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US 9,750,576 B2Granted
Variable drive force apparatus and method for robotic catheter system
AssigneeCorindus, Inc.
InventorsJohn Murphy, Tal Wenderow
Life of this patent
Estimating the term…
Abstract
A robotic system includes a bedside system comprising an axial drive mechanism and a rotational drive mechanism. An engagement mechanism engages and disengages a percutaneous device from at least one of the axial drive mechanism and rotational drive mechanism. A remote work station includes a user interface and a control system operatively coupled to the user interface. The control system is configured to communicate a control signal to the engagement mechanism to engage and disengage the percutaneous device from one of the axial drive mechanism and rotational drive mechanism.
Claims28
A robotic system comprising:
- a bedside system comprising:
- an axial drive mechanisms;
- a rotational drive mechanisms;
- an engagement mechanism to engage and disengage a percutaneous device from at least one of the axial drive mechanism and rotational drive mechanism;
- and
- a remote work station comprising:
- a user interface;
- and
- a control system operatively coupled to the user interface, the control system configured to communicate a control signal to the engagement mechanism to rapidly engage and disengage the percutaneous device from one of the axial drive mechanism and rotational drive mechanism and alternatively disengage the axial drive mechanism and rotational drive mechanism from the percutaneous device when a user provides an instruction through the user interface to both axially translate and rotate the percutaneous device.
6 more elements
A robotic system comprising:
- a bedside system comprising:
- an axial drive mechanism;
- a rotational drive mechanism;
- an engagement mechanism to engage and disengage a percutaneous device from at least one of the axial drive mechanism and rotational drive mechanism;
- and
- a remote work station comprising:
- a user interface;
- and
- a control system operatively coupled to the user interface, the control system configured to communicate a control signal to the engagement mechanism to engage and disengage the percutaneous device from one of the axial drive mechanism and rotational drive mechanism;
- wherein the control system is configured to communicate a control signal to the engagement mechanism to disengage the rotational drive mechanism from the percutaneous device when a user provides an instruction through the user interface to the axial drive mechanism to axially translate the percutaneous device.
7 more elements
A robotic system comprising:
- a bedside system comprising:
- an axial drive mechanisms;
- a rotational drive mechanisms;
- an engagement mechanism to engage and disengage a percutaneous device from at least one of the axial drive mechanism and rotational drive mechanism;
- and
- a remote work station comprising:
- a user interface;
- and
- a control system operatively coupled to the user interface, the control system configured to communicate a control signal to the engagement mechanism to engage and disengage the percutaneous device from one of the axial drive mechanism and rotational drive mechanism;
- wherein the control system is configured to communicate a control signal to the engagement mechanism to disengage the rotational drive mechanism from the percutaneous device when a user provides an instruction through the user interface to the axial drive mechanism to axially translate the percutaneous device;
- wherein the control system is configured to communicate a control signal to the engagement mechanism to disengage the axial drive mechanism from the percutaneous device when a user provides an instruction through the user interface to the rotational drive mechanism to rotate the percutaneous device;
- wherein the control system is configured to communicate a control signal to the engagement mechanism to alternatively disengage the axial drive mechanism and rotational drive mechanism from the percutaneous device when a user provides an instruction through the user interface to both axially translate and rotate the percutaneous device;
- and wherein the engagement mechanism engages and disengages the percutaneous device at least ten times per second.
10 more elements
A robotic system comprising:
- a bedside system comprising:
- an axial drive mechanism;
- a rotational drive mechanism;
- an engagement mechanism to engage and disengage a percutaneous device from at least one of the axial drive mechanism and rotational drive mechanism;
- and
- a remote work station comprising:
- a user interface;
- and
- a control system operatively coupled to the user interface, the control system configured to communicate a control signal to the engagement mechanism to engage and disengage the percutaneous device from one of the axial drive mechanism and rotational drive mechanism;
- and
- further including an axial sensor configured to detect the axial translation of the percutaneous device and communicate a signal to the control system representative of the speed of the axial translation of the percutaneous device, the control system configured to compare output of the axial sensor with the axial drive mechanism and determine whether the percutaneous device is slipping relative to the axial drive mechanisms;
- wherein the control system is configured to communicate a control signal to the engagement mechanism to disengage the rotational drive mechanism from the percutaneous device when a user provides an instruction through the user interface and control system to the axial drive mechanism to axially translate the percutaneous device where the percutaneous device is slipping relative to the axial drive mechanism.
9 more elements
A method for controlling a percutaneous device, comprising;
- providing a bedside system comprising, an axial drive mechanism, a rotational drive mechanism, and an engagement mechanism to engage and disengage a percutaneous device from at least one of the axial drive mechanism and rotational drive mechanism;
- providing a remote work station comprising a user interface and control system operatively coupled to the user interface, and
- providing a control signal from the control system to the engagement mechanism rapidly engaging and disengaging the percutaneous device from one of the axial drive mechanism and rotational drive mechanism, including alternatively disengaging and engaging the percutaneous device from the axial drive mechanism and rotational drive mechanism.
A method for controlling a percutaneous device comprising:
- providing a bedside system comprising, an axial drive mechanism, a rotational drive mechanism, and an engagement mechanism to engage and disengage a percutaneous device from at least one of the axial drive mechanism and rotational drive mechanism;
- providing a remote work station comprising a user interface and control system operatively coupled to the user interface, and
- providing a control signal from the control system to the engagement mechanism engaging and disengaging the percutaneous device from one of the axial drive mechanism and rotational drive mechanism, including disengaging the percutaneous device from the rotational drive mechanism when the axial drive mechanism is axially driving the percutaneous device.
A method for controlling a percutaneous device comprising:
- providing a bedside system comprising, an axial drive mechanism, a rotational drive mechanism, and an engagement mechanism to engage and disengage a percutaneous device from at least one of the axial drive mechanism and rotational drive mechanism;
- providing a remote work station comprising a user interface and control system operatively coupled to the user interface, and
- providing a control signal from the control system to the engagement mechanism engaging and disengaging the percutaneous device from one of the axial drive mechanism and rotational drive mechanism, including sensing the axial movement of the percutaneous device and comparing the movement of the axial drive mechanism to determine if the percutaneous device is slipping relative to the axial drive mechanism and including reducing the speed of a drive motor in the axial drive mechanism until the percutaneous device is no longer slipping relative to the axial drive mechanism.
Dependencies are inferred from the claim text.