System and method for a control station for robotic interventional procedures using multiple elongate medical devices

Abstract

Systems and methods for a control station for robotic interventional procedures using multiple elongated medical devices. A system includes a robotic drive including a plurality of cartridges, each cartridge to move an elongated medical device (EMD) loaded therein, and an input module to issue instructions to the robotic drive. The input module includes a first two or more selection buttons to select a first two or more EMDs loaded in respective cartridges of the plurality of cartridges, a first control actuatable to cause issuance of instructions to the robotic drive to simultaneously linearly move each of the first two or more EMDs, and a second control actuatable to cause issuance of instructions to the robotic drive to simultaneously rotate each of the first two or more EMDs.

Description

[0001] Cross-reference to related applications This application is a divisional application of U.S. Patent Application No. 202210925210.6, filed August 2, 2022, entitled "System and Method for a Control Station for a Robotic Interventional Procedure Using Multiple Elongated Medical Devices". This application claims priority to U.S. Provisional Patent Application No. 63 / 203,845, filed August 2, 2021, the contents of which are incorporated herein by reference for all purposes. Technical Field

[0002] The embodiments generally relate to the field of robotic medical procedure systems and particularly to systems, apparatus, and methods for robotically controlling the movement of one or more elongated medical devices in robotic interventional medical procedures. Background Technology

[0003] As used herein, the term elongated medical device (EMD) refers to, but is not limited to, catheters (e.g., guiding catheters, microcatheters, balloon / stent catheters), wire-based devices (e.g., guidewires, embolization coils, stent retrievers, etc.), and any combination thereof. Wire-based devices include, but are not limited to, guidewires, microwires, proximal actuators for embolization coils, stent retrievers, self-expanding stents, and shunts. Typically, wire-based elongated medical devices (EMDs) do not have a hub or handle at their proximal terminal end.

[0004] Catheters and other EMDs can be used during minimally invasive medical procedures for the diagnosis and / or treatment of various vascular system diseases, including neurovascular intervention (NVI), also known as neurosurgical procedures, percutaneous coronary intervention (PCI), and peripheral vascular intervention (PVI). These procedures typically involve guiding leads through the vascular system and advancing catheters through the leads into the vascular system to deliver treatment.

[0005] The catheter insertion procedure begins by using standard percutaneous techniques to gain access to the appropriate vessel, such as an artery or vein, through an introducer sheath. The sheath, sheath, or guiding catheter is then advanced through the diagnostic lead to the primary location, such as the internal carotid artery for NVI, the ostium for PCI, or the superficial femoral artery for PVI. A guide suitable for the vascular system is then guided through the sheath or guiding catheter to the target location within the vascular system. In some cases, such as in the presence of anatomical structures, a support catheter or microcatheter is inserted above the guide to aid in guide navigation.

[0006] Physicians or operators can use imaging systems (such as fluorescein microscopes) to obtain contrast-enhanced images, which can be used as a route map of the vascular system to navigate leads or catheters to target locations, such as lesions. Contrast-enhanced images are also obtained when the physician delivers the lead or catheter, allowing the physician to verify that the device is moving along the correct path to the target location. When using fluorescein microscopy to examine anatomical structures, the physician manipulates the proximal end of the lead or catheter to guide the distal tip toward the lesion or target anatomical location into the appropriate vessel and avoids advancement into side branches.

[0007] Robotic catheter-based procedural systems have been developed to assist physicians in performing catheter insertion procedures such as NVI, PCI, and PVI. Examples of NVI procedures include coil embolization of aneurysms, fluid embolization of arteriovenous malformations, and mechanical thrombectomy for large vessel occlusion in the context of acute ischemic stroke. In NVI procedures, physicians use a robotic system to achieve access to the target lesion by manipulating the neurovascular lead and microcatheter to deliver treatment and restore normal blood flow. Target access is enabled by a sheath or guide catheter, but may also require an intermediate catheter for more distal areas or to provide adequate support for the microcatheter and lead. Depending on the type of lesion and treatment, the distal tip of the lead is navigated into or through the lesion. To treat an aneurysm, the microcatheter is advanced into the lesion and the lead is removed, and several embolization coils are deployed into the aneurysm via the microcatheter to block blood flow into the aneurysm. To treat an arteriovenous malformation, a fluid embolization is injected into the malformation via the microcatheter. Mechanical thrombectomy for vascular occlusion can be performed by aspiration and / or the use of a stent retrieval device. Depending on the location of the clot, aspiration is performed via an aspiration catheter or via a microcatheter for smaller arteries. Once the aspiration catheter is located at the lesion site, negative pressure is applied to remove the clot through the catheter. Alternatively, the clot can be removed by deploying a stent retrieval device via a microcatheter. Once the clot has been integrated into the stent retrieval device, the clot is retrieved by retracting the stent retrieval device and the microcatheter (or intermediate catheter) into the guiding catheter.

[0008] In PCI, physicians use robotic systems to gain access to lesions by manipulating coronary leads to deliver treatment and restore normal blood flow. Access is enabled by placing a guiding catheter in the ostium of the coronary artery. The distal tip of the lead is navigated through the lesion, and for complex anatomy, microcatheters can be used to provide adequate support for the lead. Blood flow is restored by delivering and deploying a stent or balloon at the lesion site. The lesion may require preparation prior to stenting, by delivering a balloon for pre-dilation of the lesion, or by performing plaque removal using a catheter and lead with a balloon, such as a laser or atherectomy. Diagnostic imaging and physiological measurements can be performed using imaging catheters or fractional flow reserve (FFR) measurements to determine appropriate treatment.

[0009] In PVI, physicians use robotic systems to deliver treatment and restore blood flow using techniques similar to NVI. The distal tip of the lead is navigated through the lesion, and microcatheters can be used to provide adequate support for leads with complex anatomy. Blood flow is restored by delivering and deploying a stent or balloon to the lesion. Similar to PCI, lesion preparation and diagnostic imaging can also be used.

[0010] When support is required at the distal end of a catheter or lead, such as to navigate a tortuous or calcified vascular system, reach a distal anatomical location, or cross a hard lesion, an over-the-wire (OTW) catheter or coaxial system can be used. An OTW catheter consists of a lumen for extending the entire length of the catheter. This provides a relatively stable system because the lead is supported along its entire length. However, compared to quick-change catheters, this system has some disadvantages, including higher friction and a longer overall length.

[0011] During vascular interventional procedures, operators typically use a set of controls provided at a control station to control the robotic system to move each catheter or line as needed. Each control is usually configured to control the equipped device or to move the catheter or line in a specific manner.

[0012] Such controls typically require the operator to press and hold a device selection button with one finger while simultaneously manipulating other controls with other fingers. As the number of EMDs under simultaneous control increases, these simultaneous operations become difficult, if not impossible. For example, controlling four different EMDs requires pressing the corresponding selection buttons with all four fingers of one hand.

[0013] The aforementioned problems are exacerbated if continuous activation is used. Continuous activation is a safety feature that requires a definite instruction from the operator that the movement is anticipated. This instruction is typically provided via a finger-operated "deadman" switch, which must be pressed for EMD movement to occur, and therefore requires the simultaneous availability of another operator's finger.

[0014] The physical challenges posed by conventional control stations can make it difficult to accurately control the movement and positioning of the EMD. Any unexpected movement of the EMD can cause harm to the patient or to the EMD itself.

[0015] Some systems include ergonomic handles with controls positioned on or near them. While such handles may be attractive and comfortable to hold, the "home position" defined by the handle restricts the placement of controls to the immediate area accessible to the fingers when the hand is on the handle. Otherwise, such systems would require the operator to periodically release the handle and move one or both hands to access controls located elsewhere. Furthermore, such systems are typically configured to favor right-handed operators.

