Systems and methods

Abstract

We describe an intravascular robotic system comprising: a first intravascular robotic instrument at a first location; and a second intravascular robotic instrument at a second location, the second location being different from the first location, wherein the first intravascular robotic instrument is communicatively coupled with the second intravascular robotic instrument, wherein a first function of the first intravascular robotic instrument is the same as a second function of the second intravascular robotic instrument, wherein the first intravascular robotic instrument comprises a first haptic feedback unit configured to generate first haptic feedback data as a function of a first movement of the first intravascular robotic instrument, the first movement being used to perform the first function, wherein the first intravascular robotic instrument is configured to send the first haptic feedback data to the second intravascular robotic instrument, and wherein the second intravascular robotic instrument is configured to mimic the first movement of the first intravascular robotic instrument based on the first haptic feedback data received from the first intravascular robotic instrument to perform the second function.

Description

TECHNICAL FIELD

[0001] The present invention generally relates to intravascular robotic systems and methods for using intravascular robotic systems in medical interventions, such as surgeries. BACKGROUND

[0002] Intravascular specialists, such as vascular (surgeons, (interventional) cardiologists, (interventional) radiologists, etc.) are trained, practiced, and develop intuitive skills to manipulate surgical tools. The mental image of the skills of the physician also evolves by linking the actions of the physician and the reaction of the surgical tools in the human anatomy. The vascular surgeon is usually guided by two senses: visual feedback from imaging devices and haptic feedback through the tools. The surgeon's perception-action-visualization abilities are finely tuned to a level where the surgeon's surgical decisions can be made even without observing the surgeon's gestures.

[0003] Currently, existing robotic systems focus exclusively on the imaging feedback, while neglecting the other source of information: the haptic feedback from the surgical tools. In contrast to the control of surgical instruments, the instrument control using joysticks and PC interfaces is closer to a video game controller and provides the vascular surgeon with less feedback information that is useful when performing a surgery manually.

[0004] Fig. 1 shows a schematic diagram of a system according to the prior art. In this example, an intravascular specialist stands near an X-ray beam generator and manipulates a (elongated) medical device. In some examples, the system can be operated by a technician and / or the intravascular specialist.

[0005] Fig. 2 shows a schematic diagram of another system according to the prior art. In this example, the robot is controlled by a joystick, a mouse (e.g. a dedicated 3D mouse), a keyboard, or a touch screen.

[0006] The prior art can be found, for example, in US 8,390,438 B2, which generally relates to a robotic catheter system including haptic feedback, US 2015 / 0173838 Al, which generally relates to a variable drive force apparatus and method for a robotic catheter system, and US 5,078,714 A, which generally relates to a method and apparatus for deploying a probe in a body, and a medical procedure for guiding and positioning a catheter probe in a body.

[0007] The inventors have realized that existing intravascular robotic systems are controlled through computer interfaces, which contrasts with the instruments (e.g. guide wires and catheters) that vascular surgeons are trained to use.

[0008] Therefore, there is a need for improving vascular (endovascular) robotic systems. SUMMARY

[0009] The application is defined in one or more independent claims. Preferred embodiments of the application are described in the dependent claims.

[0010] In a first aspect according to the present disclosure, an intravascular robotic system is provided, the intravascular robotic system comprising: a first intravascular robotic instrument, the first intravascular robotic instrument being located at a first location; and a second intravascular robotic instrument, the second intravascular robotic instrument being located at a second location, the second location being different from the first location, wherein the first intravascular robotic instrument is communicatively coupled with the second intravascular robotic instrument, wherein a first function of the first intravascular robotic instrument is the same (or similar) as a second function of the second intravascular robotic instrument, wherein the first intravascular robotic instrument comprises a first haptic feedback unit configured to generate first haptic feedback data in dependence on a first movement of the first intravascular robotic instrument, the first movement being used to perform the first function, wherein the first intravascular robotic instrument is configured to transmit the first haptic feedback data to the second intravascular robotic instrument, and wherein the second intravascular robotic instrument is configured to mimic the first movement of the first intravascular robotic instrument based on the first haptic feedback data received from the first intravascular robotic instrument to perform the second function.

[0011] The first location and the second location can comprise a first region and a second region, the first region and the second region being different from each other.

[0012] In some examples, the first intravascular robotic instrument can be used to treat or perform surgery on a patient located at the first location. The second intravascular robotic instrument can be controlled by a surgeon located at the second location.

[0013] Alternatively, the first intravascular robotic instrument can be controlled by a surgeon located at the first location. The second intravascular robotic instrument can be used to treat or perform surgery on a patient located at the second location.

[0014] The communicative coupling between the first intravascular robotic instrument and the second intravascular robotic instrument can be wired or wireless. For example, the wireless communication can occur over one or more networks.

[0015] The first and second functions may refer to corresponding purposes or tasks, which may be performed using a first endovascular robotic device and a second endovascular robotic device (or one or more components or parts of the first and second endovascular robotic devices). Functions may relate to a specific (type) of work or operation performed by or via the first and second endovascular robotic devices. Functions may relate to the function of a (elongated) medical device, such as, but not limited to: a guide wire and / or catheter and / or stent and / or percutaneous transluminal angioplasty balloon and / or thrombectomy device and / or coil and / or glue system. In some examples, the same first and second functions may relate to the same sensing function (using the sensing element and / or sensing component of the device) and / or actuation function (using the actuation element and / or actuation component and / or actuation gear of the device), while the hardware used for sensing and / or actuation may not necessarily be the same. In some examples, for two devices, force sensing may be the same, but the hardware may be different. Alternatively or concurrently, the hardware of the first endovascular robotic device and the second endovascular robotic device (or one or more components of the first endovascular robotic device and the second endovascular robotic device) may be identical. In some examples, the housing and / or mounting components and / or sterile devices and / or software and / or user interface and / or firmware may be different (or the same).

[0016] In some examples, haptic feedback may involve tactile feedback, which can be obtained through a first haptic feedback unit.

