Separable automated catheter system

Abstract

In an automated or even manually controlled catheter, a more direct connection of the force application (e.g., actuator) from the handle to the tendon is provided. The actuator is part of the handle. To avoid discarding the actuator after each use, the handle with the actuator can be separated from the housing for the tendon. The housing for the tendon includes a clip to hold the tendon in place before connection with the handle and actuator.

Description

[0001] Related applications

[0002] This patent document claims the benefit of Provisional U.S. Patent Application No. 63 / 231,875, filed August 11, 2021, under 35 U.S.SC §119(e), and is the national phase application of International Patent Application No. PCT / US2022 / 074689, filed August 9, 2022, under 35 U.S.SC §371, both of which are incorporated herein by reference in their entirety.

[0003] Federally funded research or development

[0004] This invention was made with government support under NIH license number 5-R01-EB028278-03. The government has certain rights to this invention. Technical Field

[0005] This embodiment relates to the automated control of medical catheters. An exemplary medical catheter is an intracardiac echocardiography (ICE) catheter, used in cardiac interventional and diagnostic procedures. ICE can provide close feedback on anatomy and instruments during surgical procedures. A major challenge posed to interventional physicians by ICE and other interventional catheter insertion procedures is the difficult catheter maneuverability. Background Technology

[0006] Automated control systems can enhance maneuverability. A commercially available automated system for manipulating ultrasonic catheters is the Stereotaxis Vdrive System. The electric system is located in the base and contains multiple geared mechanisms that engage with the external knob of the catheter. The sheath mechanism (TSM) typically consists of a long, flexible, hollow coil serving as the sheath and a rib inserted into the coil as a rib. When the rib is pulled at one end, it slides within the sheath, transferring the tension to the other end. For electrically powered TSM-based catheter systems, the actuator intersects with the existing catheter knob. This interface has many layers, leading to slack and difficulty in accurate control. Therefore, significant slack exists, making it challenging to transmit instantaneous torque from the motor to the rib. Summary of the Invention

[0007] For introduction, the preferred embodiments described below include methods, systems, and automated devices for operating catheters. In automated or even manually controlled catheters, a more direct connection is provided from the handle to the application of force (e.g., an actuator) to the rib. The actuator is part of the handle. To avoid discarding the actuator after each use, the handle with the actuator is detachable from the housing for the rib. The housing for the rib includes clamps to hold the rib in place before connection with the handle and the actuator.

[0008] In a first aspect, an automated catheter system is provided. A handle includes one or more actuators. A housing cap is releasably connectable to the handle. The housing cap has one or more ribs connected to the catheter. The handle and housing cap are configured such that when the housing cap is connected to the handle, the one or more ribs engage with the one or more actuators.

[0009] In one embodiment, one or more actuators are one or more linear actuators.

[0010] In another embodiment, one or more ribs terminate at corresponding one or more anchors, wherein the one or more anchors are releasably connectable to the shafts of one or more actuators. For example, the ends of the anchors or shafts are magnets, such that the anchors can be releasably connected to the ends of the shafts via magnetism.

[0011] According to another embodiment, the housing cap has one or more extensions configured to be connected to a handle via a torsional movement. For example, the housing cap has a spring configured to be compressed for connecting the housing cap to the handle. The extension includes a hook for engaging the handle, wherein the spring positions the hook to remain in place when connected.

[0012] In one embodiment, the housing cap has a releasable clip configured to retain one or more ribs when the housing cap is not attached to a handle. For example, the one or more ribs terminate at one or more anchors. The releasable clip is configured to retain the one or more anchors until the housing cap is attached to a handle. As another example, the releasable clip is a fanlock attached to a slider exposed on the exterior of the housing cap. The fanlock is configured to release one or more ribs in response to movement of the slider relative to the housing cap.

[0013] In a second aspect, a method for separating a conduit from an automated component is provided. One or more actuators are housed in a handle. One or more ribs terminate in a cap. The cap is releasably connected to the handle. Releasably connecting the cap to the handle connects one or more shafts of the one or more actuators to one or more ribs, respectively.

[0014] As one embodiment, the releasable connection includes pressing the cap against the handle and overcoming the spring force, and twisting the cap relative to the handle, which causes the cap to engage with the handle.

[0015] In another embodiment, the ends of one or more ribs are clamped in a cap, and the clamping is released after the cap is releasably attached to a handle.

