# US 2019/0167953 A1 · Robotically shaping a guide wire tip > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0167953 A1 - Document ID: US20190167953A1 - Status: Published application - Kind: A1 - Application number: 16/142,215 - Filed: 2018-09-26 - Published: 2019-06-06 - Earliest claimed: 2013-03-15 - Assignees: Corindus, Inc. - Applicants: Corindus, Inc. - Inventors: Steven J. Blacker - Web page: https://patentgrep.com/patent/US20190167953A1 ## CPC - A61M 25/09041: {Mechanisms for insertion of guide wires} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/30: Surgical robots - A61B 34/35: for telesurgery - A61B 34/73: {Manipulators for magnetic surgery} - A61B 34/74: {Manipulators with manual electric input means} - A61B 46/10: specially adapted for instruments{, e.g. microscopes} - A61F 2/958: Inflatable balloons for placing stents or stent-grafts - A61M 25/0127: {Magnetic means; Magnetic markers} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/2059: {Mechanical position encoders} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61F 2/9517: {handle assemblies therefor} - A61M 2025/09108: {Methods for making a guide wire} - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) ## Abstract A robotic system for driving a guide wire into a human patient includes a robotic tool to change shape the tip of the guide wire and a robotic control system providing signals to operate the guide wire shaping tool. ## Claims ### Claim 1 A process for changing the shape of a tip of a guide wire with a robotic drive comprising: feeding a portion of a guide wire into a tip shaping mechanism; robotically operating the tip shaping mechanism to cause the tip of the guide wire to be plastically deformed such that it is directed away from a longitudinal axis of the guide wire; and robotically feeding the guide wire with the shaped tip into a vessel in a human patient. ### Claim 2 (depends on 1) The process of claim 1 wherein the guide wire is robotically fed to the tip shaping mechanism following a first path that does not lead into a guide catheter, then withdrawing the guide wire with a shaped tip into the robotic feeding mechanism and then robotically feeding the guide wire with the shaped tip along a second path into the guide catheter. ### Claim 3 (depends on 2) The process of claim 2 wherein a diverting mechanism is used to direct the guide wire into the first path. ### Claim 4 (depends on 1) The process of claim 1 wherein the tip shaping mechanism lies along a path that leads into the guide catheter. ### Claim 5 (depends on 1) The process of claim 1 wherein the tip shaping mechanism is provided with the path the guide wire is to follow in the vessel in the human patient. ### Claim 6 (depends on 1) The process of claim 1 wherein an image is taken of the shaped tip before it is fed to the guide catheter. ### Claim 7 (depends on 5) The process of claim 5 wherein the operator of the tip shaping mechanism is provided with the image. ### Claim 8 (depends on 6) The process of claim 6 wherein the operator is able to have the tip shaping mechanism change the initial shape after viewing the image. ### Claim 9 (depends on 5) The process of claim 5 wherein the image is provided to simulation software which is also provided with the path the guide wire is to follow in the vessel in the human patient and the software evaluates how well the shaped tip will function. ### Claim 10 (depends on 1) The process of claim 1 wherein the simulation software is provided with the path the guide wire is to follow in the vessel in the human patient and it instructs the tip shaping mechanism. ### Claim 11 (depends on 1) The process of claim 1 wherein the operation of the tip shaping mechanism involves moving the guide wire along its axis. ### Claim 12 (depends on 11) The process of claim 11 wherein the speed at which the guide wire is moved past the tip shaping mechanism is used to affect the tip shape. ### Claim 13 (depends on 11) The process of claim 11 wherein the angle between the guide wire and elements of the tip shaping mechanism is used to affect the tip shape. ### Claim 14 (depends on 11) The process of claim 11 wherein the tip shaping mechanism provides a channel to receive the guide wire, the configuration of the channel is changed to affect the tip shape and the guide wire is then withdrawn from the tip shaping mechanism. ### Claim 15 (depends on 15) The process of claim 15 wherein one of the elements of the tip shaping mechanism that defines the channel is includes elastomeric material that interacts with the guide wire. ### Claim 16 A system for providing a robotically driven guide wire with a shaped tip to a guide catheter comprising: a tip shaping mechanism which causes the tip of the guide wire to be plastically deformed such that it is directed away from the axis of the guide wire; and a robotic drive mechanism that feeds the guide wire to the tip shaping mechanism and feeds the guide wire with the shaped tip into a guide catheter. ### Claim 17 (depends on 16) The system of claim 16 wherein the robotic drive mechanism is able to advance the guide wire along a first path that leads to the tip shaping mechanism and along a second distinct path that leads to the guide catheter and includes a diverter mechanism which directs the guide wire into the first path. ### Claim 18 (depends on 17) The system of claim 17 wherein the tip shaping mechanism comprises a finger that presses the guide wire into a shaping tool. ### Claim 19 (depends on 18) The system of claim 18 wherein the portion of the shaping tool that interacts with the guide wire is elastomeric. ### Claim 20 (depends on 16) The system of claim 16 that also includes an imaging mechanism that creates an image of the shaped tip and provides it to the operator of the system.