# US 2014/0194897 A1 · Robotic catheter system input device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0194897 A1 - Document ID: US20140194897A1 - Status: Published application - Kind: A1 - Application number: 14/151,258 - Filed: 2014-01-09 - Published: 2014-07-10 - Earliest claimed: 2009-03-27 - Assignees: St. Jude Medical, Atrial Fibrillation Division, Inc. - Applicants: St. Jude Medical, Atrial Fibrillation Division, Inc. - Inventors: Mark B. Kirschenman; John A. Hauck; Jane J. Song - Web page: https://patentgrep.com/patent/US20140194897A1 ## CPC - A61B 34/30: Surgical robots - A61B 17/2909: {Handles} - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/742: {Joysticks} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract An input device for a robotic medical system includes a handle configured to be rotatable about a center axis, and to be longitudinally displaceable along the center axis. The input device also includes a deflection control element disposed on the handle and configured to selectively control deflection of the distal end of a flexible medical instrument electrically coupled to the input device. Longitudinal displacement of the handle may cause or result in a corresponding longitudinal motion or deflection of the flexible medical instrument. Rotation of the handle may cause or result in a corresponding rotation of the deflection plane. Longitudinal displacement and rotation of the handle may be detected or sensed electronically. ## Claims ### Claim at position 1 1-24. (canceled) ### Claim 25 An input device for a robotic medical system including a medical instrument with a distal end, the input device comprising the following: a handle configured to be rotatable about an axis and to be longitudinally displaceable along the axis; a first sensor configured to detect axial rotation of the handle; a second sensor configured to detect longitudinal displacement of the handle along the axis; a deflection control element disposed on or about the handle and configured to selectively control deflection of said distal end of said medical instrument within a deflection plane; and an electronic control system electrically coupled to the first sensor, the second sensor, and the deflection control element, the electronic control system configured to send control signals to the medical instrument, wherein longitudinal displacement of the handle results in a corresponding longitudinal motion of said medical instrument and rotation of the handle results in a corresponding rotation of the deflection plane. ### Claim 26 (depends on 25) The input device of claim 25, wherein said medical instrument includes at least one of a catheter and a sheath, and the input device includes a selection switch configured to permit selective control of the catheter, sheath, or catheter and sheath. ### Claim 27 (depends on 26) The input device of claim 26, further comprising one or more indicators indicating whether the handle is configured to control the catheter, the sheath, or both the catheter and sheath. ### Claim 28 (depends on 25) The input device of claim 25, wherein the input device is configured to return to an initial or centered position after displacement. ### Claim 29 (depends on 25) The input device of claim 25, wherein the electronic control system comprises at least one control parameter. ### Claim 30 (depends on 29) The input device of claim 29, wherein the at least one control parameter comprises a scaling value. ### Claim 31 (depends on 30) The input device of claim 30, wherein the scaling value is 1. ### Claim 32 (depends on 30) The input device of claim 30, wherein the electronic control system is configured to accept a user defined scaling value. ### Claim 33 (depends on 25) The input device of claim 25, wherein the velocity of the displacement of said medical instrument is proportional to the magnitude of the displacement of the at least one sensor. ### Claim 34 (depends on 25) The input device of claim 25, wherein the at least one sensor is at least one of a potentiometer, a motor, and an encoder. ### Claim 35 (depends on 25) The input device of claim 25, further comprising a switch that is configured to prevent unintentional control of said medical instrument. ### Claim 36 (depends on 35) The input device of claim 35, wherein the switch comprises an optical switch or a capacitive switch configured to detect the presence or absence of a portion of a hand in contact with at least a portion of the handle. ### Claim 37 (depends on 25) The input device of claim 25, wherein a first handle having a deflection control element of a first type may be selectively removed and replaced with a second handle having a deflection control element of a second type. ### Claim 38 (depends on 25) The input device of claim 25, further configured to provide haptic feedback to a user. ### Claim 39 (depends on 38) The input device of claim 38, wherein the input device is configured to provide at least one of heat, cold, a vibration or a force to a user through the handle. ### Claim 40 (depends on 38) The input device of claim 38, wherein haptic feedback is indicative of contact of the distal of a catheter or sheath with tissue within a treatment area. ### Claim 41 (depends on 38) The input device of claim 38, wherein haptic feedback is indicative of a physical property of the input device or an associated catheter or sheath. ### Claim 42 A device for controlling the robotic movement of a catheter, the device comprising the following: a catheter handle control input device including a first sensor configured to detect motion in a first manner and a second sensor configured to detect motion in a second manner; and a control system configured to receive a control signal from the first and second sensors and is configured to relate displacement of the catheter handle control input device in the first manner to a corresponding advancement or retraction of at least one of a catheter and a sheath, and displacement of the catheter handle control input device in the second manner to a corresponding deflection of the distal end of at least one of a catheter and a sheath along a deflection plane. ### Claim 43 (depends on 42) The device of claim 42, further comprising at least one rotary input device, wherein activation of the rotary input device results in a corresponding rotation of the deflection plane. ### Claim 44 (depends on 43) The device of claim 43, wherein rotation of the rotary input device results in a corresponding rotation of a distal end of at least one of a catheter and a sheath.