[0016] In a third aspect, a conduit system is provided. A housing is connected to a conduit. One or more ribs of the conduit extend into the housing. A releasable clip in the housing is configured to clamp the one or more ribs.

[0017] In one embodiment, one or more ribs terminate at one or more anchors. A releasable clip is configured to hold one or more anchors. For example, the one or more anchors are one or more bushings. The releasable clip is configured to hold around a portion of each of the one or more bushings.

[0018] As another embodiment, the releasable clamp is configured to hold all or part of the ribs.

[0019] In another embodiment, the releasable clamp is a blade lock. For example, the blade lock consists of two plates, at least one of which is rotatable relative to the other plate, wherein rotation in a first direction clamps the end of one or more ribs, and wherein rotation in a second direction releases the end.

[0020] According to one embodiment, a slider on the outside of the housing is connected to a releasable clamp to release one or more ribs.

[0021] In another embodiment, the handle can be releasably connected to the housing, wherein connecting the handle to the housing also connects the shaft of the actuator in the handle to one or more ribs. A releasable clamp is configured to hold until one or more ribs are connected to the shaft.

[0022] This invention is defined by the appended claims, and nothing in this section should be considered as limiting those claims. A feature of one aspect or type of claim (e.g., method or system) may be used in other aspects or types of claims. Other aspects and advantages of the invention will be discussed below in conjunction with preferred embodiments and may be claimed later, independently or in combination. Attached Figure Description

[0023] The components and drawings are not necessarily drawn to scale; rather, the focus is on illustrating the principles of the invention. Furthermore, in the drawings, the same reference numerals denote corresponding components in different views.

[0024] Figure 1 This is a block diagram of one embodiment of a medical ultrasound system for imaging using an ICE catheter;

[0025] Figure 2 An embodiment of an automated catheter system is shown, wherein the handle and the housing cap are separate;

[0026] Figure 3 Another embodiment of the automated catheter system is shown, in which the handle and the housing cap are connected;

[0027] Figure 4 and 5 This is a top view of a fan blade lock in the clamping and open positions according to one embodiment;

[0028] Figure 6 This is a flowchart of one embodiment of a method for automatically manipulating a catheter. Detailed Implementation

[0029] The actuator is located inside the catheter handle, allowing direct contact between the actuator and the rib. Once the actuator is included in the handle, it becomes impractical for the catheter to be disposable without unnecessary cost. The distal portion of the catheter can be detached from the handle. The catheter handle, along with the included electronics, is reusable. With the electronics located in the handle, cleaning the electronic components may be avoided.

[0030] To provide a reusable handle, the clamping system keeps the handle sterile and reusable. The tip, which connects to the catheter, is disposable. The rib is held in place by the tip. When the tip is clamped onto the handle, the rib is attached to the actuator by fasteners. This clamping system facilitates easy attachment and removal of the distal portion from the handle. Thus, the catheter handle (including electronic components) is reusable, and the distal portion is disposable.

[0031] The front section holds the rib in place until the system is clamped. For example, the rib is attached to a rib anchor, and the blade lock holds the anchor in place. After the system is clamped, the two sliders are pushed apart to open the blade lock and allow the rib to move.

[0032] Figure 1 An example medical ultrasound system for ICE is shown. The examples in this article are presented in the context of automated control of ICE catheters. In other examples, other types of catheters, such as ablation or stent catheters, are used for insertion into a patient's cardiac system, employing detachable handles and / or ligature clamps. In another example, detachable handles and / or ligature clamps are provided for manually operated catheters (i.e., catheters without motors) rather than automatically controlled catheters.

[0033] Figure 1 Examples involving catheter-based ICE. Figure 2-6 This involves detachable handles and / or rib clamps. The following describes them first. Figure 1 Provided in the context of providing an example catheter for use.

[0034] Figure 1An exemplary medical ultrasound system uses an ICE catheter 12, which can be automatically controlled. The medical ultrasound system includes an ICE catheter 12, a beamformer 24, an image processor 26, and a display 28. Additional, different, or fewer components may be provided, for example, only the catheter 12 may be provided. The catheter 12 is releasably connected to the imaging system.

[0035] The ICE catheter 12 includes: an array 14 of elements 16 for imaging within a shaft or housing 20 having a tip 32; an electrical conductor 22; a manipulator line (rib) 30; and a handle 21. Additional, different, or fewer components may be provided, such as radiopaque markers, ablation electrodes, lenses, needle guides, or ports. In other embodiments, the catheter 12 is an ablation catheter or interventional catheter rather than an imaging catheter.

