Robotic catheter system input device

摘要

An input device for a robotic medical system includes a handle configured to be rotatable about a center axis, and to be longitudinally displaceable along the center axis. The input device also includes a deflection control element disposed on the handle and configured to selectively control deflection of the distal end of a flexible medical instrument electrically coupled to the input device. Longitudinal displacement of the handle may cause or result in a corresponding longitudinal motion or deflection of the flexible medical instrument. Rotation of the handle may cause or result in a corresponding rotation of the deflection plane. Longitudinal displacement and rotation of the handle may be detected or sensed electronically.

主权项

1. An input device for a robotic medical system including a medical instrument with a distal end, the input device comprising the following:
a handle configured to be rotatable about an axis and to be longitudinally displaceable along the axis; a first sensor configured to detect axial rotation of the handle; a second sensor configured to detect longitudinal displacement of the handle along the axis; a deflection control element disposed on or about the handle and configured to communicate with an electronic control system to selectively control deflection of said distal end of said medical instrument within a deflection plane; and the electronic control system electrically coupled to the first sensor, the second sensor, and the deflection control element, the electronic control system configured to send control signals to the medical instrument, wherein longitudinal displacement of the handle results in the electronic control unit sending control signals to the medical instrument that result in a corresponding longitudinal motion of said medical instrument and rotation of the handle results in the electronic control unit sending control signals to the medical instrument that result in a corresponding rotation of the deflection plane.