[0017] The transmission of first tactile feedback data from a first endovascular robotic device to a second endovascular robotic device can be performed via a wired connection or wired link between the first and second endovascular robotic devices. Alternatively, the first endovascular robotic device may include a transmitter (or transceiver), and the second endovascular robotic device may include a receiver (or transceiver), enabling the first tactile feedback data to be transmitted wirelessly (partially or entirely) from the first endovascular robotic device to the second endovascular robotic device.

[0018] In some examples, the second endovascular robotic device includes a drive unit configured to drive one or more components of the second endovascular robotic device to cause the second endovascular robotic device to mimic a first movement of the first endovascular robotic device based on first tactile feedback data received from the first endovascular robotic device.

[0019] In particular, according to exemplary embodiments of an intravascular robotic system as described herein enables sensing of the surgeon's gestures, i.e. sensing of manipulations of the respective instruments and / or surgical actions, and providing natural (or close to natural) haptic feedback (in particular tactile feedback) to enhance the surgeon's actions and to ensure sufficient control of the surgical instruments and surgical tools.

[0020] An intravascular robotic system according to exemplary embodiments as described herein enables controlling of an intravascular robotic instrument using a real intravascular instrument. In some examples, the surgeon will insert one or more intravascular instruments that are the same or similar (i.e. e.g. have the same functionality) to one or more intravascular instruments that are simultaneously inserted into the patient's body and / or used during the patient's surgery. Haptic feedback is generated to replicate the natural feeling of movement and resistance of the intravascular instrument.

[0021] Exemplary embodiments of an intravascular robotic system as described herein solve the (main) problems of existing robotic systems and open up the possibility for safer, faster and more effective minimally invasive intravascular interventions.

[0022] An advantage of an intravascular robotic system according to exemplary embodiments as described herein compared to existing systems is the use of the surgeon's perception- action-visualization capabilities finely tuned for haptic feedback and regular control of all intravascular instruments. This provides a significant advantage compared to existing systems that use only visual feedback and control by e.g. a joystick.

[0023] The principles according to exemplary embodiments of the present disclosure can be used for all standard intravascular instruments and avoid the need for expensive instruments including e.g. (elongated) medical devices such as but not limited to catheters and / or guide wires and / or stents and / or percutaneous transluminal angioplasty balloons and / or thrombectomy devices and / or coils and / or glue systems that are specific to a particular system.

[0024] In some examples of the intravascular robotic system, the second intravascular robotic instrument comprises a second haptic feedback unit configured to generate second haptic feedback data in dependence on a second movement of the second intravascular robotic instrument, the second movement for performing a second function, wherein the second intravascular robotic instrument is configured to transmit the second haptic feedback data to the first intravascular robotic instrument, and wherein the first intravascular robotic instrument is configured to mimic the second movement of the second intravascular robotic instrument based on the second haptic feedback data received from the second intravascular robotic instrument to perform the first function.

[0025] In some examples, the haptic feedback can involve tactile feedback, which can be obtained by the second haptic feedback unit.

[0026] The sending of the second haptic feedback data from the second intravascular robotic instrument to the first intravascular robotic instrument can be performed through a wired connection or wired coupling between the first intravascular robotic instrument and the second intravascular robotic instrument. Additionally or alternatively, the second intravascular robotic instrument can comprise a transmitter (or transceiver) and the first intravascular robotic instrument can comprise a receiver (or transceiver) such that the second haptic feedback data can be transmitted from the second intravascular robotic instrument to the first intravascular robotic instrument with radio waves (partially or entirely).

[0027] In some examples, the first intravascular robotic instrument comprises a drive unit configured to drive one or more components of the first intravascular robotic instrument to mimic the second movement of the second intravascular robotic instrument based on the second haptic feedback data received from the second intravascular robotic instrument.

[0028] The arrangement of the first and second haptic feedback units on the first and second intravascular robotic instruments, respectively, advantageously enables sensing of the gestures of the surgeon and provides natural (or close to natural) haptic feedback (in particular, tactile feedback) to enhance the actions of the surgeon and to ensure sufficient control over the surgical instruments and tools.

[0029] At the same time, further haptic feedback can be obtained through a haptic feedback unit arranged on an intravascular robotic instrument arranged at the place where the patient is treated, based on which the surgeon can, for example, feel the resistance from the parts of the patient subjected to the surgery. This enables to improve the precision when performing the surgery on the patient, since the surgeon can feel more subtly the resistance from those parts of the patient subjected to the surgery. At the same time, the forces applied by the surgeon to the intravascular robotic instrument he / she physically (i.e. directly) operates on can be applied in real time to the intravascular robotic instruments used to perform the surgery on the patient.

[0030] In some examples of the intravascular robotic system, the first intravascular robotic instrument comprises one or more first intravascular robotic instrument components, wherein the second intravascular robotic instrument comprises one or more second intravascular robotic instrument components, and wherein one of the first intravascular robotic instrument components is identical (e.g., functionally identical and / or identical in hardware and / or software used to perform such function) to a corresponding respective one of the second intravascular robotic instrument components. In some examples, one of the first intravascular robotic instrument components is identical to a corresponding respective one of the second intravascular robotic instrument components. In some examples, some or all of the first intravascular robotic instrument components are identical to a corresponding respective plurality of the second intravascular robotic instrument components. Providing components of the first intravascular robotic instrument and components of the second intravascular robotic instrument that are identical to each other enables particularly precise performance of a procedure, since precision is improved based on haptic feedback obtained by one of the intravascular robotic instruments and used to drive components of the other of the intravascular robotic instruments, which uses identical components having identical characteristics, such as, but not limited to, physical characteristics of one or more components of the intravascular robotic instruments (e.g., shape and / or weight and / or sensing and / or driving precision and / or driving speed and / or driving twistability and / or driving pushability and / or support features (such as of a diagnostic catheter)).

[0031] In some examples of the intravascular robotic system, the mimicking of the movement of the intravascular robotic instrument comprises driving the intravascular robotic instrument components. A driving unit can be arranged on the second intravascular robotic instrument (in addition, in some examples, on the first intravascular robotic instrument), by which one or more of the components of the second intravascular robotic instrument (and, in some examples, of the first intravascular robotic instrument), in particular all of the components, can be driven based on the first haptic feedback data (and, in some examples, based on the second haptic feedback data).