[0016] The following systems are desirable: providing precise and safe control over multiple EMDs during robotic vascular intervention and being intuitive, easy to use, and / or scalable. Attached Figure Description

[0017] The embodiments will be more fully understood from the following detailed description, taken in conjunction with the accompanying drawings, wherein the reference numerals refer to the same parts, wherein: Figure 1 This is a perspective view of an exemplary catheter-based procedural system according to some embodiments; Figure 2 This is a schematic block diagram of an exemplary conduit-based procedural system according to some embodiments; Figure 3 This is a perspective view of a robot drive for a conduit-based procedural system according to some embodiments; Figure 4 This is a view of an input module for a conduit-based procedural system according to some embodiments; Figure 5A This is a view of an input module for a conduit-based procedural system according to some embodiments; Figure 5B This is a view of an input module for a conduit-based procedural system according to some embodiments; Figure 6 This is a view of an input module for a conduit-based procedural system according to some embodiments; Figure 7This is a view of a control station user interface used in conjunction with an input module for a conduit-based program system, according to some embodiments; Figure 8 This is a view of a control station user interface used in conjunction with an input module for a conduit-based program system, according to some embodiments; Figure 9 This is a view of a control station user interface used in conjunction with an input module for a conduit-based program system, according to some embodiments; Figure 10 This is a view of a control station user interface used in conjunction with an input module for a conduit-based program system, according to some embodiments; Figure 11 This is a view of a control station user interface used in conjunction with an input module for a conduit-based program system, according to some embodiments; and Figure 12 This is a view of a control station user interface used in conjunction with an input module for a conduit-based program system, according to some embodiments. Detailed Implementation

[0018] The following description is provided to enable anyone in the art to make and use the described embodiments. However, various modifications will be readily apparent to those skilled in the art.

[0019] Some embodiments facilitate the selection and simultaneous control of one or more (e.g., up to four) EMDs. By allowing simultaneous control of one or more EMDs without simultaneously pressing one or more device selection buttons, it is easier to share tasks between hands, reducing burden and stress. Furthermore, continuous activation can be decoupled from EMD selection to increase accessibility and ease of use.

[0020] The embodiments may also provide position control (linear or rotational) and speed control, arranged in such a way that each type is intuitively available to the operator via different control modes (e.g., one type of control via a roller and another type via a pair of buttons). The embodiments may provide simultaneous linear movement of at least two devices in relative directions.

[0021] According to some embodiments, the input module is less prescriptive regarding how the operator's hand should be positioned compared to a "grip-based" input module. Because no specific "initial position" is provided, hand movement under the control of the input module may be smoother than in other methods.

[0022] According to some embodiments, the control of the input module is mirrored in arrangement and function between its left and right sides. Such an input module is equally suitable for both right-handed and left-handed operators. Furthermore, such an arrangement may be inherently intuitive and associated with a shorter learning curve than an alternating arrangement.

[0023] Some embodiments also facilitate the prevention of EMD movement during procedures that could cause vascular damage, EMD damage, or any other harm. For example, some embodiments allow locking one or more EMDs so that the EMDs cannot move linearly regardless of any command issued by the operator via the input module. Similarly, one or more EMDs can also be locked or locked alternately so that one or more EMDs cannot be rotated.

[0024] Figure 1 This is a perspective view of an exemplary catheter-based procedural system 10 according to some embodiments. The catheter-based procedural system 10 can be used to perform catheter-based medical procedures, such as percutaneous interventional procedures, such as PCI (e.g., treatment of STEMI), NVI (e.g., treatment of emergency large vessel occlusion (ELVO)), and PVI (e.g., for severe limb ischemia (CLI)). Catheter-based medical procedures may include diagnostic catheter insertion procedures, during which one or more catheters or other elongated medical devices (EMDs) are used to aid in the diagnosis of a patient's condition. For example, during one embodiment of a catheter-based diagnostic procedure, a contrast agent is injected through a catheter into one or more arteries, and images of the patient's vascular system are acquired while the contrast agent resides therein.

[0025] Catheter-based medical procedures may also include catheter-based therapeutic procedures (e.g., angioplasty, stent placement, treatment of peripheral vascular disease, clot removal, treatment of arteriovenous malformations, treatment of aneurysms, etc.), during which a catheter (or other EMD) is used to treat the disease. The treatment process may be facilitated by including ancillary devices 54 (such as... Figure 2 Enhancements can be achieved using techniques such as intravascular ultrasound (IVUS), optical coherence tomography (OCT), fractional flow reserve (FFR), etc., as shown in the diagram. However, it should be noted that those skilled in the art will recognize that certain specific percutaneous interventional devices or components (e.g., type of lead, type of catheter, etc.) can be selected based on the type of procedure to be performed. The catheter-based procedure system 10 can perform any number of catheter-based medical procedures with only minor adjustments to accommodate the specific percutaneous interventional device to be used in the procedure.

[0026] The catheter-based procedure system 10 includes, among other components, a bedside unit 20 and a control station 26. The bedside unit 20 includes a robot actuator 24 and a positioning system 22, located near the patient 12. The patient 12 is supported on a patient table 18. The positioning system 22 is used to position and support the robot actuator 24. The positioning system 22 can be, for example, a robotic arm, an articulated arm, a holder, etc. One end of the positioning system 22 can be attached to, for example, a track, base, or cart on the patient table 18. The other end of the positioning system 22 is attached to the robot actuator 24. The positioning system 22 can be removed (along with the robot actuator 24) to accommodate the placement of the patient 12 on the patient table 18. Once the patient 12 is positioned on the patient table 18, the positioning system 22 can be used to position or position the robot actuator 24 relative to the patient 12 for the procedure. In some embodiments, the patient table 18 is operatively supported by a base 17 fixed to the floor and / or ground. The bed 18 is capable of moving with multiple degrees of freedom relative to the base 17, such as rolling, pitching, and yaw. The bedside unit 20 may also include controls and a display 46 (e.g., ...). Figure 2 (As shown in the diagram). For example, the controls and display can be located on the housing of the robot driver 24.

[0027] The term "front" refers to the side of the robot actuator 24 facing the patient 12 and away from the positioning system 22, while the term "rear" refers to the side of the robot actuator 24 closest to the positioning system 22. The terms "top," "up," and "upper" refer to the approximate direction away from the direction of gravity, and the terms "bottom," "down," and "lower" refer to the approximate direction in the direction of gravity.

[0028] Typically, the robot actuator 24 can be equipped with appropriate percutaneous interventional devices and accessories 48 (such as...). Figure 2 (As shown herein) (e.g., leads, various types of catheters including balloon catheters, stent delivery systems, stent retrieval devices, embolization coils, fluid embolization devices, aspiration pumps, contrast agent delivery devices, medications, hemostatic valve adapters, syringes, stopcocks, inflation devices, etc.) to allow a user or operator 11 to perform catheter-based medical procedures via a robotic system by operating various controls of a control system as described herein, such as control and input modules located at control station 26. Bedside unit 20, and in particular robot actuator 24, may include any number of components and / or combinations of components to enhance the functionality of bedside unit 20 as described herein. The user or operator 11 at control station 26 is referred to herein as control station user, control station operator, user, or operator. The user or operator at bedside unit 20 is referred to herein as bedside unit user, patient-side operator, or bedside unit operator.

[0029] Robot actuator 24 includes multiple device modules 32a-d, which are mounted to a track or linear component 60 (e.g., Figure 3 (As shown in the diagram). A track or linear component 60 guides and supports the device module. Each of the device modules 32a-d can be used to drive an EMD, such as a catheter or lead. For example, a robotic actuator 24 can be used to automatically feed a lead into a diagnostic catheter and a guiding catheter in an artery of patient 12. One or more devices, such as an EMD, are inserted into the body (e.g., a blood vessel) of patient 12 at insertion point 16 via, for example, an introducer sheath.

