Robotic catheter systems and methods
AssigneeHansen Medical, Inc.
InventorsChristopher R. Carlson, Federico Barbagli
Life of this patent
Estimating the term…
Abstract
A robotic instrument system having an elongate sheath instrument and an elongate catheter instrument positioned within a working lumen of the sheath instrument is controlled by selectively operating an instrument driver coupled to the catheter instrument to place a control element extending through the catheter instrument in tension, and thereby articulate at least a distal end portion the catheter instrument, while automatically compensating for a torsional force exerted on the sheath instrument in a first direction due to articulation of the distal end portion of the catheter, by urging the sheath instrument to twist in a second direction opposite of the first direction.
Claims11
A method of controlling a robotic instrument system, the system comprising an elongate sheath instrument and an elongate catheter instrument positioned within a working lumen of the sheath instrument, the method comprising:
- operating an instrument driver coupled to the catheter instrument to place a control element extending through the catheter instrument in tension, and thereby articulate at least a distal end portion the catheter instrument;
- and
- automatically compensating for a torsional force exerted on the sheath instrument in a first direction due to articulation of the distal end portion of the catheter, by urging the sheath instrument to twist in a second direction opposite of the first direction.
A robotically controlled medical instrument system, comprising:
- a controller;
- an instrument driver operatively coupled to the controller;
- a sheath instrument operatively coupled to the instrument driver;
- and
- a catheter instrument operatively coupled to the instrument driver, wherein the catheter instrument is positioned in a working lumen of the sheath instrument, the catheter instrument having a control element extending there through for controllably articulating a distal end portion of the catheter instrument,
- wherein placing the control element in tension places a torsional force on the sheath instrument that urges the sheath instrument to twist in a first direction, and
- wherein the controller is configured to automatically compensate for the torsional force exerted on the sheath instrument by urging the sheath instrument to twist in a second direction opposite of the first direction through selected operation of the instrument driver.
A method of controlling a robotic instrument system, the system comprising an elongate flexible sheath instrument and an elongate flexible catheter instrument positioned within a working lumen of the sheath instrument, the method comprising:
- determining a length of a distal end portion of the catheter instrument that extends beyond a distal end opening of the sheath instrument;
- and
- selectively actuating one or more motors in an instrument driver to thereby cause articulation of a distal end portion of the catheter instrument extending through a distal end opening of the sheath instrument, wherein actuation of the motors is based at least in part on the determined length so that the resulting articulation of the distal end portion of the catheter instrument is scaled.
Dependencies are inferred from the claim text.