[0032] In some examples of the intravascular robotic system, the first intravascular robotic instrument comprises a first (elongated) medical device, such as but not limited to a catheter and / or a first guidewire and / or a first stent and / or a first percutaneous transluminal angioplasty balloon and / or a first thrombectomy device and / or a first coil and / or a first glue system. Additionally or alternatively, the second intravascular robotic instrument comprises a second (elongated) medical device, such as but not limited to a catheter and / or a second guidewire and / or a second stent and / or a second percutaneous transluminal angioplasty balloon and / or a second thrombectomy device and / or a second coil and / or a second glue system.

[0033] In some examples, the intravascular robotic system further comprises an optical detection unit arranged at the first location, and a visualization unit arranged at the second location, wherein the optical detection unit is configured to optically detect the first movement, to generate movement data based on the optical detection of the first movement, and to send the movement data to the visualization unit, and wherein the visualization unit is configured to visualize the first movement based on the movement data. In particular, this can advantageously enable the surgeon to see the movement of the first intravascular robotic instrument, and, in addition, in some examples, to see the part of the patient’s body where the surgery is performed and / or where the first intravascular robotic instrument interacts. Thus, the surgery can be performed more precisely not only based on the natural (or close to natural) feeling obtained due to the haptic feedback, but also based on the visualization of the first movement of the first intravascular robotic instrument.

[0034] In some examples of the intravascular robotic system, the visualization unit is configured to visualize at least a part of the first intravascular robotic instrument as a virtual extension of at least a part of the second intravascular robotic instrument. In some examples, the entire first intravascular robotic instrument can be visualized by the visualization unit. In particular with haptic feedback, visualizing at least a part of the first intravascular robotic instrument on the visualization unit as a virtual extension of at least a part of the second intravascular robotic instrument enables a very natural feeling, in particular when the surgeon located at the second location performs the surgery on the patient located at the first location, thereby improving the surgeon’s experience and the precision of the surgery.

[0035] In some examples of the intravascular robotic system, the first haptic feedback unit comprises a first linear force sensor configured to sense a first linear force acting on the first intravascular robotic instrument and / or a first rotational force sensor configured to sense a first rotational force acting on the first intravascular robotic instrument. Additionally or alternatively, in some examples of the intravascular robotic system, the second haptic feedback unit comprises a second linear force sensor configured to sense a second linear force acting on the second intravascular robotic instrument and / or a second rotational force sensor configured to sense a second rotational force acting on the second intravascular robotic instrument. Providing a combination of linear force sensors and rotational force sensors can advantageously enable precise acquisition of haptic feedback data. In the example implementations and embodiments outlined throughout the present disclosure, a combination of linear force sensing and rotational force sensing can be implemented in a single sensor.

[0036] In some examples, the intravascular robotic system is configured to determine (i) a relative force between the first linear force and the second linear force and / or (ii) a relative force between the first rotational force and the second rotational force, and to drive the first intravascular robotic instrument and / or the second intravascular robotic instrument to (i) adjust the first linear force to be equal to the second linear force and / or the second linear force to be equal to the first linear force and / or (ii) adjust the first rotational force to be equal to the second rotational force and / or the second rotational force to be equal to the first rotational force. Advantageously, adjusting the relative force between the plurality of forces enables driving one or both of the intravascular robotic instruments to improve the mimicking of the movement of one of the intravascular robotic instruments by the other of the intravascular robotic instruments.

[0037] In some examples, the respective forces cannot be adjusted to be equal, but can be adjusted to deviate from each other only by a predetermined threshold. Additionally or alternatively, the respective forces can be adjusted such that one force can be higher than the corresponding respective force by a predetermined factor.

[0038] In some examples, the intravascular robotic system is further configured to determine, based on the sensor reading of the first system force sensor and the sensor reading of the second system force sensor, whether to adjust the first system force to be equal to the second system force and / or whether to adjust the second system force to be equal to the first system force. Thus, example embodiments of the intravascular robotic system enable to interchangeably change the role of the master intravascular robotic instrument and the role of the slave intravascular robotic instrument in real time. In particular, this can enable to mimic the movement of the first intravascular robotic instrument by the second intravascular robotic instrument faster and to mimic the movement of the second intravascular robotic instrument by the first intravascular robotic instrument faster. In some examples, the respective forces cannot be adjusted to be equal, but can be adjusted to deviate from each other only by a predetermined threshold. Additionally or alternatively, the respective forces can be adjusted such that one force can be higher than the corresponding respective force by a predetermined factor.

[0039] In some examples of the intravascular robotic system, the sensors are configured to linearly move and / or rotationally move with the corresponding, respective intravascular robotic instruments and to generate an increasing and / or decreasing force on the corresponding, respective intravascular robotic instruments during the linear and / or rotational movement with the corresponding, respective intravascular robotic instruments. Thus, based on the respective haptic feedback data, the force can be applied to the respective intravascular robotic instruments in a precise manner.

[0040] In some examples of the intravascular robotic system, the first intravascular robotic instrument comprises a first rotational and axial motor gear for axially and rotationally driving the first intravascular robotic instrument, wherein the second intravascular robotic instrument comprises a second rotational and axial motor gear for axially and rotationally driving the second intravascular robotic instrument, and wherein the first rotational and axial motor gear is identical to the second rotational and axial motor gear (or, the first rotational and axial motor gear is similar to the second rotational and axial motor gear, as long as the respective rotational and axial motor gears do not deviate from each other in terms of force and acceleration beyond a predetermined threshold, the rotational and axial motor gears can be used to drive the respective intravascular robotic instruments). Using the same driving unit to drive the first intravascular robotic instrument and the second intravascular robotic instrument also improves the precision for mimicking the movement of one of the intravascular robotic instruments by the other one of the intravascular robotic instruments and / or the precision for adjusting the axial and / or rotational forces acting on the respective intravascular robotic instruments relative to each other.

[0041] In some examples, the intravascular robotic system further comprises a data storage adapted to store the (first and / or second) haptic feedback data. Thus, the haptic feedback data can be analyzed, e.g. after a surgery using the intravascular robotic system. In some examples, the haptic feedback data can be used to fine-tune another version of the system. Additionally or alternatively, the haptic feedback data can be used to create a learning console for residents and / or physicians, enabling virtual testing of new devices. Additionally or alternatively, the haptic feedback data can be used to train residents and / or physicians and / or artificial intelligence (AI), and to automatically perform some steps / processes.

