| 摘要 |
A robotic catheter control system includes a proximity sensing function configured to generate a proximity signal that is indicative of the proximity of the medical device such as an electrode catheter to a nearest anatomic structure such as a cardiac wall. The control system includes logic that monitors the proximity signal during guided movement of the catheter to ensure that unintended contact with body tissue is detected and avoided. The logic includes a means for defining a plurality of proximity zones, such as a GREEN, YELLOW and RED designated zones, each having associated therewith a respective proximity (distance) criterion, with the RED zone being the nearest to the body tissue and the YELLOW zone being the next nearest to the body tissue. When the logic detects entry of the catheter into the RED zone, the logic terminates the operating power to the actuation units of the control system, to thereby stop movement of the catheter entirely. When the logic detects entry of the catheter into the YELLOW zone, the logic automatically reduces a pre-planned navigation speed of the catheter. |