[0030] The bedside unit 20 communicates with the control station 26, allowing signals generated by the control of the control station 26 to be transmitted wirelessly or via hardwired to the bedside unit 20 to control various functions of the bedside unit 20, including the functions of the robot actuator 24. As described below, the control station 26 may include a control computing system 34 (such as...). Figure 2 (as shown in the diagram) or coupled to the bedside unit 20 via the control computing system 34. The bedside unit 20 can also provide feedback signals (e.g., load, speed, operating conditions, warning signals, error codes, etc.) to the control station 26, the control computing system 34 (as shown in the diagram) or via the control computing system 34. Figure 2 (as shown in the diagram) or both. Communication between the various components of the control computing system 34 and the conduit-based program system 10 can be provided via a communication link, which can be a wireless connection, a cable connection, or any other means that allows communication between components.

[0031] The term "local" is used to refer to the location of patient 12 and bedside unit 20. The catheterization procedure system 10 may be operated by a control station 26 at a local site, a control station 26 at a remote site, or both simultaneously. At the local site, the user or operator 11 and control station 26 are located in the same room or an adjacent room as patient 12 and bedside unit 20. As used herein, the local site is the location of bedside unit 20 and patient 12 or a subject (e.g., an animal or a carcass), and the remote site is the location of the user or operator 11 and control station 26 for remote control of bedside unit 20. The term "remote" is used to refer to a location where there is no physical access to bedside unit 20 and / or patient 12 at the local site.

[0032] In some embodiments, the remote site and the local (patient) site are far apart from each other, for example, in different rooms in the same building, different buildings in the same city, different cities, or other different locations, where the remote site does not have physical access to the bedside unit 20 and / or patient 12 at the local site.

[0033] Control station 26 includes input module 28, which includes controls and, according to some embodiments, is configured to receive user manipulations for controlling robot actuator 24 and / or various other components or systems of catheter-based procedure system 10. In the illustrated embodiment, control station 26 allows a user or operator 11 to control bedside unit 20 to perform catheter-based medical procedures. For example, input module 28 may be configured to enable bedside unit 20 to perform various tasks using an EMD that interfaces with robot actuator 24, such as advancing, retracting, or rotating leads, advancing, retracting, or rotating catheters, inflating or deflating balloons located on catheters, positioning and / or deploying stents, positioning and / or deploying stent retrieval devices, positioning and / or deploying coils, injecting contrast agents into catheters, injecting fluid embolisms into catheters, injecting medications or saline into catheters, aspirating from catheters, or performing any other function that may be performed as part of a catheter-based medical procedure. The robot drive 24 includes various drive mechanisms to cause movement (e.g., axial and rotational movement) of the components of the bedside unit 20, including the EMD, in response to user manipulation of the input module 28.

[0034] Input module 28 may include a device selection button as described below, allowing operator 11 to select which EMD currently loaded into robot drive 24 is controlled via user manipulation of input control of input module 28. An automatic movement button may be used to enable algorithmic movement of the conduit-based program system 10 that can be executed on the EMD without direct commands from the user or operator 11.

[0035] Input module 28 may also include airbag or support controls configured to instruct airbag inflation or deflation and / or support deployment. Input module 28 may include one or more buttons, wheels, thumb knobs, joysticks, touchscreens, etc., dedicated to instructing control of one or more specific components. Furthermore, one or more touchscreens may display one or more icons (not shown) representing the relative positions of various components of input module 28 or the catheter-based procedure system 10. Thus, one or more touchscreens may present a user interface for specifying and / or presenting the configuration of control of input module 28 and one or more functions, including but not limited to linear and / or rotational locking functions.

[0036] Control station 26 may include displays 30. In some embodiments, control station 26 may include two or more displays 30. Displays 30 may be configured to display information or patient-specific data to a user or operator 11 located at control station 26. For example, displays 30 may be configured to display image data (e.g., X-ray images, MRI images, CT images, ultrasound images, etc.), hemodynamic data (e.g., blood pressure, heart rate, etc.), patient record information (e.g., medical history, age, weight, etc.), and lesion or treatment assessment data (e.g., IVUS, OCT, FFR, etc.). Furthermore, displays 30 may be configured to display procedure-specific information (e.g., procedure checklists, recommendations, procedure duration, catheter or lead position, volume of delivered medication or contrast agent, etc.). Additionally, displays 30 may be configured to display information to provide information to the control computing system 34 ( Figure 2 (As shown in the diagram) Related functionality. Display 30 may include touchscreen capability to provide some user input capabilities for the system.

[0037] The catheter-based procedure system 10 also includes an imaging system 14. The imaging system 14 can be any medical imaging system (e.g., non-digital X-ray, digital X-ray, CT, MRI, ultrasound, etc.) that can be used in conjunction with catheter-based medical procedures. In an exemplary embodiment, the imaging system 14 is a digital X-ray imaging device that communicates with a control station 26. In one embodiment, the imaging system 14 may include a C-arm (…). Figure 1 As shown in the figure, it allows the imaging system 14 to rotate partially or completely around the patient 12 to obtain images at different angular positions relative to the patient 12 (e.g., sagittal view, caudal view, anterior and posterior view, etc.). In one embodiment, the imaging system 14 is a fluorescence microscopy system including a C-arm with an X-ray source 13 and a detector 15, also known as an image intensifier.

[0038] Imaging system 14 can be configured to acquire X-ray images of appropriate areas of the patient 12 during procedures. For example, imaging system 14 can be configured to acquire one or more X-ray images of the head to diagnose neurovascular conditions. Imaging system 14 can also be configured to take one or more X-ray images (e.g., real-time images) during catheter-based medical procedures to help operator 11 of control station 26 correctly position leads, guide catheters, microcatheters, stent retrieval devices, coils, stents, balloons, etc., during the procedure. One or more images can be displayed on display 30. For example, images can be displayed on display 30 to allow the user or operator 11 to accurately move guide catheters or leads into appropriate positions.

[0039] To define directions, a Cartesian coordinate system with X, Y, and Z axes is introduced. The positive X-axis is oriented in the longitudinal (axial) direction, that is, in the direction from the proximal end to the distal end. The Y and Z axes lie in the transverse plane of the X-axis, with the positive Z-axis oriented upwards, that is, in the direction opposite to gravity, and the Y-axis is automatically determined by the right-hand rule.

[0040] Figure 2 This is a block diagram of a conduit-based program system 10 according to an exemplary embodiment. The conduit program system 10 may include a control computing system 34. The control computing system 34 may physically be, for example, a control station 26 ( Figure 1 (as shown in the diagram). The control computing system 34 may typically include a computer processing unit suitable for providing the various functionalities described herein for the catheter-based program system 10. For example, the control computing system 34 may be an embedded system, a dedicated circuit, a general-purpose system programmed with the functionalities described herein, etc. The control computing system 34 communicates with the bedside unit 20, the control station 38, the additional communication system 40 (e.g., a telepresence system), and the patient sensors 56 (e.g., electrocardiogram (ECG) device, electroencephalogram (EEG) device, blood pressure monitor, temperature monitor, heart rate monitor, respiratory monitor, etc.).

[0041] The control computing system 34 also communicates with the imaging system 14, patient table 18, additional medical system 50, contrast injection system 52, and auxiliary devices 54 (e.g., IVUS, OCT, FFR, etc.). The bedside unit 20 includes a robot actuator 24, a positioning system 22, and may include additional controls and a display 46. As described above, the additional controls and display may be located on the housing of the robot actuator 24. Interventional devices and accessories 48 (e.g., leads, catheters, etc.) are connected to the bedside system 20. In some embodiments, the interventional devices and accessories 48 may include specialized devices (e.g., IVUS catheters, OCT catheters, FFR lines, diagnostic catheters for contrast imaging, etc.) that are connected to their respective auxiliary devices 54, i.e., the IVUS system, OCT system, and FFR system, etc.

