Robotic system for intracardiac echocardigraphy probe control

Abstract

A robotic system may include a housing enclosing a space configured to receive a control handle of an intracardiac echocardiography (ICE) imaging catheter assembly. The robotic system may include a first rotation actuator disposed in a space and configured to rotate a first control knob disposed on the control handle. The robotic system may include a second rotation actuator disposed in the space and configured to rotate a second control knob disposed on the control handle, the second rotation actuator being disposed proximal to the first rotation actuator. One or more pivotable arms may selectively enclose the space and position the rotation actuators into engagement with the control knobs.

Description

LAZA.058WO PATENT ROBOTIC SYSTEM FOR INTRACARDIAC ECHOCARDIGRAPHY PROBE CONTROLINCORPORATION BY REFERENCE TO ANY PRIORITY APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Application No.63 / 765442, filed on February 28, 2025, the disclosure of which is incorporated by reference in its entirety.BACKGROUND

[0002] The disclosed technology relates to robotically controlled intracardiac echocardiography (ICE).SUMMARY

[0003] ICE may provide certain advantages over other cardiac imaging modalities such as by avoiding complications associated with transesophageal echocardiogram (TEE). Images from an ICE catheter may have reduced shadowing in certain procedures (e.g., tricuspid procedures) as compared to other techniques. Example applications of ICE may include, use in left atrial appendage occlusion (LAAO), tricuspid Transcatheter Edge-to-Edge Repair (TEER), and so on.

[0004] In one or more aspects of the systems and methods described herein, a robotic system for positioning an ICE catheter assembly having a catheter and a control handle is described. The robotic system includes a housing, a first rotation actuator, and a second rotation actuator. The housing encloses a space configured to receive the control handle of the ICE catheter assembly. The first rotation actuator is disposed in the space and configured to rotate a first control knob disposed on the control handle. The second rotation actuator is disposed in the space and configured to rotate a second control knob disposed on the control handle, the second rotation actuator being disposed adjacent to, e.g., proximal to, the first rotation actuator.

[0005] In some examples, the robotic system further includes a load sensor coupled with the housing configured to sense reaction loads applied to the ICE catheter assembly. In some examples, the robotic system further includes a third rotation actuator disposed in the space and configured to rotate the control handle of the ICE catheter assembly within the space.In some examples, the robotic system further includes a linear actuator disposed in the space and configured to move the control handle of the ICE catheter assembly along a proximal- distal direction within the space. In some examples, the robotic system further includes a first knob interface configured to be advanced over the control handle and to be coupled with the first control knob of the ICE catheter assembly, the first knob interface configured to mate with the first rotation actuator. In some examples, the robotic system further includes a second knob interface configured to be advanced over the control handle and to be coupled with the second control knob of the ICE catheter assembly, the second knob interface configured to mate with the second rotation actuator. In some examples, the first knob interface includes a ring gear and a leaf spring support, the leaf spring support providing slip-on connection to the first control knob. In some examples, the first rotation actuator includes a drive gear configured to engage a driven gear coupled with the control handle of the ICE catheter assembly. In some examples, the drive gear is a first drive gear and the driven gear is a first driven gear and further including a second drive gear coupled with the second rotation actuator and configured to engage a second driven gear coupled with the control handle of the ICE catheter assembly. In some examples, the robotic system further includes a pivotable arm having a first position allowing access to the space and a second position enclosing the driven gear within the space. In some examples, a gear configured to engage the driven gear is coupled with the pivotable arm. In some examples, the pivotable arm includes a first pivotable arm and further including a second pivotable arm, each of the first pivotable arm and the second pivotable arm having a first position allowing access to the space and a second position enclosing the driven gear within the space. In some examples, the drive gear is a first gear and further including a second gear configured to engage the driven gear. In some examples, the second gear is coupled with a pivotable arm, the pivotable arm providing access to the space. In some examples, the first rotation actuator includes a belt configured to engage a peripheral surface coupled with the control handle of the ICE catheter assembly. In some examples, the belt is a first belt and the peripheral surface is a first peripheral surface and further including a second belt configured to engage the second peripheral surface. In some examples, the belt is wrapped around a roller mounted in a pivotable arm having a first position allowing access to the space and a second position enclosing a driven gear within the space. In some examples, the pivotable arm includes a first pivotable arm and further including a second pivotable arm, each of the first pivotablearm and the second pivotable arm having a first position allowing access to the space and a second position enclosing the driven gear within the space. In some examples, the peripheral surface includes an outer periphery’ of a knob interface, the knob interface including an inner periphery configured to mate with an outer surface of the first control knob. In some examples, the peripheral surface includes a seam connection. The seam connection can allow the peripheral surface to unfold to a rectangular configuration for wrapping around the control knob and can allow engagement the ends thereof to retain the peripheral surface to be placed into a circular or cylindrical configuration. This can enable assembling the knob interface by wrapping the peripheral surface around the control knob and then engaging the seam connection. The seam connection can include a tongue in groove connection as one of several examples.

[0006] In one or more aspects of the systems and methods disclosed herein, a probe carriage for robotically driving a control handle is described. The probe carriage includes a clamshell housing, a linear actuator, and one or more rotation actuators. The clamshell housing has a first end and a second end. The linear actuator is disposed within the clamshell housing and is configured to axially move between the first end and the second end. The one or more rotation actuators are disposed on the linear actuator and are configured to rotatably move at least a portion of the control handle.

