Robotic drive for catheter

摘要

Apparatus for controlling a steerable invasive probe having a handle. The apparatus includes a platform and a jig, which is mounted on the platform and is configured to receive the handle. The jig includes at least a first gear that is positioned and shaped to rotate the handle about an axis of the probe and a second gear that is positioned and shaped to operate a control on the handle for deflecting a tip of the probe. A drive module includes one or more motors. A transmission is coupled to the drive module and to the jig so as to controllably rotate at least the first and second gears and to translate the platform along a direction parallel to the axis in order to advance and retract the probe.

主权项

1. Apparatus for controlling a steerable invasive probe having a handle, the apparatus comprising:
a platform; a jig having an internal cavity formed in a body of the jig, the jig being mounted on the platform and configured to receive the handle, and which comprises at least a first gear that is positioned within the internal cavity of the jig and shaped to rotate the handle about an axis of the probe and a second gear that is positioned within the internal cavity of the jig and shaped to operate a control on the handle for deflecting a tip of the probe; a drive module comprising at least first and second motors coupled to the first and second gears, respectively; and a transmission coupled to the drive module and to the jig, the transmission comprising at least first and second telescopic drive mechanisms configured to controllably rotate at least the first and second gears, a linear drive mechanism configured to translate the platform along a direction parallel to the axis in order to advance and retract the probe, and a coupling subassembly configured to mechanically couple the at least first and second telescopic drive mechanisms and the linear drive mechanism to the drive module.