System for catheter manipulation
AssigneesMohammad Ali TAVALLAEI, Maria Ali DRANGOVA
InventorsMohammad Ali TAVALLAEI, Maria DRANGOVA, Michael Konstantine LAVDAS, Jeffrey BAX, Aaron FENSTER
Life of this patent
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Abstract
Embodiments relate to systems and methods for catheter manipulation. In particular, systems as described herein can be used to drive a catheter while maintaining control along three degrees of freedom. Systems as described herein can be used in a wide variety of settings, including MRI in which small, non-magnetic robot systems having motors that remain stationary during use are advantageous.
Claims12
A robot system for routing of a catheter having a catheter handle and a catheter plunger, the robot comprising:
- a plunger actuator configured to receive the catheter handle and a plunger actuation input and cause actuation of the catheter plunger;
- and
- a compact catheter manipulator remote from the plunger actuator, wherein the compact catheter manipulator is configured to receive a radial movement input and an axial movement input and manipulate the catheter radially and axially,
- wherein the compact catheter manipulator is configured to manipulate the catheter radially and axially while remaining substantially stationary.
A tele-robotic system for remote manipulation of a catheter having a catheter handle and a catheter plunger, the system comprising:
- a plunger actuator comprising:
- a first motor mechanically coupled to a winch, wherein the winch is further mechanically coupled to the catheter plunger, and
- a second motor mechanically coupled to a rotatable gantry, wherein the rotatable gantry is further coupled to a catheter housing configured to hold the catheter handle;
- and
- a compact catheter manipulator comprising:
- a third motor configured to operate a first geartrain, and
- a fourth motor configured to operate a second geartrain, wherein the first geartrain and the second geartrain cooperate to manipulate the radial and axial movement of the catheter.
A method of manipulating a catheter having a catheter handle and a catheter plunger, the method comprising:
- providing a plunger actuator comprising:
- a first motor mechanically coupled to a winch, wherein the winch is further coupled to the catheter plunger, and
- a second motor mechanically coupled to a rotatable gantry, wherein the rotatable gantry is further coupled to a catheter housing configured to hold the catheter handle;
- and
- providing a compact catheter manipulator comprising:
- a third motor configured to operate a first geartrain, and
- a fourth motor configured to operate a second geartrain, wherein the first geartrain and the second geartrain cooperate to manipulate the radial and axial movement of the catheter.
Dependencies are inferred from the claim text.