[0036] The housing 20 is made of PEBAX, nylon, polymer, or other flexible material. The housing 20 is formed around the array 14 and other components extending from the handle 21 and insertable into the patient's body. The housing 20 is configured for insertion into the patient's circulatory system. For example, the distal tip 32 of the catheter 12 includes a more flexible portion covered by the housing 20 for movement through the circulatory system. Ribs 30, connected to the housing 20 or components within the housing 20 (e.g., anchor points), are configured to guide the housing 20 within the circulatory system.

[0037] Array 14 is located within catheter 12. Array 14 can be fitted within catheter 12 of diameters such as 10 French (i.e., 3.33 mm), 12.5 French, or others. Array 14 is located at the distal end or tip 32 of catheter 12, for example, within 20 mm of the end of tip 32 or at the beginning of a flexible tip portion. Array 14 can have any position within catheter 12 such that it is located within the patient during imaging using catheter 12.

[0038] Transducer array 14 is used for ultrasound imaging. The images are used for diagnostic assistance, catheter guidance, needle guidance, ablation guidance, placement, and / or needle puncture. Array 14 scans in a field of view 18 in a plane perpendicular to the emitting surface. The patient can be imaged within the field of view 18 using array 14.

[0039] Electrical conductor 22 connects the elements 16 of array 14 to beamformer 24. Conductor 22 is a cable, coaxial cable, trace on flexible circuit material, wire, jumper, combination thereof and / or other conductors now known or developed in the future.

[0040] Beamformer 24 includes multiple channels for generating transmitted waveforms and / or received signals. Relative delay and / or apodization are used to focus the transmitted waveform or received signal to form a beam and set the focus position. Beamformer 24 is connected to conductor 22 to apply a waveform for imaging with array 14 and receiving the signal. For imaging, beamformer 24 selects an aperture comprising one, some, or all of the elements 16 of array 14. For scanning, beamformer 24 is electronically focused along the azimuth direction. Scanning uses multiple scan lines of the aperture. During receiving operation, the focus can vary as a function of depth (i.e., dynamic focusing).

[0041] Image processor 26 is a detector, filter, processor, application-specific integrated circuit, field-programmable gate array, digital signal processor, control processor, scan converter, 3D image processor, graphics processing unit, analog circuit, digital circuit, or a combination thereof. Image processor 26 receives beamforming data and generates an image on display 28, which is a display screen.

[0042] The ribs (manipulation lines) 30 of the catheter 12 are used relative to the patient positioning array 14 (and / or medical device). The ribs 30 are cables, wires, or other structures used to transmit thrust and pull from the handle 21 into the patient's body via the catheter 12 (e.g., to the distal or tip 32). Any material can be used, such as plastic, fiberglass, or metal. Any number of ribs 30 can be used, such as three or four. For example, three or four ribs 30 offset from the center at equal intervals around a central or longitudinal axis can be used to manipulate along two vertical planes. The ribs 30 extend distally through the elastic material of the catheter body or housing 20 and are arranged in a circular manner around the central channel, providing sufficient space for the ultrasound transducer cable or conductor 22 to be guided through. The relative forces between the ribs 30 cause the catheter 12 to bend. Any arrangement of the ribs 30, now known or developed later, can be used.

[0043] Ribs 30 control the bending at the distal end of conduit 12. This bending can occur at a portion of conduit 12 adjacent to the distal end or end 32, for example, by spaced the array 14 from the handle 21. For example, ribs 30 may be anchored to the shaft housing 20, the transducer array 14, or a rigid insert or anchor near the distal end to induce bending. The resilient body or shaft housing 20 can be bent along its main axis by applying tension to the attached ribs 30. Using a motor instead of user-based rotation of two knobs for two planes allows only three ribs 30 to be used to form the bending. Four ribs 30 with motor-based control can be used.

[0044] The handle 21 and cap 29 form a housing that is held outside the patient's body. The housing is held by a user, clamp, or automated device. The housing is connected to catheter 12 for manipulating and operating catheter 12. The housing is divided into two parts, the handle 21 and the cap 29.

[0045] Handle 21 includes a housing with or without user input elements in the form of one or more knobs, sliders, or buttons. Handle 21 is shaped and sized for handheld guidance or use of catheter 12. For example, handle 21 is cylindrical and has a gripping portion used by a surgeon's hand. Handle 21 has a single housing made of one or more parts connected to one or more cables for power and communication. A processor for control may be included in or outside handle 21.

