Robotic catheter system and methods

A robotically controlled guide instrument system, comprising:

• an elongate flexible guide instrument having a working lumen for receiving a therapeutic or diagnostic instrument;
• a drive assembly coupled to a proximal portion of the guide instrument;
• a master controller including a user interface configured to be manipulated to actuate the drive assembly and thereby move a distal portion of the guide instrument;
• a first display;
• and
• a controller configured to provide on the first display a graphically rendered image of the distal portion of the guide instrument overlaying an image of an interventional procedure site at which the distal portion of the guide instrument is positioned, wherein the user interface, in response to user manipulation, is configured to cause a corresponding movement of the rendered image relative to the image in the first display;
• wherein the rendered image comprises a graphical rendering of at least a length-wise portion of the elongate flexible guide instrument.

A method for performing an interventional procedure using a robotically controlled guide instrument system, the instrument system including a guide instrument having a working lumen for receiving a therapeutic or diagnostic instrument and the guide instrument being coupled to an instrument drive assembly, the method comprising:

• moving a user interface of a master controller to actuate the drive assembly and thereby move the guide instrument in a patient's body;
• determining a predicted location of the guide instrument using kinematic and mechanical relationships of the instrument system and the relative movement of the user interface;
• determining an actual location of the guide instrument following its movement in response to movement of the user interface;
• and
• comparing the determined predicted location with the determined actual location of the guide instrument.

A robotic medical instrument system, comprising:

• a master input device;
• a controller coupled to the master input device;
• and
• an instrument driver in communication with the controller, the instrument driver including
• a housing,
• a sheath instrument interface moveably-coupled to the housing and having a plurality of sheath instrument drive elements operatively coupled to one or more servo-motors fixedly-coupled to the sheath instrument interface and responsive to control signals generated, at least in part, by the master input device, and
• a guide instrument interface moveably-coupled to the housing and having a plurality of guide instrument drive elements operatively coupled to one or more servo-motors fixedly-coupled to the housing and responsive to control signals generated, at least in part, by the master input device,
• wherein the guide instrument interface and sheath instrument interface are independently movable relative to each other and to housing.

A robotic medical instrument system, comprising:

• a master input device;
• a controller coupled to the master input device;
• an instrument driver in communication with the controller, the instrument driver including a sheath instrument interface that translates along a first lead screw, and a guide instrument interface that translates along a second lead screw, wherein the sheath instrument interface and guide instrument interface are independently translatable along the respective first and second lead screws;
• an elongate flexible sheath instrument defining an axial lumen and comprising a sheath instrument base removably coupled to the sheath instrument interface;
• and
• an elongate flexible guide instrument positioned in the sheath instrument lumen, the guide instrument defining an axial lumen and comprising a guide instrument base removably coupled to the guide instrument interface,
• whereby a distal end portion of the guide instrument may be extended out of, and retracted back into, a distal opening of the sheath instrument in communication with the sheath lumen by one or both of a controlled translation of the sheath instrument interface along the first lead screw and a controlled translation of the guide instrument interface along the second lead screw.