Active drives for robotic catheter manipulators

Abstract

An instrument driver comprises opposing rotatable gripping pads. Each of the gripping pads including an outer circular rim and a center hub. The pads are configured for applying a gripping force to an elongated member. The instrument driver further comprises shafts affixed to the center hubs, and a driver assembly configured for rotating at least one of the shafts, thereby causing the pads to rotate in opposite directions to linearly translate the gripped member. Each of the pads further includes a framework for partially collapsing in response to the gripping force, such that portions of the rims flatten to contact each other. Each rim has a concave gripping surface in order to facilitate vertical centering of the member between the pads. Each of the pads further includes a pair of upper and lower sprockets for interlacing with each other to prevent the elongated member from slipping out between the pads.

Description

FIELD OF INVENTION[0001]The invention relates robotic catheter manipulators, and more particularly to drive mechanisms for inserting / retracting catheters in such robotic catheter manipulators.BACKGROUND[0002]Minimally invasive procedures are preferred over conventional techniques wherein the patient's body cavity is open to permit the surgeon's hands access to internal organs. Thus, there is a need for a highly controllable yet minimally sized system to facilitate imaging, diagnosis, and treatment of tissues which may lie deep within a patient, and which may be accessed via naturally-occurring pathways, such as blood vessels, other lumens, via surgically-created wounds of minimized size, or combinations thereof.[0003]Currently known minimally invasive procedures for the treatment of cardiac, vascular, and other disease conditions use manually or robotically actuated instruments, which may be inserted transcutaneously into body spaces such as the thorax or peritoneum, transcutaneousl...

AI Technical Summary

Benefits of technology

The patent describes an instrument driver for a medical device that can securely hold and position an elongated member, such as a surgical tool, in a vertically centered position. The instrument driver includes a housing, a pair of lower arms, and a pair of upper arms. The lower arms pivot with the upper arms, and the instrument driver also includes a sterile drape that can be folded or collapsed when the upper arms move in one direction or unfolded when they move in the other direction. The technical effects of this design include improved stability and accuracy when positioning the elongated member, as well as a more convenient and sterile method of using the instrument driver in medical procedures.

Problems solved by technology

Robotically navigating a guide sheath, an inner catheter, and a guidewire through the anatomy of a patient, in contrast to robotically manipulating a guide sheath and inner catheter at a work site in which these devices have previously been manually delivered, increases the complexity of the robotic catheter system.

However, the flexibility of the leader catheter 4 may create issues when performing the robotic insertion actuation.

Although “passive” anti-buckling devices may be used to add lateral support to the leader catheter 4, thereby preventing the leader catheter 4 from buckling, these anti-buckling devices may be too cumbersome and time-consuming for medical personnel to install.

Furthermore, emulating a manual guidewire manipulation in a robotic catheter system is not a straightforward procedure.

For example, although the instrument driver 1 illustrated in FIG. 1 can be designed to robotically insert / retract the guidewire 5 relative to the leader catheter 4 in the same manner in which the instrument 1 uses to robotically insert / retract the leader catheter 4 relative to the guide sheath 3, such an arrangement may be impractical.

In particular, the incorporation of an additional carriage within the housing 2 will disadvantageously increase the length of the instrument driver 1, which must accommodate the telescoping assembly when assuming a maximum retraction between the leader catheter 4 and guide sheath 3 and between the guidewire 5 and leader catheter 4.

The increased size of the instrument driver 1 may be impractical and too big and heavy to be mounted on a table in a catheter lab environment.

Because medical personnel often exchange out guidewires that are as long as 300 cm in length, the use of a “passive” anti-buckling device not only may be tedious for medical personnel to install, the extended length of the anti-buckling device due to the length of the guidewire may render the anti-buckling device functionally impractical.

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