[0042] In some examples, the data storage can be adapted to store the haptic feedback data together with (or not) visual data obtained by another medical instrument, such as an X-ray detector.

[0043] In some examples, the intravascular robotic system is further configured to retrieve the haptic feedback data from the data storage, and to drive the first intravascular robotic instrument to perform the first function and / or to drive the second intravascular robotic instrument to perform the second function. This can enable to use the haptic feedback data for training purposes of a surgeon and / or for performing the same procedure based on precisely defined operating parameters of the respective intravascular robotic instruments.

[0044] In some examples of the intravascular robotic system, the communicative coupling of the first intravascular robotic instrument to the second intravascular robotic instrument comprises a wireless communicative coupling.

[0045] In some examples, the intravascular robotic system further comprises one or more controllers, in particular one or more touchscreens and / or one or more monitors, wherein the one or more controllers are configured to indicate a state of the intravascular robotic system, e.g. one or both of the first intravascular robotic instrument and the second intravascular robotic instrument, and to output a (e.g. optical and / or acoustic) signal depending on the state of the intravascular robotic system. In some examples, the state comprises a value of a force applied to one or both of the first intravascular robotic instrument and the second intravascular robotic instrument, wherein the (e.g. optical and / or acoustic and or vibrational) signal is output if the force is above (or below) a threshold force. Additionally or alternatively, the signal indicates when a component of the intravascular robotic instrument, e.g. a different (elongated) medical device, needs to be replaced.

[0046] We also describe a (first) method comprising: providing an intravascular robotic system substantially as described herein, according to one or more example embodiments (in particular, according to any of the appended claims); driving (e.g. by a surgeon) a second intravascular robotic instrument; generating, by the first intravascular robotic instrument, first haptic feedback data (based on the first intravascular robotic instrument mimicking movements of the second intravascular robotic instrument); sending, by the first intravascular robotic instrument, the first feedback data to the second intravascular robotic instrument; and mimicking, by the second intravascular robotic instrument, movements of the first intravascular robotic instrument based on the first haptic feedback data.

[0047] We also describe a (second) method comprising: providing an intravascular robotic system substantially as described herein, according to an example embodiment (in particular, according to any of the appended claims); driving (e.g. by a surgeon) a second intravascular robotic instrument; generating, by the second intravascular robotic instrument, haptic feedback data; sending, by the second intravascular robotic instrument, the feedback data to the first intravascular robotic instrument; and mimicking, by the first intravascular robotic instrument, movements of the second intravascular robotic instrument based on the haptic feedback data.

[0048] The first and second methods described above can be combined.

[0049] We also describe a method of performing surgery on a patient using an intravascular robotic instrument according to any of the example embodiments as described herein, in particular using one or both of the first and second methods described above.

[0050] We also describe a medical intervention system comprising: a first medical instrument at a first location, and a second medical instrument at a second location, the second location being different from the first location, wherein the first medical instrument is communicatively coupled with the second medical instrument, wherein the first medical instrument is configured to perform a first type of intervention on a patient, wherein the second medical instrument is configured to perform a second type of intervention on the patient, wherein the first type and the second type are the same type of intervention or substantially the same type of intervention, wherein the first medical instrument comprises a first haptic feedback unit configured to generate first haptic feedback data in accordance with first movements of the first medical instrument, wherein the first medical instrument is configured to send the first haptic feedback data to the second medical instrument, and wherein the second medical instrument is configured to mimic the first movements of the first medical instrument based on the first haptic feedback data received from the first medical instrument.

[0051] The medical intervention system can include one or more features and components of the intravascular robotic system as described hereinabove and hereinafter.

[0052] We also describe a medical intervention system comprising: a first medical device for intervening in a patient, wherein the first medical device is located at a first position; and a second medical device for intervening in the patient, wherein the second medical device is located at a second position, different from the first position; wherein the first medical device and the second medical device are communicatively connected; and wherein the medical intervention system is configured to trigger movement of the second medical device when the first medical device moves. In some examples, the movement of the second medical device includes movement that mimics the movement of the first medical device.

[0053] Medical intervention systems may include one or more features and components of endovascular robotic systems as described above and below in this disclosure.

[0054] We also describe a method for intervening in a patient, the method comprising: providing an endovascular robotic system or medical intervention system according to any one or more exemplary embodiments of the exemplary embodiments described herein; operating a second endovascular robotic device or a second medical device respectively; and triggering movement of a first endovascular robotic device or a first medical device respectively to mimic the operation of the second endovascular robotic device or the second medical device respectively.

[0055] In this disclosure, the movement of an intravascular robotic device being mimicked by another intravascular robotic device may include driving one or both intravascular robotic devices such that the same force (or one force being greater than the other by a predetermined coefficient) acts on both intravascular robotic devices.

[0056] Furthermore, any reference to intervention throughout this disclosure may include, for example, surgery. Attached Figure Description

[0057] These and other aspects of the invention will now be further described by way of example only with reference to the accompanying drawings, wherein like reference numerals denote like parts, in which:

[0058] Figure 1 shows a schematic diagram of a system according to the prior art;

[0059] Figure 2 shows a schematic diagram of a system according to the prior art;

[0060] Figure 3 A schematic diagram of an intravascular robotic system according to some exemplary embodiments described herein is shown;

[0061] Figure 4 Another schematic diagram of an intravascular robotic system according to some example embodiments described herein is shown;

[0062] Figure 5 A schematic diagram showing a virtual incision according to some example embodiments described herein is shown;

[0063] Figure 6 A schematic diagram showing a virtual incision and a sensor according to some example embodiments described herein is shown;

[0064] Figure 7 A schematic diagram showing a sensor according to some example embodiments described herein is shown;

[0065] Figure 8 A flowchart of a method according to some example embodiments described herein is shown; and

[0066] Figure 9 A flowchart of a method according to some example embodiments described herein is shown. DETAILED DESCRIPTION

[0067] The present disclosure relates generally to intravascular robotic solutions. Systems and methods according to example embodiments as described herein can be used in the field of elongated medical devices, such as but not limited to guide wires and / or catheter systems for performing a therapeutic procedure, in particular for intravascular surgical methods and principles for guiding elongated medical devices, such as but not limited to guide wires and / or catheters with haptic feedback. Additionally or alternatively, the systems outlined above as well as in the following examples can use various (elongated) medical devices, such as but not limited to stents and / or percutaneous transluminal angioplasty balloons and / or thrombectomy devices and / or coil and / or glue systems.

