Robotic catheter system

A method of determining the path of a robotically manipulated catheter within an anatomical model, the method comprising:

• determining a minimum transverse distance between multiple data points in the anatomical model and an anatomical feature;
• defining allowable catheter movement speeds as a function of a determined minimum transverse distance;
• registering the current position of a robotically manipulated catheter within the anatomical model;
• and
• specifying a destination point for the robotically manipulated catheter.

A method of automatically moving a robotically manipulated catheter within an anatomical model, the method comprising:

• determining at least one target location;
• determining a minimum transverse distance between a starting location and the at least one target location;
• defining allowable catheter movement speeds as a function of a determined minimum transverse distance;
• registering the current position of a robotically manipulated catheter within the anatomical model;
• and
• determining a preferred trajectory for the catheter between the starting location and the at least one target location to minimize total travel time.

A method of automatically moving a robotically manipulated catheter within an anatomical model, the method comprising:

• determining a target location;
• determining a minimum transverse distance between a starting location and the target location;
• registering the current position of a robotically manipulated catheter within the anatomical model;
• computing a projected travel time based on the starting location, the target location, and an allowable catheter speed function;
• and
• determining a preferred trajectory for the catheter between the starting location and the at least one target location.