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 surgical system, comprising:
an input device configured to receive a user commanded deflection of an elongate instrument and output desired elongate instrument positioning information, wherein the elongate instrument is positionable within an anatomical lumen of a patient and comprises a flexible shaft, an articulating distal tip, and an actuating pull-wire attached to the articulating distal tip, the pull-wire extending a length of the elongate instrument; a control system operatively connected to the input device, the control system configured to translate the desired elongate instrument positioning information into an output motor torque; and an instrument driver having a motor and operatively connected to the control system, wherein the motor is configured to rotate in accord with the output motor torque from the control system, and wherein rotation of the motor in accord with the output motor torque adjusts a tension in the pull-wire, such that the articulating distal tip of the elongate instrument reaches the commanded deflection independent of a curvature in the flexible shaft of the elongate instrument.