[0068] Figure 3 A schematic diagram of an intravascular robotic system 100 according to some example embodiments described herein is shown.

[0069] In this example, a patient 103 is lying on a table 101. The patient 103 is subject to a surgery using an intravascular robotic instrument 102.

[0070] In this example, the intravascular robotic system 100 further comprises an optical detection unit 142 configured to optically detect movements of the intravascular robotic instrument 102 as well as a part of the patient 103 on which the surgery is performed by the intravascular robotic instrument 102.

[0071] In this example, the intravascular robotic instrument 102 comprises a rotational and axial motor gear 146 through which the intravascular robotic instrument 102 can be axially and rotationally driven. The rotational and axial motor gear 146 can be used to drive various components of the intravascular robotic instrument 102, in particular to drive the guidewire and catheter of the intravascular robotic instrument 102.

[0072] The intravascular robotic instrument 102 and the optical detection unit 142 are arranged at a first location 106, which is different from a second location 108 at which the surgeon 110 is operating.

[0073] In this example, the second intravascular robotic instrument 104 is arranged at the second location 108, whereby the surgeon 110 controls the intravascular robotic instrument 104.

[0074] In this example, the second intravascular robotic instrument 104 is identical to the first intravascular robotic instrument 102. However, in some other examples, the second intravascular robotic instrument 104 is similar to the first intravascular robotic instrument 102 (i.e. at least functionally identical).

[0075] In this example, the intravascular robotic instrument 104 comprises a rotational and axial motor gear 144 through which the second intravascular robotic instrument 104 can be axially and rotationally driven. The rotational and axial motor gear 144 can be used to drive various components of the second intravascular robotic instrument 104, in particular to drive the guidewire and catheter of the intravascular robotic instrument 104.

[0076] In this example, the intravascular robotic system 100 further comprises a visualization unit 140 arranged at the second location 108. The optical detection unit 142 is configured to optically detect movements of the first intravascular robotic instrument 102 (and of a portion of the patient 103 at which a procedure is performed by the first intravascular robotic instrument 102), to generate movement data based on the optical detection of the movements, and to transmit the movement data to the visualization unit 140. The visualization unit 140 is configured to visualize the movements of the first intravascular robotic instrument 102 (and of the portion of the patient 103 at which a procedure is performed by the first intravascular robotic instrument 102) based on the movement data.

[0077] The surgeon can manipulate the second intravascular robotic instrument 104 (e.g., catheter and / or guidewire of the second intravascular robotic instrument), where the movement is mimicked by the first intravascular robotic instrument 102 to reach the desired area of the patient's body. The surgeon can get haptic feedback of the first intravascular robotic instrument 102 when the first intravascular robotic instrument 102 passes through or hits a particular area of the patient's body.

[0078] The intravascular robotic system includes two modules (two intravascular robotic instruments) with linear force sensors and rotational force sensors (in some examples, linear force sensing and rotational force sensing are provided by a single (integrated) sensor), which are capable of sensing surgical actions, providing sufficient haptic (particularly tactile) feedback for rotational and linear movements of the guidewire and catheter.

[0079] Example implementations of the present disclosure provide sensors and systems that enable a surgeon to have haptic feedback of a catheter and / or guidewire while being remote from the patient. The sensors can use the principle of automatic balancing: the opposing forces at the two ends of the catheter and guidewire can be sensed, and the same forces can be reproduced by the drive system at the other end (i.e., at the other intravascular robotic instrument). The master and slave modules can have the same sensor system, which is mounted for linear and rotational movements in the absence of compensating friction or with minimal compensating friction, and thus the master and slave modules can be manipulated in the absence of / with very little additional resistance caused by the system. Thus, the system enables a surgeon to control the intravascular robotic instruments using a passive surgical tool with near-natural tactile sensation.

[0080] In some examples, the same force acting on one of the intravascular robotic instruments can be reproduced at the other of the intravascular robotic instruments. In some examples, the force acting on one of the intravascular robotic instruments can be similarly reproduced at the other of the intravascular robotic instruments. In some examples, the force acting on one of the intravascular robotic instruments can be scaled up (or down) based on a predetermined coefficient at the other of the intravascular robotic instruments according to the operator's preference.

[0081] The master and slave modules (i.e., the intravascular robotic instruments or particular component(s) of the intravascular robotic instruments) can transition roles from master to slave and from slave to master in real-time according to a force balance between sensor readings of the sensors of the modules and the forces acting on the respective sensors.

[0082] Figure 4 Another schematic diagram of an intravascular robotic system 400 according to some example embodiments described herein is shown.

[0083] In this example, the first intravascular robotic device 102 includes a catheter 116, which includes a guide catheter 118.

[0084] In this example, the first intravascular robotic device 102 also includes a guide wire 114 coupled to a sensor 112. The sensor 112 is configured to detect axial and rotational forces acting on it via the guide wire 114. The forces detected by the sensor and / or the force 404 generated by the sensor can be used to generate tactile feedback data. Throughout this disclosure, additionally or alternatively, in order to sense force, the sensor can generate one or more (predetermined) forces, particularly to generate some kind of resistance (a sensation of resistance).

[0085] In this example, the first endovascular robotic device 102 is connected to a controller 130 via line 128. The controller controls communication between the first endovascular robotic device 102 and the second endovascular robotic device 104. Specifically, the controller 130 is configured to provide tactile feedback data from the first endovascular robotic device 102 to the second endovascular robotic device 104, and to provide tactile feedback data from the second endovascular robotic device to the first endovascular robotic device. In this example, the second endovascular robotic device 104 is connected to the controller 130 via line 129.