[0046] Cap 29 includes a housing that connects to the shaft housing 20 of conduit 12. Cap 29 is sized and shaped for connection with handle 21.

[0047] Figure 2 Separate handle 21 and cap 29 are shown, for example, before imaging a patient using ICE catheter 12. The catheter system can be provided with either manual or automatic power for manipulation. For automatic power, one or more buttons are provided for controlling actuator 44. For manual power, a knob is provided instead of actuator 44.

[0048] Each component (handle 21 and cap 29) has a housing. The housing is made of plastic, fiberglass, metal, resin, silicone, and / or other materials. Shafts, transmissions, reels, and / or other components are made of plastic, metal, or other materials.

[0049] The handle 21 includes one or more actuators 44. For example, two, three, or four actuators 44 are arranged to be evenly spaced around the longitudinal center of the handle 21. The actuators 44 are located within the handle 21, for example, inside the housing, but may also be on the outer surface of the handle 21. Additional, different, or fewer components may be provided in the handle 21, such as controllers or processors for operating the actuators 44 and / or buttons for controlling the actuators 44.

[0050] Actuator 44 is a motor, such as a servo motor, rotary motor, linear motor (e.g., linear magneto motor), or other electric, pneumatic, or hydraulic motor for moving shaft 45. In one embodiment, actuator 44 is a linear motor for moving shaft 45 along a longitudinal dimension (e.g., extending and retracting shaft 45 relative to actuator 44). Alternatively, a gear mechanism or transmission is provided to convert the rotational motion of shaft 45 into longitudinal pulling or pushing.

[0051] The shaft 45 includes a magnet 46 at its end. The magnet 46 is glued or fused to the end of the shaft 45. The connection is secured. Alternatively, the shaft 45 itself is formed of a magnetic material. In other embodiments, the magnet 46 is fixedly connected to the rib 30 or the anchor 33 of the rib 30. In an alternative, other means besides the magnet are used, such as a flexible (e.g., plastic) clip, such as an extension with a ball or protrusion that snaps into the receiving female part on the shaft 45 and the rib 30 or anchor 33.

[0052] Cap 29 is the housing. Cap 29 is connected to conduit 12. This connection can be fixed, for example, by adhesive or formed as a single unit.

[0053] The cap 29 includes the end or tip of the rib 30, an anchor 33 for the rib 30, a clamp 34, one or more sliders 35, one or more reels 36, a spring 37, and one or more extensions 38. Additional, different, or fewer components may be provided. For example, the reel 36 may not be provided (see...). Figure 3 (The cap 29 is missing from the scroll 36). As another example, the spring 37, slider 35, clip 34, and / or anchor 33 are not provided. In another example, the extension 38 is located on the handle 21 instead of the cap 29.

[0054] The cap 29 is sized and shaped for a releasable connection with the handle 31. For example, the outer periphery of the end of the cap 29 that mates with the handle 21 is sized for mounting onto, within, or abutting the handle 21. Figure 2 and 3 In the illustrated embodiment, the end of the cap 29 is tightly fitted into the opening or recess of the handle 21.

[0055] Any releasable connection can be used. For example, a press-fit can be used. In another example, threads are provided on the cap 29 and handle 21 for mating. Snap-fit ​​or other male-female connections can be provided. Figure 2 and 3 In an exemplary embodiment, the extension 38 engages with a structure 47 of the handle 21. The extension 38 is configured to connect with the structure 47 of the handle 21 for a releasable connection. In one embodiment, the extension 38 is a hook that engages with, for example, a fork-shaped element of the structure 47. The cap 29 is pressed against the handle 21 and then twisted to connect with the handle 21 such that the hook engages with the fork-shaped element, as... Figure 3 As shown. Spring 37 can push cap 29 away from handle 21. When extension 38 engages with structure 47 after compression and twisting, spring 37 maintains force to keep structure 47 engaged against extension 38. Other releasable clamping arrangements can be used, such as those provided for child-safe medicine bottles.