[0042] In various embodiments, the control computing system 34 is configured to receive and generate control signals based on the control of the input module 28 of the control station 26 for manipulation and / or based on information accessible to the control computing system 34, so that medical procedures can be performed using the catheter-based procedure system 10.

[0043] The catheter-based procedure system 10 may be connected to or configured to include any other systems and / or devices not explicitly shown. For example, the catheter-based procedure system 10 may include an image processing engine, a data storage device and archiving system, an automated balloon and / or stent inflation system, a drug injection system, a drug tracking and / or recording system, a user log, an encryption system, a system for restricting access to or use of the catheter-based procedure system 10, etc.

[0044] Figure 3 This is a perspective view of a robot actuator 24 for a conduit-based procedural system 10 according to some embodiments. The embodiments are not limited to... Figure 3 Robot driver 24. Figure 3 The robot actuator 24 includes a plurality of device modules 32a-d coupled to a linear member 60. Each device module 32a-d is coupled to the linear member 60 via a stage 62a-d movably mounted to the linear member 60. The device modules 32a-d can be connected to the stage 62a-d using connectors such as offset brackets 78a-d. In another embodiment, the device modules 32a-d are mounted directly to the stage 62a-d.

[0045] Each stage 62a-d can be independently actuated to move linearly along the linear member 60. Therefore, each stage 62a-d (and its corresponding device module 32a-d coupled to it) can move independently relative to each other and to the linear member 60. A drive mechanism is used to actuate each stage 62a-d. Figure 3 In the illustrated embodiments, the drive mechanism includes independent stage translation motors 64a-d coupled to each stage 62a-d and a stage drive mechanism 76, such as a lead screw via a rotating nut, a rack via a pinion, a belt via a pinion or pulley, a chain via sprocket teeth, or the stage translation motor 64a-d itself may be a linear motor. In some embodiments, the stage drive mechanism 76 may be a combination of these mechanisms; for example, each stage 62a-d may employ a different type of stage drive mechanism. In some embodiments where the stage drive mechanism is a lead screw and a rotating nut, the lead screw is rotatable and each stage 62a-d can engage and disengage with the lead screw to move, such as advance or retract. Figure 3 In the embodiment shown, stations 62a-d and device modules 32a-d are in a serial drive configuration.

[0046] Each device module 32a-d includes device module 68a-d and a cassette 66a-d mounted on and coupled to device module 68a-d. Figure 3In the illustrated embodiment, each box 66a-d is mounted to device module 68a-d in a vertical orientation. In other embodiments, each box 66a-d may be mounted to device module 68a-d in other orientations. Each box 66a-d is configured to abut and support a proximal portion of an EMD (not shown). Furthermore, each box 66a-d may include elements that provide one or more degrees of freedom in addition to the linear motion provided by actuation of the corresponding stage 62a-d to move linearly along the linear member 60. For example, box 66a-d may include elements that can be used to rotate the EMD when the box is coupled to device module 68a-d.

[0047] Each device module 68a-d includes at least one coupler to provide a drive interface to the mechanism in each box 66a-d to provide additional degrees of freedom. Each box 66a-d also includes a channel in which device supports 79a-d are located, and each device support 79a-d is used to prevent EMD buckling. Support arms 77a, 77b, and 77c are attached to each device module 32a, 32b, and 32c, respectively, to provide fixation points for supporting the proximal ends of device supports 79b, 79c, and 79d. The robot actuator 24 may also include connections to device supports 79, distal support arms 70, and support arms. The equipment support connection is 72. Support arm. A fixing point is provided for providing support for the proximal end of the distal support arm 79a, which is housed in the distal device module 32a. Additionally, the introducer interface support (redirector) 74 can be connected to the device support connection 72 and the EMD (e.g., the introducer sheath). The configuration of the robot actuator 24 has the benefit of reducing the size and weight of the driven robot actuator 24 by using the actuator on a single linear component.

[0048] To prevent pathogen contamination of patients, healthcare staff should ensure that bedside units 20 and patients 12 or other objects (such as...) are properly arranged. Figure 1 Aseptic techniques are used in the room shown. The room housing the bedside unit 20 and the patient 12 can be, for example, a catheterization lab or an angiography suite. Aseptic techniques consist of the use of sterile barriers, sterile equipment, appropriate patient preparation, environmental control, and contact guidelines. Therefore, all EMDs and interventional accessories are sterilized and can only come into contact with sterile barriers or sterile equipment. In some embodiments, a sterile drape (not shown) is placed over a non-sterile robotic actuator 24. Each cartridge 66a-d is sterilized and serves as a sterile interface between the draped robotic actuator 24 and at least one EMD. Each cartridge 66a-d can be designed to be sterile for single use or to be resterilized wholly or partially, such that cartridge 66a-d or its components can be used in multiple procedures.

[0049] As used herein, the term "box" generally refers to a component of a robot drive system, including components for supporting and moving (e.g., rotating and / or translating) at least one EMD. The term "device module" generally refers to a component of a robot drive system, which includes one or more motors with drive couplers that interface with the moving elements of the box's EMD. The box may provide a sterile interface between at least one EMD and the device module, either directly or via a device adapter. The term "drive module" refers to a combination of the device module and the box.

[0050] In some embodiments, an EMD is a catheter having a hub at the proximal end and a flexible shaft extending from the hub toward the distal end of the catheter, wherein the shaft is more flexible than the hub. In one embodiment, the catheter includes an intermediate portion transitioning between the hub and the shaft, the intermediate portion having less rigidity than the hub and intermediate flexibility that is more rigid than the shaft. In some embodiments, the intermediate portion is strain relief.

[0051] The longitudinal axis of a component (e.g., an EMD or other element in a conduit-based procedural system) is a line or axis along the length of the component that passes through the center of the component's cross-section in a direction from the proximal portion of the component to the distal portion of the component. For example, the longitudinal axis of a conductor is a central axis in a direction from the proximal portion of the conductor toward the distal portion of the conductor, even if the conductor may be non-linear in the relevant section.

[0052] Axial movement of a component refers to the translation of the component along its longitudinal axis. For example, when the distal end of an EMD is axially moved or further into the patient along its longitudinal axis in the distal direction, the EMD is being advanced. When the distal end of an EMD is axially moved or further out of the patient along its longitudinal axis in the proximal direction, the EMD is being withdrawn.

[0053] In this respect, axial insertion refers to inserting the first member into the second member along the longitudinal axis of the second member. For example, an EMD axially loaded in a collet is axially inserted into the collet. An example of axial insertion can be described as reversing a conduit onto the proximal end of a wire. Lateral insertion refers to inserting the first member into the second member along a direction perpendicular to the longitudinal axis of the second member. Lateral insertion can also be referred to as radial loading or lateral loading.

[0054] Rotational movement of a component refers to a change in the angular orientation of the component about its local longitudinal axis. For example, due to an applied torque, the rotational movement of an EMD corresponds to a clockwise or counterclockwise rotation of the EMD about its longitudinal axis. Continuous motion refers to motion that does not require resetting and is uninterrupted, while discrete motion refers to motion that requires resetting and is interrupted.

[0055] The terms distal and proximal define the relative positions of two distinct features. In the context of robotic actuators, the terms distal and proximal are defined by the position of the robotic actuator relative to the patient in its intended use.

[0056] When used to define relative positions, distal features are those of the robot actuator that are closer to the patient than proximal features when the robot actuator is in its intended use position. Within the patient, any vascular system landmarks along the path away from the access point, where the access point is the point where the EMD enters the patient, are considered farther than distal features. Similarly, proximal features are those of the robot actuator that are farther from the patient than distal features when the robot actuator is in its intended use position.