[0086] In some examples, one or both of the first endovascular robotic device 102 and the second endovascular robotic device 104 are wirelessly coupled to the controller 130. In some examples, a direct wired or wireless communication path may be provided between the first endovascular robotic device 102 and the second endovascular robotic device 104 (without a controller along the communication path).

[0087] In this example, surgeon 110 is manipulating a second endovascular robotic instrument 104, which is positioned at a second location 108. In this example, surgeon 110 manipulates catheter 124 via guide wire 122.

[0088] The second endovascular robotic device 104 includes a sensor 120 configured to detect axial and rotational forces acting on it. The forces detected by the sensor and / or the force 406 generated by the sensor can be used to generate tactile feedback data.

[0089] In this example, the second intravascular robotic instrument 104 is disposed on a table 126.

[0090] In this example, the second intravascular robotic instrument 104 includes a data store 402 adapted to store haptic feedback data. In this example, the data store 402 is adapted to store haptic feedback data generated by one or both of the sensors 112 and 120. It will be appreciated that the data store 402 can be disposed in the first intravascular robotic instrument 102. Alternatively, the data store 402 can be disposed at a location different from the first location 106 and the second location 108. It will be appreciated that components of the data store 402 can be disposed at different locations, including but not necessarily limited to the first location 106 and the second location 108. The haptic feedback data (e.g., tactile feedback data) can be stored in the data store 402 and can be used at a later time for training purposes of the surgeon.

[0091] As outlined above, the surgeon 110 is not located in the main operating room (in an adjacent room, or even another place or country; in some cases, both instruments can be located in the same room), and the surgeon manipulates the catheter 124 (exactly the same (or similar) as the catheter used on / in the patient 103) and the guidewire 122 (exactly the same (or similar) as the guidewire used on / in the patient 103), and the surgeon has the same tactile feedback (reaction force feedback) (or generally, haptic feedback) from the catheter and guidewire as if he / she were standing next to the patient 103 in the operating room.

[0092] The same (or similar) robotic guidance (rotary and axial rotary motor gears) and sensing systems can be disposed in the first intravascular robotic instrument 102 and the second intravascular robotic instrument 104, respectively, which communicate with each other via a cable communication channel (or a wireless communication channel) 128 / 129 and through a controller 130.

[0093] While elongate medical devices are shown (with one medical device being entirely or partially within the other), it will be appreciated that one or more of the medical devices can have other shapes as shown and described in this disclosure.

[0094] In some examples, the intravascular robotic system 400 includes an optical detection unit at the location 106 and a visualization unit at the location 108, as outlined above with respect to the intravascular robotic system 100 shown in Figure 3

[0095] Figure 5 ​A diagram showing a virtual cut 502 is shown in accordance with some example embodiments described herein.

[0096] The first intravascular robotic instrument 102 and the second intravascular robotic instrument 104 are connected together, which provides the surgeon with a sense of touch feedback or (typically) haptic feedback, but only with a virtual connection between the end of the guide wire in the patient's body and the end of the catheter in the patient's body in the surgeon's hand.

[0097] For example, in a virtual cut of an intravascular robotic instrument, a wire can be inserted into a patient's body, a surgeon can be sitting in another room (or typically, in another location), and feel as if he is inserting the same wire into the patient's body with real-time resistance.

[0098] In Figure 5 The catheters 116 and 124 (and / or the guide wires 114 and 122) are shown as being present in a virtual cut. At this cut, there is a communication line (either a wireless communication line or a wired communication line based on the wires 128 and 129), and the controller 130 is configured to make a virtual connection between the catheter 116 and the catheter 124 (and / or the guide wire 114 and the guide wire 122), thereby providing a sense of haptic feedback as if the catheters and / or guide wires are continuous.

[0099] Figure 6 A diagram showing a virtual cut and a sensor is shown in accordance with some example embodiments described herein.

[0100] In this example, the catheter 116 and / or the guide wire 114 can move in two directions: linearly (in the forward and backward direction) and rotationally (in the clockwise and / or counterclockwise direction). Similarly, in this example, the catheter 124 and / or the guide wire 122 can move in two directions: linearly (in the forward and backward direction) and rotationally (in the clockwise and / or counterclockwise direction).

[0101] Figure 7 A diagram showing a sensor 120 and force sensing is shown in accordance with some example embodiments described herein.

[0102] In this example, the sensor 120 detects the linear force and the rotational force of the catheter or guide wire in real time on one end. The sensor 120 can move linearly and rotationally with the catheter and guide wire, while the sensor 120 can detect and generate more or less force 706 on the catheter or guide wire. This can equally apply to the sensor 112.

[0103] For a complete system, two sensors that are identical to each other (or at least similar to each other, i.e., at least functionally identical to each other) are used (one sensor in the first intravascular robotic instrument 102 and one sensor in the second intravascular robotic instrument 104). These sensors interact together in real-time to detect a relative force in one intravascular robotic instrument and replicate that magnitude of force at the other intravascular robotic instrument (via the drive unit), and vice versa. In this way, haptic feedback and feel / sensation of the continuously connected catheter and / or guidewire can be created.

[0104] Figure 8 A flowchart of a method 800 is shown in accordance with some example embodiments described herein.

[0105] At step S802, the method 800 includes providing an intravascular robotic system in accordance with any one of the example embodiments described herein. In this example, the intravascular robotic system includes a first intravascular robotic instrument located at a first location and a second intravascular robotic instrument located at a second location, the second location being different from the first location. The first intravascular robotic instrument is communicatively coupled with the second intravascular robotic instrument, wherein a first function of the first intravascular robotic instrument is identical to a second function of the second intravascular robotic instrument.

[0106] At step S804, the method 800 includes driving the second intravascular robotic instrument. Driving the second intravascular robotic instrument can be performed by a surgeon located at the second location.

[0107] At step S806, first haptic feedback data is generated with a first haptic feedback unit of the first intravascular robotic instrument. In some examples, the first haptic feedback data is generated using a sensor that can sense an axial force and / or a rotational force.

[0108] At step S808, the first haptic feedback data is transmitted from the first intravascular robotic instrument to the second intravascular robotic instrument.

