User input devices for controlling manipulation of guidewires and catheters
AssigneeHansen Medical, Inc.
InventorsJason Joseph Hsu, June Park, Ruchi Choksi Bhatt
Life of this patent
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Abstract
A robotic surgical system with an input device has two operational modes by which both steerable and non-steerable elongate instruments can be effectively controlled, such as steerable catheters which can move in at least three orthogonal axes and non-steerable guidewires which can move via axial insertion/retraction or axial rotation. The robotic surgical system may include mapping schemes and haptic feedback to enhance the functionality, operation and ease of use of the input device when controlling non-steerable elongate instruments such as guidewires.
Claims23
A robotic surgical system, comprising:
- at least one instrument driver configured to impart axial movement, axial rotation and articulation to an elongate instrument;
- at least one control computer electrically coupled to the instrument driver to actuate the instrument driver in response to electronic signals;
- at least one input device having an input shaft configured for movement in at least three dimensions and electrically coupled to the control computer to provide electronic signals to the control computer that corresponds to movement of the input device;
- wherein the input device is configured to operate in at least two operation modes, with one operation mode that permits movement of the input shaft in at least three dimensions and at least a second operation mode that limits the movement of the input shaft to two dimensions of movement within a plane.
A robotic surgical system, comprising:
- at least one control computer electrically coupled to an input device and configured to provide haptic signals to the input device;
- at least one input device configured to direct movement of an elongate instrument and configured to generate haptic effects in response to haptic signals communicated from the control computer;
- wherein the haptic effect comprises an increased resistive force against movement in a dimension correlated to rotation.
A robotic surgical system, comprising:
- at least one control computer electrically coupled to an input device and configured to provide haptic signals to the input device;
- at least one input device operational in two dimensions of movement and configured to direct movement of an elongate instrument and configured to generate haptic effects in response to haptic signals communicated from the control computer;
- wherein one of the dimensions of movement comprises two operational zones, said operational zones relate to broad and precise linear motion of the elongate instrument and the haptic effects comprise a detent on the border between the two zones.
Dependencies are inferred from the claim text.