[0056] The cap 29 is attached to the handle 21 for use in surgical procedures. Once completed, the cap 29 can be detached from the handle 21, for example, by twisting, pulling, pushing, or a combination thereof (e.g., pushing, twisting, and then pulling). The handle 21, with its more expensive electronics (e.g., actuator 44), is retained, whereas the catheter 12 and the attached cap 29 are discarded after each use, compared to discarding the entire catheter or cleaning the catheter (including electronic components) after each use. The handle 21 can be reused with another cap 29 and catheter 12. A new cap 29 can be releasably attached to the handle 21 for subsequent use. The handle 21 can be reused without cleaning, or cleaned for reuse.

[0057] Rib 30 terminates in cap 29. Rib 30 extends from conduit 12 into cap 29. A reel 36 of plastic, metal, or other material can convey (e.g., wind and align) rib 30 to the end of shaft 45. Other guide structures, such as posts or grooves, may be used instead of reel 36.

[0058] The end of the rib 30 is located within the cap 29. Other portions of the rib 30 (including longer sections) extend from the cap 29 within the conduit 12. The ends of the rib 30 within the cap 29 may be bare wire. In other embodiments, an anchor 33 is attached to each rib 30. The anchor 33 is the end of the rib 30. The anchor 33 can have any shape, such as a rod or plate, wherein the rib 30 is connected to a crossbar. Figure 2-5 In the illustrated embodiment, anchor 33 is a bushing with an attached arcuate rod. Rib 30 is attached to or connected to the arcuate rod.

[0059] The handle 21 and the housing cap 29 are configured such that when the housing cap 29 is connected to the handle 21, the rib 30 engages with the actuator 44. The rib 30, aligned with the cap 29, terminates at a spatial location such that the end of the shaft 45 contacts the rib 30 when the cap 29 is connected to the handle 21. For example, pushing and twisting to engage the extension 38 with the handle structure 47 will connect the cap 29 to the handle 21, as... Figure 3 As shown. When connected, the end of shaft 45 is positioned against or near anchor 33, which serves as the end of rib 30.

[0060] The end of rib 30 engages with or is releasably connected to the end of shaft 45. For example, anchor 33 is connected to the end of shaft 45. This connection can be via snap-fit ​​or other male-female connection. In the illustrated embodiment, anchor 33 is made of ferrous metal. Magnet 46 formed at or adhered to shaft 45 is magnetically connected to anchor 33, thereby holding anchor 33 to shaft 45. This forms a releasable connection in which a small force will not break the connection, but a larger force will. When cap 29 is connected to handle 21, magnetic, snap-fit, or other arrangements are used to releasably connect shaft 45 to rib 30. Figure 3 When the front part (shell cap 29) is clamped to the handle 21, the rib 30 is attached to the actuator 44 by some type of fastener (e.g., magnet to ferrous metal).

[0061] This fastening provides a direct connection between the motor system (i.e., actuator 44) and the rib 30. The direct connection without intermediate gears increases the accuracy of tip control. The removable structure, with its releasable connection, reduces the overall cost of the conduit because permanent components (e.g., motor, motor driver) and disposable components (e.g., long tail and thread) are detachable. The handle 21 (including actuator 44 via shaft 45) can be releasably connected to the cap 29. The handle 21, connected to the housing (cap 29), also connects the shaft 45 of actuator 44 within the handle 21 to one or more ribs 30.

[0062] Clamp 34 clamps rib 30. Clamp 34 may clamp rib 30 spaced apart from or at the end of rib 30. For example, clamp 34 clamps anchor 33. One clamp 34 may clamp all ribs 30, or different clamps 34 may clamp different ribs 30. Multiple ribs 30 may be locked and released together. The locking and releasing mechanism of clamp 34 facilitates the assembly of the motorized parts and the conduit tail.

[0063] The clamp 34 is releasable. The clamp 34 can release the rib 30. For example, the clamp 34 holds the rib 30 until the shaft 45 is connected to the rib 30. The clamp 34 can be released when the rib 30 is connected to the actuator 44 or for a period of time after that connection. The releasable clamp 34 of the housing cap 29 is configured to hold the rib 30 when the housing cap 29 is not connected to the handle 21. The clamp 34 holds the rib 30 during and / or after the manufacture of the cap 29 until the rib 30 is connected to the actuator 44 of the handle 21 for use with a patient. The clamp 34 holds the rib 30 in place until the system is clamped together (handle 21 engages with cap 29). More specifically, the rib 30 is attached to a rib anchor 33, and the anchor 33 is held in place by the clamp 34. After use, when the handle 21 is disconnected from the cap 29, the clamp 34 may not re-clamp because the cap 29 and the rib 30 will be discarded.

