TORQUE-BASED CATHETER ARTICULATION

摘要

A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter. The present embodiment further contemplates a robotic surgical method for the articulation of a steerable catheter wherein an input device is manipulated to communicate a desired catheter position to a control computer and motor torque commands are outputted to an instrument driver. The robotic system may further comprise a torque sensor. The robotic system may also incorporate closed loop feedback in which data from the torque measuring device is used to ensure that the torque in the motor or tension in the pull-wire closely matches the motor torque command from the control computer.

主权项

1. A robotic catheter system, configured to insert a catheter within an anatomical lumen of a patient, the catheter comprising a flexible shaft, an articulating distal tip, and an actuating pull-wire attached to the articulating distal tip and extending a length of the catheter, the robotic surgical system comprising:
a user input device configured to receive a commanded deflection of the distal articulating tip; an instrument driver having a motor; and a control system operatively connected to the input device and the instrument driver, the control system configured to translate the commanded deflection into a commanded motor torque value, wherein the motor is configured to apply the commanded motor torque value to adjust a tension in the pull-wire such that the articulating distal tip of the catheter reaches the commanded deflection, and wherein the robotic catheter system is further configured to detect a difference between the commanded motor torque value and an actual motor torque value and determine an adjustment needed to the commanded motor torque value to maintain a position of the articulating distal tip.