[0109] At step S810 of the method 800, movement of the first intravascular robotic instrument is mimicked by the second intravascular robotic instrument based on the first haptic feedback data received from the first intravascular robotic instrument.

[0110] Figure 9 A flowchart of a method 900 is shown in accordance with some example embodiments described herein.

[0111] In step S902, the method 900 comprises providing an intravascular robotic system according to any one of the example embodiments described herein. In this example, the intravascular robotic system comprises a first intravascular robotic instrument located at a first location and a second intravascular robotic instrument located at a second location, the second location being different from the first location. The first intravascular robotic instrument is communicatively coupled with the second intravascular robotic instrument, wherein a first function of the first intravascular robotic instrument is identical to a second function of the second intravascular robotic instrument.

[0112] In step S904, the method comprises actuating the second intravascular robotic instrument. Actuating the second intravascular robotic instrument can be performed by a surgeon located at the second location.

[0113] In step S906, the method 900 comprises generating haptic feedback data with a second haptic feedback unit of the second intravascular robotic instrument.

[0114] In step S908, the haptic feedback data is transmitted from the second intravascular robotic instrument to the first intravascular robotic instrument.

[0115] In step S910, the method 900 comprises mimicking movements of the second intravascular robotic instrument by the first intravascular robotic instrument and based on the haptic feedback data received in step S908.

[0116] The method 800 can be combined with the method 900. In other words, haptic feedback data can be generated in both the first intravascular robotic instrument and the second intravascular robotic instrument using respective sensors, and the haptic feedback data can be transmitted from the first intravascular robotic instrument to the second intravascular robotic instrument and from the second intravascular robotic instrument to the first intravascular robotic instrument to equalize forces acting on the sensors by actuating one or both of the first intravascular robotic instrument and the second intravascular robotic instrument. In some examples, one force is higher than the other force by a predetermined factor.

[0117] In particular, the example embodiments of the intravascular robotic system and the one or more methods as described herein enable the use of haptic feedback for remotely guiding, in particular a guidewire and / or a catheter (with a virtual cut of the guidewire and / or catheter) while feeling as if the guidewire and catheter are continuous from an intravascular robotic instrument that can be operated by a surgeon at a second location to another intravascular robotic instrument arranged at a first location and used for performing a procedure on a patient. In particular based on a master-slave concept, linear force and rotational force balance sensing can be used, wherein the master and slave devices (and / or master and slave sensors) can be changed in real-time depending on the force balance from the sensor readings.

[0118] Example implementations of the system and one or more methods as described herein can equally be used for a vascular robotic system comprising a first vascular robotic instrument and a second vascular robotic instrument.

[0119] In some examples, a signal (which may, for example, be related to a feedback signal and / or a light signal and / or a vibration) can be sent by the first intravascular robotic instrument and / or the second intravascular robotic instrument to another device (which may, in some examples, be part of the intravascular robotic system), for example a monitor. The other device can enable remote control (for example using a monitor and a remote controller) of one or both of the first intravascular robotic instrument and the second intravascular robotic instrument, and / or other parts of the intravascular robotic system. In some examples, an image can be sent by the first intravascular robotic instrument and / or the second intravascular robotic instrument to the other device.

[0120] The other device can comprise one or more components. In some examples, the monitor is arranged in an operating room, and / or in a control room for controlling the first intravascular robotic instrument and / or the second intravascular robotic instrument, and / or in a conference room.

[0121] In some examples, the intravascular robotic instruments arranged at the patient side / patient location can comprise sterile functional devices / sterile application devices, which may, in some examples, not be required to be arranged at the physician side.

[0122] In some examples, a table at which the patient can be positioned can provide a functional attachment of the patient to the table. In some examples, this functional attachment can not be required to be provided on a table arranged at the physician side / physician location.

[0123] If a certain functionality can only be provided for the first intravascular robotic instrument or the second intravascular robotic instrument, without the need to provide the certain functionality for the other one of the intravascular robotic instruments (for example, as described above, a sterile functionality and / or a functional attachment can only be provided at the patient side / patient location), different software and / or hardware can be provided for the different intravascular robotic instruments, at least for different components between the intravascular robotic instruments.

[0124] Many other effective alternatives will no doubt suggest themselves to those skilled in the art. It should be understood that the application is not limited to the embodiments described and that modifications can be made within the scope of the appended claims.

Claims

1. A medical intervention system, the medical intervention system comprising: A first medical device for interventional procedures on a patient, wherein the first medical device is located at a first position, and A second medical device for interventional procedures on the patient, wherein the second medical device is located at a second position, which is different from the first position. The first medical device and the second medical device are communicatively connected, and The first medical device is configured to perform a first type of intervention on the patient. The second medical device is configured to perform a second type of intervention on a patient, wherein the first type and the second type are the same type of intervention or substantially the same type of intervention. The first medical device includes a first tactile feedback unit, which is configured to generate first tactile feedback data based on a first movement of the first medical device. Wherein, the first medical device is configured to send the first tactile feedback data to the second medical device, and The second medical device is configured to mimic a first movement of the first medical device based on the first tactile feedback data received from the first medical device.

2. The medical intervention system according to claim 1, wherein the medical intervention system comprises: A first endovascular robotic device, located at the first position, wherein the first endovascular robotic device includes the first medical device, and A second endovascular robotic device, located at the second position, wherein the second endovascular robotic device includes the second medical device. The first intravascular robotic device is communicatively connected to the second intravascular robotic device. The first function of the first intravascular robotic device is the same as the second function of the second intravascular robotic device. The first intravascular robotic device includes a first tactile feedback unit, which is configured to generate first tactile feedback data based on the first movement of the first intravascular robotic device, wherein the first movement is used to perform the first function. The first intravascular robotic device is configured to send the first tactile feedback data to the second intravascular robotic device, and The second intravascular robotic device is configured to mimic a first movement of the first intravascular robotic device based on the first tactile feedback data received from the first intravascular robotic device, in order to perform the second function.

