end of the guide wire through the Y-adapter into the guiding catheter;
- closing the first slot and using the advancer to drive the guide wire relative to the guiding catheter and into a desired position;
- placing a monorail of a rapid-exchange catheter over a proximal end of the guide wire;
- opening the first slot and manually advancing the monorail along the guide wire until a distal end of the monorail reaches the guide catheter;
- inserting a portion of the catheter lengthwise into a second slot of the advancer;
- and
- using the advancer to independently and selectively drive the guide wire and the catheter.
A method of advancing a guide wire and a balloon catheter in a body comprising:
- connecting a Y-adapter between a hemostasis valve fitting of a distal advancer and a proximal end of a guiding catheter positioned in the body;
- inserting the guide wire into a guide wire lumen of the balloon catheter;
- inserting a portion of the guide wire and balloon catheter lengthwise into a slot of the distal advancer and inserting a distal end of the guide wire and balloon catheter through the Y-adapter into the guiding catheter;
- using the distal advancer to drive the guide wire and balloon catheter relative to the guiding catheter and into a desired position;
- holding a proximal end of the balloon catheter stable while inserting a proximal portion of the guide wire lengthwise into a slot of a proximal advancer;
- and
- using the proximal advancer to independently and selectively drive the guide wire.
An advancer for independently advancing and retracting the inner and outer members of a telescoping catheter in which the inner member is slidably disposed inside the outer member, the advancer comprising a first pair of wheels for engaging and driving the outer member between them, the first pair of wheels compressing the outer member to engage and simultaneously drive the inner member with the outer member, and a second pair of wheels for engaging and driving the inner member, the second pair of wheels engaging and driving the inner member sufficiently to overcome the frictional engagement between the inner and outer members, without overcoming the frictional engagement between the outer member and the first pair of wheels.
A telescoping medical device and driver combination, the telescoping medical device comprising an outer sheath and an inner core slidably disposed in the outer sheath and telescopable from the distal end thereof, and the driver comprising a first drive that compressibly engages the outer sheath sufficiently to cause the outer sheath to frictionally engage the inner core therein to drive the inner core and outer sheath together, and a second drive that engages the inner core sufficiently to drive the inner core to overcome the inner and outer core without overcoming the compressible engagement between the first drive and the outer sheath.
A method of selectively driving a telescoping medical device comprising an outer sheath and an inner core slidably disposed in the outer sheath and telescopable from the distal end thereof, the method comprising:
- compressibly engaging the outer sheath with a first driver sufficient to cause the outer sheath to frictionally engage the inner core therein, and selectively simultaneously driving the inner core and the outer sheath so engaged;
- engaging the inner core with a second driver sufficiently to separately drive the inner core by overcoming the frictional engagement between the inner core and outer sheath;
- and separately driving the inner core with the second driver.
A method of selectively driving a telescoping medical device comprising an outer sheath and an inner core slidably disposed in the outer sheath and telescopable from the distal end thereof, the method comprising:
- compressibly engaging the outer sheath with a first driver sufficient to cause the outer sheath to frictionally engage the inner core therein, and selectively simultaneously driving the inner core and the outer sheath so engaged;
- engaging the inner core with a second driver sufficiently to separately drive the inner core by overcoming the frictional engagement between the inner core and outer sheath without overcoming the compressible engagement between the first driver and the outer sheath;
- and separately driving he inner core with the second driver.
A method of selectively driving a telescoping medical device comprising an outer sheath and an inner core slidably disposed in the outer sheath and telescopable from the distal end thereof, the method comprising:
- engaging the outer sheath with a first driver engaging the inner core with a second driver, operating the first and second drivers to drive the inner core and the outer sheath, and operating only the second driver to drive only the inner core.
Dependencies are inferred from the claim text.