Robotic catheter system including haptic feedback

A haptic feedback system for a robotic catheter system including a robotic catheter manipulator assembly including at least one removably mounted robotic catheter device cartridge and robotic sheath device cartridge, each cartridge being movable relative to the robotic catheter manipulator assembly, the haptic feedback system comprising:

• a user interface device for controlling an operation of the robotic catheter system;
• and
• a control system for evaluating at least one of a predetermined and a measured operational parameter of the haptic feedback system,
• wherein the user interface device provides haptic feedback to a user based on the evaluation by the control system,
• wherein the operational parameter includes at least one of a type, attachment, detachment, speed of movement, and axial and angular positions of at least one of the catheter and sheath device cartridges relative to the manipulator assembly.

A method of providing haptic feedback for a robotic catheter system including a robotic catheter manipulator assembly including at least one removably mounted robotic catheter device cartridge and robotic sheath device cartridge, each cartridge being generally linearly movable relative to the robotic catheter manipulator assembly, the method comprising:

• controlling an operation associated with at least one of the catheter and sheath device cartridges;
• evaluating at least one of a predetermined and a measured operational parameter of the robotic catheter system;
• and
• providing haptic feedback to a user based on the evaluation,
• wherein the operational parameter includes a tension of a steering wire for manipulating at least one of a catheter coupled with said catheter device cartridge and a sheath coupled with said sheath device cartridge.