[0064] Various clamps 34 can be used. For example, a lever arm presses the pad against the rib 30, thereby clamping the rib 30 between the pad and another pad or plate. As another example, an extension presses into or presses against the rib 30. In yet another example, a retractable fork extends through or into a hole in the anchor 33. In one embodiment, a fan-blade lock is used. Figure 4 and 5 An exemplary fan blade lock is shown. The fan blade lock includes a plate 40 that is rotatable relative to another plate 42 or a support. Both plates 40 and 42 can rotate, for example, about the same central axis in different directions. Figure 4 A fan blade lock is shown, wherein one or both of plates 40, 42 are rotated to close around anchor 33, for example, fitted within a bushing of anchor 33, such that anchor 33 cannot move into or out of the page by at least a few millimeters. Clamp 34 clamps a portion of each anchor 33 (e.g., to a narrower portion of the bushing). To release, one or both plates 40, 42 are rotated such that anchor 33 is no longer held. Figure 5 An example is shown. Upon release, anchor 33 and the corresponding rib 30 can move into or out of the page of the figure (i.e., along the longitudinal direction of conduit 12, handle 21, and / or shaft 45). Rotation in one direction results in clamping, while rotation in the opposite direction releases the clamping (i.e., releases rib 30).

[0065] Any release mechanism can be used. In one embodiment, the fork or other mechanism releases the clamp 34 when the handle 21 is engaged with the cap 29. For example, a spring pre-positions the clamp 34 in a closed position. When the handle 21 is pressed against the cap 29, the force from the handle 21 overcomes the spring, thereby releasing the clamp 34. In another embodiment, movement of one or more actuators 44 causes the clamp 34 to release. The force applied by the actuator 44 snaps or overcomes the clamping force, thereby releasing the rib 30. In yet another embodiment, one or more sliders 35 are provided for manual release by the user. The user moves one or both sliders 35 connected to different plates 40, 42, or clamp 34, causing the clamp 34 to release the rib 30. Figure 4 and 5 In the example, slider 35 moves plates 40 and 42 from... Figure 4 The closed or clamping position shown is rotated to Figure 5 The open position is shown. Slider 35 is outside cap 29, thus allowing manual operation after cap 29 is connected to handle 21. In response to the movement of slider 35, clamp 34 releases anchor 33. After the system is clamped together, the two sliders 35 are pushed apart to open the blade lock and allow movement of rib 30.

[0066] Actuator 44 and / or clamp 34 can be controlled by a controller. The controller can respond to user input, such as a user rotating a knob or pressing a button, to actuate said actuator 44 and / or clamp 34. The controller interfaces with a user interface for physician control or even remote operation. Alternatively, the controller is programmed to automatically manipulate the catheter without user input.

[0067] A controller is a processor, application-specific integrated circuit, integrated circuit, digital signal processor, field-programmable gate array, or other control device used to control the motors of an automated system. The controller is designed, hardware- and / or software-configured to cause the axis 20 to translate and / or rotate using control from a user interface or input device or other controls. The controller is configured to control the operation of actuator 44, thereby controlling the translation and rotation of guide tube 12.

[0068] Figure 6 This is a flowchart of one embodiment of a method for separating a catheter from an automated component. Separation is achieved by designing it to be done using separate handles and caps. A clamping rib within the cap facilitates separation.

[0069] This method is by Figure 2-5 The method is implemented using a system and / or an automated system or another system. Figure 1 ICE catheters and imaging systems or different catheters. The following uses... Figure 1 catheter 12 and Figure 2-5 The method is described using individual components and clamps. Other automated systems and / or catheters may also be used.

[0070] Additional, different, or fewer actions can be provided. For example, actions 60 and 62 are not provided. As another example, action 66 is not provided. In yet another example, actions 68 and 69 are not provided. As yet another example, only one or both of actions 64 and 66 are performed.

[0071] These actions are performed in the order shown (numerically or from top to bottom) or in a different order. Figure 6 In the example, actions 60 and 62 are performed simultaneously, in reverse order, or in the order shown.

[0072] In action 60, one or more actuators 44 are housed in handle 21. Instead of connecting the actuators 44, which are separate from handle 21, to a knob on conduit 12 via gears, handle 21 is designed to include actuators 44 within handle 21. Actuators 44 are an integral part of handle 21.

