ROBOTIC CATHETER SYSTEM AND METHODS

摘要

The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

主权项

1. A robotic medical system, comprising:
an instrument driver comprising a motor and an instrument interface, the instrument interface comprising a drive element operatively coupled to the motor; a steerable catheter comprising:
an elongate body defining a lumen,a control element extending through the elongate body to a distal end portion of the steerable catheter, andan instrument base operatively coupled to the instrument interface, the instrument base comprising a pulley operatively coupled to the control element and the drive element such that actuation of the drive element by the motor actuates the pulley causing actuation of the control element and the distal end portion; a controller having controls logic configured to operate the motor of the instrument driver; and an ultrasound transducer integrated in the steerable catheter and configured to acquire data, wherein the data acquired from the ultrasound transducer is used by the controller to control the motor of the instrument driver to actuate the distal end portion of the steerable catheter.