[0057] When used to define orientation, distal orientation refers to the movement or aiming movement of an object on or towards a distal feature and / or patient when the robot actuator is in its intended position of use. Proximal orientation is the relative orientation of distal orientation. For example, referencing Figure 1 The robotic device is shown from the perspective of an operator facing the patient. In this arrangement, the distal direction is along the positive X-axis and the proximal direction is along the negative X-axis.

[0058] Regarding module movement, please refer to... Figure 3 The EMD moves toward the patient in a distal direction along a path via an introducer interface support 74 at the distal end of the defined robotic actuator 24. The proximal end of the robotic actuator 24 is the point furthest from the distal end along the negative X-axis.

[0059] Regarding the location of individual modules, and also refer to Figure 3 The farthest device module is device module 32a, which is the farthest device module closest to the robot driver 24. The nearest device module is device module 32d, which is the farthest device module located along the negative X-axis from the far end of the robot driver 24. The relative positions of the device modules are determined by their relative positions to the far end of the robot driver. For example, device module 32b is farthest from device module 32c.

[0060] Regarding the distal / proximal portions, sections, or ends of the EMD or robot actuator, portions of cassette 66a and device module 68a are defined by their relative positions to the distal end of the robot actuator. For example, the distal end of cassette 66a is the portion of the cassette closest to the distal end of the robot actuator, and the proximal end of cassette 66a is the portion of the cassette furthest from the distal end of the robot actuator along the negative X-axis when the cassette is in its use position on device module 68a. In other words, the distal end of cassette 66a is the portion of the cassette through which the EMD is closest to the path leading to the patient in the use position.

[0061] As previously described, embodiments of control station 26 may include a variety of different input modules for controlling bedside unit 20. These input modules may include various input controls (e.g., buttons, wheels, knobs, joysticks) that can be manipulated by a user to control (or instruct) the operation of robot actuator 24. These input controls may be arranged on the input modules in different layouts or patterns to facilitate the desired functions and their coordinated sequencing to perform tasks requiring independent (and sometimes simultaneous) movement of multiple EMDs.

[0062] Furthermore, embodiments of the input module can be configured to operate in multiple different control modes. The functions of one or more controls assigned to the input module in a first control mode may differ from those assigned to one or more controls in a second control mode, and the control mode can be selected based on the executing program, the device or device to be controlled, user preferences, or any other factors. The input module can be configured to switch between different control modes in response to input from the user or the control computing system 34.

[0063] The input module, as described herein, can be fixed to the surface of control station 26, integrated with the surface of control station 26, or simply rest on top of it. As described herein, the input module may comprise a single integrated housing or multiple independently movable housings. The input module may be rectangular, substantially rectangular (e.g., a rectangle with rounded edges), or other similar shapes. The input module may be approximately twice its height in width. In one embodiment, the input module is approximately 200 mm high and 413 mm wide. In another embodiment, the input module is approximately 300 mm high and 620 mm wide. In yet another embodiment, the input module is approximately 238 mm high by 492 mm wide.

[0064] Figure 4 This is a view of an input module 400 for controlling a robot actuator of a conduit-based programmed system, according to some embodiments. The input module 400 can facilitate the simultaneous selection and control of one or more EMDs.

[0065] Each of the knobs 411, 421 may include a protrusion extending upward from a flat base of the input module 400. The protrusion may be circular or substantially circular. Each knob 411, 421 may be wider at its base than at its top to define a "skirt" on which the operator's thumb can engage the knob during rotation. The knobs 411, 421 may be "centrally" positioned relative to buttons 415 and 425 and buttons 414 and 424.

[0066] Buttons 413a and 413b, as well as buttons 423a and 423b, may include protrusions extending upward from a flat base. Buttons 413a and 413b, as well as buttons 423a and 423b, may extend upward from the base to a degree less than that of knobs 411 and 421. Buttons 413a and 413b, as well as buttons 423a and 423b, may be triangular, but can also be other shapes such as squares, rectangles, ovals, circles, etc. Buttons 413a and 413b can be implemented using a single button (e.g., a joystick button) capable of receiving two or more different inputs, and buttons 423a and 423b can also be implemented using such a single button. For example, buttons 413a and 413b can be implemented using a single button having a pressable end corresponding to button 413a and another pressable end corresponding to button 413b. Buttons 413a and 413b, as well as buttons 423a and 423b, may be parallel or substantially parallel to each other, or may be arranged at an angle. Buttons 413a and 413b, as well as buttons 423a and 423b, may be positioned "centrally" relative to buttons 415 and 425, as well as buttons 414 and 424.

[0067] Continuous activation buttons 414 and 424 may be substantially rectangular, such as rectangular, elliptical, circular, or square, as shown. During operation, continuous activation buttons 414 and 424 may be positioned closer to the operator than all other buttons and controls of 400. Continuous activation buttons 414 and 424 may protrude from the base of module 400 or may be substantially abutted against the surface of module 400. Continuous activation buttons 414 and 424 may be smooth or include textured portions such as dimples. Continuous activation buttons 414 and 424 may be physical buttons that deflect / translate when actuated (e.g., pressed), or solid-state buttons such as capacitive touchpads or piezoelectric devices that are actuated by touch and do not noticeably “travel” when thus activated.

[0068] Buttons 415 and 425 may be square, as shown, or may be other shapes such as circular, rectangular, oval, etc. Buttons 415 and 425 may be positioned further away from the operator during operation than all other buttons in module 400. Buttons 415 and 425 may protrude from or be substantially adjacent to their base. Buttons 415 and 425 may be smooth or include raised portions such as ripples. The raised portions of the various buttons 415 and 425 may differ from one another to help the operator distinguish the buttons by touch alone.

[0069] Controls 412 and 422 can be circular, as shown. Figure 4In the illustrated embodiment, controls 412, 422 are wheels. Controls 412, 422 include tactile elements to improve grip and help the operator “find” these controls without looking at the input module 400. In other embodiments, controls 412, 422 may be smooth. Controls 412, 422 may be arranged parallel or substantially parallel to each other. Controls 412, 422 may be “centrally” positioned on the input module 400 relative to buttons 415, 425, 414, and 424.

[0070] The input module 400 may be substantially flat across its entire surface, or it may include varying heights. For example, certain portions of its surface may be raised or lowered relative to others. Changes in height may be gradual or abrupt.

[0071] Using the right-side control 410 as an example, an operator can actuate the knob 411 by placing their right thumb on the side portion (e.g., the skirt) and using their thumb to bias the knob 411 clockwise or counterclockwise to rotate it. This actuation causes a command to be issued to the robot actuator 24 to rotate one or more EMDs currently selected by the right-side control 410, as will be described below.

[0072] An operator can actuate wheel 412 to issue a command to robot driver 24 to change the linear position of one or more EMDs selected by right-side control 410, and can actuate buttons 413a and 413b to issue a command to robot driver 24 to move one or more EMDs selected by right-side control 410 linearly (in their respective relative directions) and at a constant speed. Buttons 413a and 413b can provide analog (or simulated) functionality because the constant speed depends on the degree to which the button is pressed. In the case where buttons 413a and 413b are implemented by a single rocker switch, the constant speed can be determined by how far the switch is tilted toward one of its relative positions. The linear and rotary movements mentioned above are subject to any software-based locking settings that may be active at present, as will be described below.

