Catheter system with percutaneous device movement algorithm

摘要

A workstation configured for operating a robotic catheter system is provided. The workstation includes a user interface configured to receive a user input and a control system operatively coupled to the user interface for remotely and independently controlling movement of at least a first percutaneous device and a second percutaneous device. At least the first percutaneous device is moveable both for advancement and retraction along a longitudinal axis of the first percutaneous device and for rotation about a longitudinal axis of the first percutaneous device. The workstation also includes a device movement algorithm subsystem including at least one set of instructions. The control system controls the first percutaneous device based upon both the user input and the at least one set of instructions of the device movement algorithm subsystem.

主权项

1. A workstation configured for operating a robotic catheter system comprising:
a user interface configured to receive a first user input; a control system operatively coupled to the user interface, the control system configured to remotely control movement of at least a first percutaneous device and a second percutaneous device, wherein at least the first percutaneous device is moveable both for advancement and retraction along a longitudinal axis of the first percutaneous device and for rotation about the longitudinal axis of the first percutaneous device; and a device movement algorithm subsystem including at least one set of instructions stored in a memory, the at least one set of instructions defining at least one predetermined percutaneous device movement profile comprising a step distance, a step duration and a rest duration that define a series of advance pulsed axial steps for advancing the first percutaneous device along the longitudinal axis in a first direction; wherein the at least one set of instructions define a series of retract axial steps for retraction of the first percutaneous device along the longitudinal axis in a direction opposite the first direction of the first percutaneous device resulting from the advance pulsed axial steps, the retract axial steps being interspaced with the axial advance steps resulting in a net advancement of the percutaneous device along the longitudinal axis in the first direction; wherein the control system controls the first percutaneous device based upon both the first user input and the at least one predetermined percutaneous device movement profile of the device movement algorithm subsystem such that the movement of the first percutaneous device in accordance with the movement profile results in a series of pulsed axial steps.