3. The medical intervention system according to claim 2, wherein, The second endovascular robotic device includes a second tactile feedback unit configured to generate second tactile feedback data based on a second movement of the second endovascular robotic device, the second movement being used to perform the second function. The second intravascular robotic device is configured to send the second tactile feedback data to the first intravascular robotic device, and The first intravascular robotic device is configured to mimic a second movement of the second intravascular robotic device based on second tactile feedback data received from the second intravascular robotic device, in order to perform the first function.

4. The medical intervention system according to claim 2, wherein, The first endovascular robotic device includes one or more first endovascular robotic device components, wherein the second endovascular robotic device includes one or more second endovascular robotic device components, and wherein one of the first endovascular robotic device components is identical to a corresponding second endovascular robotic device component in the second endovascular robotic device components.

5. The medical intervention system according to claim 4, wherein, The movement mimicking the intravascular robotic device includes driving the intravascular robotic device assembly.

6. The medical intervention system according to claim 2, wherein, The first endovascular robotic device includes a first medical device, and the second endovascular robotic device includes a second medical device.

7. The medical interventional system according to claim 2, wherein the intravascular robotic system further comprises: An optical detection unit, wherein the optical detection unit is arranged at the first position, and A visualization unit is arranged at the second position. The optical detection unit is configured to perform optical detection on the first movement, generate movement data based on the optical detection of the first movement, and send the movement data to the visualization unit. The visualization unit is configured to visualize the first movement based on the movement data.

8. The medical intervention system according to claim 7, wherein, The visualization unit is configured to visualize at least a portion of the first intravascular robotic device as a virtual extension of at least a portion of the second intravascular robotic device.

9. The medical intervention system according to claim 2, wherein, The first tactile feedback unit includes a first linear force sensor and / or a first rotational force sensor, wherein the first linear force sensor is configured to sense a first linear force acting on the first intravascular robotic instrument, and the first rotational force sensor is configured to sense a first rotational force acting on the first intravascular robotic instrument.

10. The medical intervention system according to claim 2, wherein, The second endovascular robotic device includes a second tactile feedback unit configured to generate second tactile feedback data based on a second movement of the second endovascular robotic device, the second movement being used to perform the second function. The second intravascular robotic device is configured to send the second tactile feedback data to the first intravascular robotic device. The first intravascular robotic device is configured to mimic a second movement of the second intravascular robotic device based on second tactile feedback data received from the second intravascular robotic device, in order to perform the first function. The second tactile feedback unit includes a second linear force sensor and / or a second rotational force sensor. The second linear force sensor is configured to sense a second linear force acting on the second intravascular robotic instrument, and the second rotational force sensor is configured to sense a second rotational force acting on the second intravascular robotic instrument.

11. The medical intervention system according to claim 2, wherein, The second endovascular robotic device includes a second tactile feedback unit configured to generate second tactile feedback data based on a second movement of the second endovascular robotic device, the second movement being used to perform the second function. The second intravascular robotic device is configured to send the second tactile feedback data to the first intravascular robotic device. The first intravascular robotic device is configured to mimic a second movement of the second intravascular robotic device based on second tactile feedback data received from the second intravascular robotic device, in order to perform the first function. The first tactile feedback unit includes a first linear force sensor and / or a first rotational force sensor. The first linear force sensor is configured to sense a first linear force acting on the first intravascular robotic instrument, and the first rotational force sensor is configured to sense a first rotational force acting on the first intravascular robotic instrument. The second tactile feedback unit includes a second linear force sensor and / or a second rotational force sensor. The second linear force sensor is configured to sense a second linear force acting on the second intravascular robotic instrument, and the second rotational force sensor is configured to sense a second rotational force acting on the second intravascular robotic instrument. The intravascular robotic system is configured as follows: Determine (i) the relative force between the first linear force and the second linear force, and / or (ii) the relative force between the first rotational force and the second rotational force, and Drive the first intravascular robotic device and / or the second intravascular robotic device to (i) adjust the first linear force to be equal to the second linear force and / or adjust the second linear force to be equal to the first linear force, and / or (ii) adjust the first rotational force to be equal to the second rotational force and / or adjust the second rotational force to be equal to the first rotational force.

12. The medical intervention system according to claim 11, wherein, The intravascular robotic system is further configured to: determine, based on (i) the sensor readings of the first linear force sensor and the second linear force sensor, and / or (ii) the sensor readings of the first rotational force sensor and the second rotational force sensor, whether to adjust the first linear force to be equal to the second linear force and / or whether to adjust the second linear force to be equal to the first linear force, and / or (ii) whether to adjust the first rotational force to be equal to the second rotational force and / or whether to adjust the second rotational force to be equal to the first rotational force.

13. The medical intervention system according to claim 9, wherein, The sensor is configured to: It moves linearly and / or rotationally together with the corresponding intravascular robotic instrument, and During the linear and / or rotational movements performed in conjunction with the corresponding intravascular robotic device, increasing and / or decreasing forces are applied to the corresponding intravascular robotic device.

14. The medical intervention system according to claim 2, wherein, The first endovascular robotic device includes a first rotary and axial motor gear for axially and rotaryly driving the first endovascular robotic device, wherein the second endovascular robotic device includes a second rotary and axial motor gear for axially and rotaryly driving the second endovascular robotic device, and wherein the first rotary and axial motor gear is the same as the second rotary and axial motor gear.

15. The medical intervention system according to claim 2, wherein the intravascular robotic system further comprises a data storage device adapted to store the tactile feedback data.

16. The medical intervention system according to claim 15, wherein, The intravascular robotic system is configured to: Retrieve the haptic feedback data from the data storage, and Drive the first intravascular robotic device to perform the first function and / or drive the second intravascular robotic device to perform the second function.

17. The medical intervention system according to claim 2, wherein, The communication connection between the first intravascular robotic device and the second intravascular robotic device includes a wireless communication connection.

18. The medical interventional system according to claim 2, wherein the intravascular robotic system further comprises one or more controllers, wherein, The one or more controllers are configured to indicate the state of the intravascular robotic system and output signals based on the state of the intravascular robotic system.

19. The medical intervention system according to claim 18, wherein, The state includes the value of the force applied to one or both of the first intravascular robotic device and the second intravascular robotic device, and wherein the signal is output if the force is higher or lower than a threshold force.

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