[0073] Handle 21 is manufactured as a reusable component. Since the actuator 44 and possibly other electronic components are integrated into handle 21, reusing handle 21 saves costs compared to discarding it after a single use. For reuse, handle 21 is detached from conduit 12, as conduit 12 is used only once or a limited number of times. Therefore, conduit 12 can be discarded, while handle 21 can be used multiple times or reused.

[0074] In action 62, one or more ribs 30 terminate at cap 29. The conduit 12 includes ribs 30 for manipulation. Since handle 21 is a separate, reusable device, the ribs 30 terminate at cap 29 instead of handle 21.

[0075] The reinforcing bar 30 is held in place within the cap 29. For example, the clamp 34 holds the reinforcing bar 30 in place.

[0076] In action 64, the user releasably attaches cap 29 to handle 21. This can be achieved using a snap-fit, threaded fit, magnetic fit, or other engagement. Cap 29 is positioned against handle 21, and the engagement is activated to hold cap 29 to handle 21. For example, cap 29 may be pressed against handle 21, twisted to move extension 38 through structure 47, and released to lock extension 38 to structure 47 by spring force.

[0077] The connection is releasable. The connection can be revoked. The connection is maintained by a threshold amount of force and / or a force applied in a certain direction. For a greater force and / or a force applied in a specific direction, the cap 29 can be released from the handle 21. For example, the cap 29 is pressed against the handle 21, twisted, and then removed.

[0078] When the cap 29 is attached to the handle 21, one or more shafts 45 of one or more actuators 44 are respectively attached to one or more ribs 30. The ends of the shafts 45 are configured to connect to the ribs 30, for example, to an anchor 33 at the end of the rib 30. Press-fit or snap-fit, torsion-based threaded or engaged, or other connections may be provided. In one embodiment, a magnet attached to the rib 30 or to the end of the shaft 45 is magnetically connected to an ferrous metal or another magnet on the end of the shaft 45 or the other of the ribs 30. Magnetic force connects the rib 30 to the shaft 45.

[0079] In action 66, clamp 34 releases rib 30. Rib 30 is released from clamp 34 within cap 29 when or after shaft 45 is connected to rib 30. This release occurs, for example, automatically by a mechanism, or manually by user operation of slider 35. Once rib 30 is connected to shaft 45 for manipulation, rib 30 can be released to allow manipulation. Rib 30 is held in place before cap 29 is connected to handle 21. After connection, rib 30 is released for operation of conduit 12.

[0080] In action 68, the user uses catheter 12 inside the patient's body. As part of use, catheter 12 is manipulated. Based on the user interface, the user manipulates catheter 12. To manipulate, the tension on the ribs 30 is changed. For example, the user rotates a knob, slides a slider, or presses a button to apply less pressure to one rib 30 and more pressure to another rib 30, thereby causing catheter 12 to bend inside the patient's body. In automatic operation, the pressure change is provided by actuator 44 pushing or pulling the ribs 30, or in manual operation, the pressure change is provided by the user applying force.

[0081] Manipulation can also be provided by rotating the handle 21. The handle 21 is connected to the catheter 12 by being attached to the cap 29. By rotating the handle 21 and the cap 29, the catheter 12 rotates about its longitudinal axis. Similarly, the handle 21 can be used to push or pull the catheter 12 within the patient's body, thereby changing the position of the tip 32 of the catheter 12 along the cardiac system.

[0082] Catheter 12 is used during and / or after manipulation and / or positioning. For interventional catheters, medications can be injected through catheter 12, or tools (e.g., scissors, needles, ablation electrodes, scalpels, or other instruments) can be used on catheter 12. Figure 1 The imaging catheter 12 has a transducer 16 for performing ultrasound scanning within a field of view 18. Ultrasound imaging is performed using the transducer 16. The user can observe surrounding tissues in different directions by rotating the catheter 12, moving the transducer 16 to different positions, and / or other manipulations. Changes in curvature can alter the field of view to image other anatomical structures or devices within the patient's body.

[0083] Once catheter insertion is complete, catheter 12 is removed from the patient's body. For example, the user pulls catheter 12 out of the patient's body using the attached handle 12 and cap 29.

[0084] In action 69, cap 29 disengages from handle 21. The engagement is revoked. For example, cap 29 is pressed against handle 21, thereby compressing spring 37. Then cap 29 is rotated relative to handle 21, thereby disengaging extension 38 from structure 47. Cap 29 is then slid off handle 21.