[0073] According to some embodiments, actuation of any of the controls 411, 412, 413a, and 413b does not result in the issuance of an instruction to the robot driver 24 unless button 414 is continuously activated simultaneously with such actuation (e.g., by pressing). In this respect, embodiments include numerous possible implementations for issuing instructions to the robot driver 24 due to activation of input module controls. In one example, one or more computing systems (e.g., control computing system 34) are located between the input module 400 and the robot driver 24. The one or more computing systems receive signals from the input module 400 and issue corresponding instructions to the robot driver 24 based on the received signals. In one example, actuation of knob 411 when button 414 is not actuated results in no signal being output from the input module 400 to the one or more computing systems, and therefore no instruction is issued to the robot driver 24.

[0074] In another example, when button 414 is not actuated, actuation of knob 411 causes input module 400 to output one or more signals indicating actuation of button 414 (e.g., the degree to which knob 411 is rotated) and indicating that button 414 is not actuated. One or more intermediate computing systems determine, based on one or more signals, not to issue instructions to robot driver 24. In some embodiments, one or more computing systems further determine to present a message to the operator indicating that rotation of knob 411 was detected but no corresponding EMD rotation occurred.

[0075] Similarly, when button 414 is actuated, the actuation of knob 411 causes input module 400 to output one or more signals indicating that button 414 has been actuated. Based on these signals, one or more intermediate computing systems issue instructions to robot driver 24 to rotate one or more EMDs currently selected by button 415.

[0076] Actuation of knob 411 may include rotation and / or pressing of knob 411. Actuation of wheel 412 may include clockwise or counterclockwise rotation of wheel 412, and actuation of buttons 413a, 413b may include pressing them. For example, an operator may use their thumb, finger, or a combination of thumb and finger to perform each of these actuations.

[0077] In one example, the operator positions their right hand such that the heel of the palm is positioned to selectively actuate button 414, the right thumb is positioned to selectively actuate knob 411, and the index and / or middle finger is positioned to selectively actuate scroll wheel 412, button 413a, or button 413b. Rotation of knob 411 using the right thumb can be facilitated by biasing the thumb against the substantially vertical surface or the wider skirt portion of knob 411; either the substantially vertical surface or the wider skirt portion of knob 411 can be textured to facilitate this bias. Knob 411 can also be rotated by pinching / gripping with multiple fingers. Button 414 can be sized and positioned to allow many different hand sizes to comfortably hold the aforementioned positions.

[0078] The right-side selection button 415 can be actuated to select one or more EMDs to be moved based on instructions issued in response to manipulations of the right-side controls 411, 412, 413a, 413b, and 414. Selection buttons 415, labeled 1, 2, 3, and 4, can be used to select the EMD supported by the first box, the EMD supported by the second box, the EMD supported by the third box, and the EMD supported by the fourth box, respectively. Advantageously, selection buttons 415 can be used to simultaneously select more than one EMD at a given time (which can then be simultaneously controlled using the right-side controls 411, 412, 413a, 413b, and 414), and continuous pressing by the operator is not required to maintain this selection.

[0079] In this example, pressing and releasing any selection button 415 results in the selection of the associated EMD. Therefore, the EMDs of boxes 1 and 3 can be selected by pressing and releasing button 1 and then pressing and releasing button 3. Pressing and releasing buttons 1 and 3 simultaneously can also result in the selection of the EMDs of boxes 1 and 3.

[0080] According to some embodiments, selecting button 415 corresponding to an already selected EMD does not affect the selection of the EMD. That is, button 415 can only be used to select an EMD and not to de-select an EMD. Such embodiments may include additional controls within controls 410 and 420, which can be actuated to deselect all EMDs currently selected by the corresponding control 415 or 425.

[0081] In other embodiments, selecting button 415 corresponding to an already selected EMD causes the EMD to be deselected. In still other embodiments, selecting any button 415 causes the removal of all previous selections of an EMD and the selection of the EMD corresponding to the selected button 415. In order to select multiple EMDs in this case, the selection button 415 associated with each of the multiple EMDs is pressed simultaneously for a threshold time period (e.g., 20-50 ms).

[0082] Except for selection buttons 415 and 425, the right-side control 410 and the left-side control 420 are essentially mirror images of each other. The corresponding left-to-right order of selection buttons 415 and 425 corresponds to the actual arrangement of the modules of the robot driver 24 and the display of those modules on the user interface described below. Each of the left-side controls 420 can be implemented substantially identically to its similarly numbered counterpart in the right-side control 410.

[0083] While the right hand is positioned relative to control 410 as described above, the operator can position the left hand such that the base of the palm is positioned to selectively actuate button 424, the left thumb is positioned to selectively actuate knob 421, and the left index and / or middle finger is positioned to selectively actuate wheel 422, button 423a, or button 423b. Other operator hand positions are also anticipated. For example, the operator can place their right index finger on the right wheel 412 and their left hand on the right knob 412. Input module 400 allows simultaneous selection of one or more EMDs for each of the right control 410 and the left control 420. The right control 410 can then be used to simultaneously control the rotation or linear movement of the EMD selected for the right control 410, and the left control 420 can then be used to simultaneously control the rotation or linear movement of the EMD selected for the left control 420.

[0084] The embodiment can implement any suitable logic to resolve conflicting selections of the EMD between selection buttons 415 and 425. For example, suppose button 2 of selection button 415 and button 1 of selection button 425 are selected. Next, the operator presses button 1 of selection button 415. In some embodiments, this action results in the deselection of button 2 and the selection of button 1 of selection button 415 and the deselection of button 1 of selection button 425.

[0085] In another example, suppose button 3 of selection button 415 and buttons 1 and 2 of selection button 425 are selected. The operator then presses button 1 of selection button 415. In some embodiments, this action results in the deselection of button 3 of selection button 415 and button 1 of selection button 425, and the selection of button 1 of selection button 415, causing button 2 of selection button 425 to also be selected. In other embodiments, this action results in the deselection of button 3 of selection button 415 and buttons 1 and 2 of selection button 425, and the selection of button 1 of selection button 415.

[0086] In some embodiments, it is assumed that the EMD moves only when it is selected and a command to move the EMD is currently issued to the robot actuator 24. The proximal ends of all other EMDs installed within the robot actuator 24 remain stationary due to internal friction, active braking, and / or other mechanisms of the robot actuator 24.

[0087] Figure 5A and 5B This is a view of an input module 500 according to some embodiments. Input module 500 includes a right-side control 510 and a left-side control 520, which can generally be implemented as described above with respect to controls of similar designation for input module 400. As shown, the surface on which the controls are mounted is substantially flat. Flatness can be used to increase the operator's freedom of movement of their hands around the controls of input module 500. Furthermore, the layout of the controls and the mirror image of the operation are equally advantageous to both right-handed and left-handed operators and are more intuitive than other arrangements.

[0088] Each of knobs 511 and 521 may include a circular or substantially circular protrusion extending upward from a flat base of input module 500. Each knob 511, 521 may include an integrated skirt ( Figure 5B Knobs 511a and 521a, on an integrated skirt, allow the operator's thumb to engage the knob during rotation. Skirts 511a and 521a may include tactile surfaces to facilitate their positioning and movement. Knobs 511 and 521 may be "centrally" positioned relative to buttons 515, 525, 514, and 524.

[0089] Each of buttons 513a, 513b, 523a, and 523b may include a protrusion extending upward from the base of module 500. Buttons 513a, 513b, 523a, and 523b may extend upward from the base to a degree smaller than that of knobs 511 and 521. Buttons 513a, 513b, 523a, and 523b may be triangular or any other shape, such as square, rectangular, oval, circular, etc.

[0090] Buttons 513a and 513b can be implemented using a single button (e.g., a joystick button) capable of receiving two or more different inputs, and buttons 523a and 523b can also be implemented using such a single button. For example, buttons 513a and 513b can be implemented using a single button having a pressable end corresponding to button 513a and another pressable end corresponding to button 513b. Buttons 513a, 513b, 523a, and 523b can be parallel or substantially parallel to each other, or can be arranged at an angle. Buttons 513a, 513b, 523a, and 523b can be positioned "centrally" relative to buttons 515, 525, 514, and 524.