[0085] Once disconnected, the cap 29 and conduit 12 can be discarded. For example, conduit 12 is a single-use device. Since the cap 29 is fixedly attached to the conduit 12, the cap 29 is discarded along with the conduit 12. The handle 21 can be reused. After any cleaning, the handle 21 can be reused for actions 64-68 along with a new cap 29 and conduit 12. The actuator 44 and other electronics in the handle 21 can be used more times than the conduit 12 and cap 29.

[0086] Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications can be made without departing from the scope of the invention. Therefore, it is intended that the foregoing detailed description be considered illustrative rather than restrictive, and that the following claims, including all equivalents, are intended to define the spirit and scope of the invention.

Claims

1. An automated catheterization system, comprising: Handle, the handle including one or more actuators; and A housing cap, releasably connectable to the handle, the housing cap having one or more ribs connected to the conduit. The handle and housing cap are configured such that when the housing cap is connected to the handle, the one or more ribs engage with the one or more actuators. The housing cap includes a releasable clip configured to retain the one or more ribs when the housing cap is not attached to the handle. The releasable clip includes a blade lock connected to a slider exposed on the exterior of the housing cap, the blade lock being configured to release the one or more ribs in response to movement of the slider relative to the housing cap.

2. The automated catheter system as claimed in claim 1, wherein, The one or more actuators include one or more linear actuators.

3. The automated catheter system as described in claim 1, wherein, The one or more ribs terminate at corresponding one or more anchors, wherein the one or more anchors are releasably connected to the shafts of the one or more actuators.

4. The automated catheter system as described in claim 3, wherein, The end of the shaft or the anchor includes a magnet, such that the anchor can be releasably attached to the end of the shaft via magnetism.

5. The automated catheterization system as claimed in claim 1, wherein, The housing cap includes one or more extensions configured to be connected to the handle via a torsional motion.

6. The automated catheter system as described in claim 5, wherein, The housing cap includes a spring configured to be compressed for connection of the housing cap to the handle, and the extension includes a hook for engaging the handle, wherein the spring sets the hook to remain in place when connected.

7. The automated catheter system as claimed in claim 1, wherein, The one or more ribs terminate at one or more anchors, and the releasable clip is configured to hold the one or more anchors until the housing cap is connected to the handle.

8. A method for separating a catheter from an automated component, the method comprising: One or more actuators are housed in the handle; One or more ribs terminate in the cap; as well as The cap is releasably attached to the handle; Specifically, releasably connecting the cap to the handle connects one or more shafts of the one or more actuators to the one or more ribs, respectively. The cap includes a releasable clip configured to retain the one or more ribs when the cap is not attached to the handle. The releasable clip includes a blade lock connected to a slider exposed on the outside of the cap, the blade lock being configured to release the one or more ribs in response to movement of the slider relative to the cap.

9. The method of claim 8, wherein, The releasable connection includes pressing the cap against the handle against a spring force and twisting the cap relative to the handle, the twist engaging the cap with the handle.

10. The method of claim 8, further comprising: The ends of the one or more ribs are clamped in the cap, and the clamping is released after the cap is releasably connected to the handle.

11. A catheter system, comprising: The housing is connected to the conduit; One or more ribs of the conduit, the one or more ribs extending into the housing; The housing contains a releasable clip configured to hold the one or more ribs. The releasable clip includes a fan blade lock, and The conduit system further includes a slider on the outside of the housing, the slider being connected to the releasable clamp to release the one or more ribs.

12. The catheter system of claim 11, wherein, The one or more ribs terminate at one or more anchors, and the releasable clip is configured to hold the one or more anchors.

13. The catheter system of claim 12, wherein, The one or more anchors each include one or more bushings, and wherein the releasable clip is configured to clamp around a portion of each of the one or more bushings.

14. The catheter system of claim 11, wherein, The releasable clamp is configured to hold all of the one or more ribs.

15. The catheter system of claim 11, wherein, The blade lock includes two plates, at least one of which is rotatable relative to the other, wherein rotation in a first direction clamps the end of one or more ribs, and wherein rotation in a second direction releases the end.

16. The catheter system of claim 11, further comprising a handle releasably connectable to the housing, wherein, Connecting the handle to the housing also connects the shaft of the actuator in the handle to the one or more ribs, wherein the releasable clamp is configured to clamp until the one or more ribs are connected to the shaft.

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