[0091] The continuous activation buttons 514 and 524 can be substantially rectangular, as shown, rectangular, elliptical, circular, or square. During operation, the continuous activation buttons 514 and 524 can be closer to the operator than all other buttons and controls of module 500. The continuous activation buttons 514 and 524 can protrude from the base of module 500 or can be substantially flat and adjacent to the base of module 500.

[0092] Continuously activated buttons 514 and 524 can be smooth or textured (e.g., including raised portions such as ripples). Continuously activated buttons 514 and 524 can be physical buttons that deflect / translate when actuated, or solid-state buttons such as capacitive touchpads or piezoelectric devices that are actuated by touch and do not noticeably "travel" when thus activated. Buttons 515 and 525 may be circular, as shown, or may be other shapes such as square, rectangular, oval, etc. Buttons 515 and 525 may be positioned further away from the operator during operation than all other buttons in module 500. Buttons 515 and 525 may protrude from or substantially abut the base of module 500. Buttons 515 and 525 may be smooth or include raised portions such as ripples. The raised portions of the various buttons 515 and 525 may differ from one another to help the operator distinguish the buttons by touch alone. exist Figure 5A and 5B In the illustrated embodiment, controls 512 and 522 are wheels. Controls 512 and 522 include tactile elements to improve grip and help the operator “find” these controls without looking at the input module 500. In other embodiments, controls 512 and 522 are smooth. Controls 512 and 522 may be arranged parallel or substantially parallel to each other. Controls 512 and 522 may be “centrally” positioned on the input module 500 relative to buttons 515, 525, 514, and 524.

[0093] Buttons 513a, 513b, 523a, 523b and scroll wheels 512 and 522 are angled for ergonomic reasons to reduce ulnar deviation of the wrist. This angle allows the operator's hand to be positioned similarly to when using a computer keyboard.

[0094] The input module 500 may be substantially flat over its entire surface, or it may include varying heights. For example, certain portions of the surface may be raised or lowered relative to others. Changes in height may be gradual or abrupt. Figure 5A and 5BThe illustrated embodiment includes a gradual depression in the separation controls 510 and 520. This depression has a funnel shape composed of triangles and rectangles. The triangular portions may be "steeper" than the rectangular portions, where the rectangular portions typically become less steep relative to the surface of the base of module 500.

[0095] Selection buttons 515 and 525 can be opaque buttons with backlit numbers. The numbers on the selection buttons are backlit only when the corresponding cartridge is selectable (e.g., after the operator indicates via the user interface described below that the cartridge is loaded with EMD) and are not backlit when the cartridge is not selectable. If the cartridge is not selectable, neither the corresponding selection button of button 515 nor the corresponding selection button of button 525 is backlit (e.g., button 4 of buttons 515 and 525).

[0096] Indicators 515a–515d and 525a–525d indicate which of buttons 515 and 525 is currently selected. The indicators can be of various shapes, including “pill” shapes, “eyebrow” shapes, rectangles, circles, squares, etc. In some embodiments, indicators 515a–515d and 525a–525d are lights that illuminate when the corresponding button (and box) is selected and turn off when not selected. Since the box can only be selected for control using either the right-side control 510 or the left-side control 520, and not both, a selection button 515 (e.g., selection button 2) indicated as selected by one of indicators 515a–515d is not indicated as selected by the corresponding one of indicators 525a–525d.

[0097] Indicators 516 and 517 can selectively depict one of three different states of controls 511, 512, 513a, and 513b. In the first state, the control is disabled and cannot be used to control the EMD. The first state can be used when the EMD is being controlled at the bedside control station, when the EMD is being inserted into the box, etc. The second state indicates that the control is enabled but button 514 is not pressed. Therefore, when in the second state, manipulation of controls 511, 512, 513a, and 513b will not cause the EMD to move. A third state exists when the control is enabled and button 514 is pressed. In the third state, manipulation of controls 511, 512, 513a, and 513b will cause a transmission command to move one or more EMDs currently selected via selection button 515, as described above.

[0098] Indicators 526 and 527 can selectively depict the states of controls 521, 522, 523a, and 523b, independent of the states of controls 511, 512, 513a, and 513b. For example, indicators 516 and 517 may indicate a second state (because button 514 is not actuated), while indicators 526 and 527 may indicate a third state (because button 524 is actuated). According to some embodiments, indicators 516, 517, 526, and 527 are lights and are off to indicate a first state, are a first color (e.g., white) to indicate a second state, and are a second color (e.g., orange) to indicate a third state.

[0099] Figure 6 This is a view of an input module 600 according to some embodiments. Input module 600 includes a right-side control 610 and a left-side control 620. Controls 611, 612, 613a, 613b, 614, 621, 622, 623a, 623b, and 624 can generally be implemented as described above with respect to controls of similarly numbered input modules 400 and 500, although the physical profiles of controls 611, 614, 621, and 624 differ from their counterparts in input modules 400 and 500.

[0100] Knobs 611 and 621 may include circular or substantially circular protrusions extending upward from a flat base of input module 600. Each knob 611, 621 may include an integrated skirt 611a, 621a on which an operator's thumb can engage during knob rotation. Skirts 611a and 621a may include tactile surfaces to facilitate their positioning and movement. Knobs 611 and 621 may be "centrally" positioned relative to buttons 615, 625, 614, and 624.

[0101] Each of buttons 613a, 613b, 623a, and 623b may include a protrusion extending upward from the base of module 600. Buttons 613a, 613b, 623a, and 623b may extend upward from the base to a degree smaller than knobs 611 and 621. Buttons 613a, 613b, 623a, and 623b may be triangular or any other shape, such as square, rectangular, elliptical, circular, etc.

[0102] Buttons 613a and 613b can be implemented using a single button (e.g., a joystick button) capable of receiving two or more different inputs, and buttons 623a and 623b can also be implemented using such a single button. For example, buttons 613a and 613b can be implemented using a single button having a pressable end corresponding to button 613a and another pressable end corresponding to button 613b. Buttons 613a, 613b, 623a, and 623b can be parallel or substantially parallel to each other, or can be arranged at an angle. Buttons 613a, 613b, 623a, and 623b can be positioned "centrally" relative to buttons 615, 625, 614, and 624.

[0103] The continuous activation buttons 614 and 624 can be substantially rectangular, such as a rectangle, ellipse, circle, or square, as shown. During operation, the continuous activation buttons 614 and 624 can be closer to the operator than all other buttons and controls of module 600. The continuous activation buttons 614 and 624 can protrude from the base of module 600 or can be substantially flat and adjacent to the base of module 600.

[0104] The continuously activated buttons 614 and 624 can be smooth or textured (e.g., including raised portions such as ripples). The continuously activated buttons 614 and 624 can be physical buttons that deflect / translate when actuated, or solid-state buttons such as capacitive touchpads or piezoelectric devices that are actuated by touch and do not noticeably “travel” when thus activated.

[0105] Buttons 615 and 625 can be any shape, such as square, rectangular, oval, etc. Buttons 615 and 625 can be positioned further away from the operator during operation than all other buttons in module 600. Buttons 615 and 625 can protrude from or be substantially adjacent to the base of module 600. Buttons 615 and 625 can be smooth or include raised portions such as ripples. The raised portions of the various buttons 615 and 625 can differ from each other to help the operator distinguish the buttons by touch alone.

[0106] exist Figure 6 In the illustrated embodiment, controls 612 and 622 are wheels that include tactile elements to improve grip and help the operator “find” these controls without looking at the input module 600. In other embodiments, controls 612 and 622 are smooth. Controls 612 and 622 may be arranged parallel or substantially parallel to each other. Controls 612 and 622 may be “centrally” positioned on the input module 600 relative to buttons 615, 625, 614, and 624.

[0107] The input module 600 may be substantially flat over its entire surface, or it may include varying heights. For example, certain portions of the surface may be raised or lowered relative to others. Changes in height may be gradual or abrupt.

[0108] The right-side selection button 615 can be actuated to select one or more EMDs to be moved based on an instruction issued in response to manipulation of the right-side control 610. Selection buttons 615, labeled 1, 2, 3, and W, can be used to select an EMD supported by a first housing, an EMD supported by a second housing, an EMD supported by a third housing, or a wire, respectively. Selection buttons 615 can be used to simultaneously select more than one EMD at a given time (which can then be simultaneously controlled using the right-side control 610), and continuous pressing by the operator is not required to maintain this selection. Actuation of button 616, labeled X, causes the deselection of all EMDs currently selected by selection button 615.

[0109] Figure 7 This is a view of a user interface that can be presented to an operator of an input module during a program, according to some embodiments. Section 710 of the user interface shows one or more boxes currently selected for left-side control (i.e., C3) and one or more boxes currently selected for right-side control (i.e., C4).

[0110] Section 720 depicts the relative linear position of each box and the rotational position of the EMD it supports. Section 730 identifies the EMD supported by each box (module). Sections 720 and 730 also indicate the currently selected box. Figure 8 As shown, during control of the selected EMD, section 720 depicts linear and rotational motion in near real-time, and section 730 indicates that the selected EMD is in motion. Furthermore, as... Figure 9 As shown, if the box has reached the end of its linear travel range, segments 720 and 730 can both display a notification.

[0111] Figure 10 The user interface is shown, in which the operator has manipulated the switch of section 730 to lock the linear and rotary movement of the guide tube installed in box 1. The operator may have used a finger or pointing device to slide the display switch of section 730 to the locked position. Because the linear and rotary movement is locked, sections 710 and 720 of the user interface both indicate that box 1 (i.e., C1) cannot be selected or moved.

[0112] According to some embodiments, the locked EMD will not move in any of the degrees of freedom of the lock (rotational in the case of rotational locking and linear in the case of linear locking), even if the operator manipulates the control of the input module that would otherwise do so. Therefore, the locking can be software-based, as commands contrary to locking are prevented from being received by the bedside unit. Embodiments may consider operator-set only rotational locking, linear only locking, or both, such as... Figure 7-10 As shown in the image.

[0113] In one example, the operator might activate a linear lock on the box, preventing the bedside technician from changing the position of their EMD while loading or unloading other equipment during the procedure. In this regard, the bedside technician typically "jogs" the box forward or backward during EMD loading / unloading. The ability to lock the linear movement allows the operator to control which boxes are allowed to move during such loading / unloading.

[0114] Some EMDs, including microcatheters, sheaths, and stent retrieval devices, should not be rotated due to the possibility of damage. Rotation locks according to some embodiments can therefore advantageously prevent such EMD rotation. Some EMDs, such as balloon-guided catheters, have a large hub with an additional tube that cannot physically rotate within the housing, and rotation locks can be used to prevent such rotation.

[0115] Rotation locking can be operator- and / or system-managed. For example, if a specific type of EMD is assigned to a cartridge (described below) and the system is programmed with the knowledge that this type of device should not rotate, the system can automatically activate rotation locking on that cartridge. Rotation locking can be partial, allowing the EMD to rotate a maximum of, for example, + / - 30 degrees. In some embodiments, the lock can be overridden by the operator. In some embodiments, the lock cannot be overridden by the operator. For example, the user interface only presents the rotation locking option (initially set to off) for those EMDs that can rotate.

[0116] Figure 11 An interface for specifying the EMD supported by each corresponding cassette is shown. In some embodiments, the system can detect the type of the EMD loaded in each cassette and pre-populate it. Figure 11 Interface. This can be displayed when one of the boxes (modules) in section 730 is selected. Figure 12 . Figure 12 The operator is allowed to select the type of EMD assigned to the selected box. According to some embodiments, the wire can be assigned to any box, and then the box can be selected by pressing the W button controlled on the left or right side of the input module 600.

[0117] Computer-executable program code used for controlling a conduit-based program system or presenting a user interface as described herein may be stored on a non-transitory computer-readable medium. Computer-readable media include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer-readable media include, but are not limited to, random access memory (RAM), read-only memory (ROM), electrically erasable programmable ROM (EEPROM), flash memory or other memory technologies, optical disc ROM (CD-ROM), digital versatile disc (DVD) or other optical storage devices, magnetic tape, magnetic tape, disk storage devices or other magnetic storage devices, or any other medium that can be used to store the desired instructions and can be used by system 10 ( Figure 1 (As shown) access includes access via the Internet or other forms of computer networks.

Claims

1. A user interface for managing a robot actuator to control one or more elongated medical devices (EMDs) supported by respective two or more housings of the robot actuator, comprising: The first section of the user interface is configured to indicate the first two or more boxes selected by the robot driver, the first two or more boxes being configured to simultaneously manipulate the first two or more EMDs supported by them in response to actuation of the first control. The second segment of the user interface is configured to indicate a selected second or more boxes of the robot driver, the selected second or more boxes being configured to simultaneously manipulate a second or more EMD supported thereon in response to actuation of the second control.

2. The user interface according to claim 1, further comprising: The third segment of the user interface is configured to depict the relative linear position of each of the first two or more EMDs and the second one or more EMDs.

3. The user interface of claim 2, wherein the third segment is configured to depict the rotational position of each of the first two or more EMDs and the second one or more EMDs.

4. The user interface of claim 3, wherein the third segment is configured to depict the linear and rotational motion of each of the first two or more EMDs and the second one or more EMDs in near real-time.

5. The user interface of claim 4, wherein the third segment is configured to display a notification when the box has reached the end of its linear travel range.

6. The user interface according to claim 1, further comprising: The fourth segment of the user interface is configured to identify the type of each of the first two or more EMDs and the second one or more EMDs.

7. The user interface according to claim 1, further comprising: For each of the respective two or more boxes, a first switch may be selected to lock the linear motion of the EMD it supports, and a second switch may be selected to lock the rotational motion of the EMD it supports.

8. The user interface of claim 7, wherein if a particular type of EMD is supported by a given one of the respective two or more boxes, a second switch for the given one of the respective two or more boxes is automatically selected.

9. A non-transitory computer-readable medium storing computer-executable program code for presenting a user interface according to any one of claims 1 to 8, the user interface being for managing a robot actuator to control one or more elongated medical devices (EMDs) supported by two or more respective housings of the robot actuator.

10. A user interface, comprising: The first or more indicators of the user interface are configured to indicate a first or more selected box of the robot driver, the first or more selected box being configured to simultaneously manipulate a first or more EMD supported thereon in response to actuation of the first control; The second or more indicators of the user interface are configured to indicate a selected second or more boxes of the robot driver, the selected second or more boxes being configured to simultaneously manipulate a second or more EMD supported thereon in response to actuation of the second control; as well as The third or more indicators of the user interface are configured to depict the relative linear position of each of the first or more EMDs and the second or more EMDs.

11. The user interface of claim 10, wherein the third or more indicators are configured to depict the rotational position of each of the first or more EMDs and the second or more EMDs.

12. The user interface of claim 10, wherein the third or more indicators are configured to depict the linear and rotational motion of each of the first or more EMDs and the second or more EMDs in near real-time.

13. The user interface according to claim 10, further comprising: For each box, there is a first switch that can be selected to lock the linear motion of the EMD it supports, and a second switch that can be selected to lock the rotational motion of the EMD it supports.

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