[0007] In some examples, each of the one or more rotation actuators include: a first gear having a first axis of rotation; a second gear having a second axis of rotation transversely displaced from the first axis of rotation; a third gear having a third axis of rotation transversely positioned between the first axis of rotation and the second axis of rotation and vertically displaced from the first axis of rotation and the second axis of rotation; and a belt extending between the first gear, the second gear, and the third gear; wherein the belt is configured to engage a control knob of the control handle. In some examples, each of the one or more rotation actuators include a drive gear and an outer knob interface portion configured to couple to a control knob of the control handle, wherein the drive gear engages the outer knob interface portion. In some examples, each of the one or more rotation actuators include: a first gear having a first axis of rotation; a second gear having a second axis of rotation transversely displaced from the first axis of rotation; a third gear having a third axis of rotation transversely positioned between the first axis of rotation and the second axis of rotation and verticallydisplaced from the first axis of rotation and the second axis of rotation; and an outer knob interface portion configured to couple to a control knob of the control handle; wherein the first gear, the second gear, and the third gear are configured to engage the outer knob interface portion of the control handle.

[0008] In one or more aspects of the systems and methods disclosed herein, a method of robotically driving a control knob of a control handle is described. The method includes disposing a control handle within a probe carriage and actuating the linear actuator to axially move the control handle and actuating one or more rotation actuators to rotatably move one or more components of the probe handle. The probe carriage includes a clamshell housing having a first end and a second end; a linear actuator disposed within the clamshell housing, the linear actuator configured to axially move between the first end and the second end; and the one or more rotation actuators disposed on the linear actuator, the one or more rotation actuators configured to rotatably move at least a portion of the control handle.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Non-limiting features of some embodiments of the disclosure are set forth with particularity in the claims that follow. The following drawings are for illustrative purposes only and show non-limiting embodiments. Features from different figures may be combined in several embodiments. It should be understood that the figures are not necessarily drawn to scale. Distances, angles, etc. are merely illustrative and do not necessarily bear an exact relationship to actual dimensions and layout of the devices illustrated.

[0010] FIG. 1 is a front view of a robotic system for ICE catheter assembly control.

[0011] FIG. 2 is a front view of the robotic system of FIG. 1 with an access door open showing an ICE catheter assembly disposed therein.

[0012] FIG. 2A is a schematic drawing showing an embodiment with a load sensor integrated into the robotic system.

[0013] FIG. 3 is a top view of an internal sub-assembly of the robotic system of FIG. 1 and an ICE catheter assembly control handle removed therefrom.

[0014] FIG. 4 is a top view of the internal sub-assembly of the robotic system of FIG. 1 shown in FIG. 3 with the ICE catheter assembly control handle nested therein.

[0015] FIG. 5 is a top perspective view of the same sub-assembly and ICE catheter assembly shown in FIG. 4.

[0016] FIGS. 6-13 illustrate additional features of a gear drive system that can be incorporated into the robotic system of FIGS. 1-5.

[0017] FIGS. 14-19 illustrate additional features of a belt driven system that can be incorporated into the robotic system of FIGS. 1-5.DETAILED DESCRIPTION

[0018] Reference will now be made in detail to the preferred embodiments of the disclosure, examples of which are illustrated in the accompanying drawings. While the disclosure will describe preferred embodiments, it will be understood that they are not intended to limit the disclosure to those embodiments. On the contrary, the disclosure is intended to cover alternatives, modifications, and equivalents, which may be included within the spirit and scope of the disclosure as defined by the appended claims.

[0019] This application is directed to systems that can provide machine control of ICE imaging catheter assemblies. The system can control manual knobs that move a tip portion of the catheter body by acting on or through the catheter body. The systems disclosed herein can also use the force signals to detect inadvertent motion, e.g., by the patient, table, or parts of the robotic system. Such a system can manage such movements and forces while enhancing or maintaining patient safety. In some embodiments, there is a flexible span between a robotic system that engages a control handle of a probe assembly and an entry point into a patient. Loads on the flexible span can be detected. The stiffness of the flexible span can be selectively enhanced or relaxed during operation of the robotic system.

[0020] FIGS. 1-5 show a robotic system 100 for controlling an ICE probe 102. The ICE probe 102 can be an ICE catheter assembly. The ICE probe 102 can have a catheter and a control handle 104. The control handle 104 can include control knobs for controlling degrees of freedom of the catheter. The knobs are configured for manual manipulation. The robotic system disclosed herein can enable the manual knobs to be machine actuated in at least a portion of a procedure. FIGS. 6-13 illustrate enhancements to the robotic system 100 including incorporating various features of a gear driven transmission. FIGS. 14-19 illustrateenhancements to the robotic system 100 including incorporating various features of a belt driven transmission.I. ROBOTIC SYSTEM FOR ICE PROBE CONTROL

[0021] FIGS. 1-2 show the robotic system 100 for controlling the ICE probe 102. In some examples, the robotic system 100 can control multiple degrees of freedom of the ICE probe 102. For example, the robotic system 100 can control one, two, three, four, or more degrees of freedom of the ICE probe 102. In some examples, the robotic system 100 can control an axial movement, a yaw movement at the distal end of the ICE probe 102, a flexion of a distal length of a catheter of the ICE probe 102, rotation of a transducer disposed on the distal tip of the catheter of the ICE probe 102, rotation of the distal tip of the catheter of the ICE probe 102 about a l ongitudinal axis of a proximal portion of the catheter of the ICE probe 102, a roll movement of the distal tip of the ICE probe 102, and a roll movement of ICE probe 102. As described herein, a yaw movement can refer to one or a combination of a lateral deflection and an anterior-posterior deflection of the catheter caused by a rotation about an axis orthogonal to the longitudinal axis of the ICE probe 102 and a roll movement can refer to a rotation of distal portion of a catheter of the ICE probe about the longitudinal axis of a length of the catheter the ICE probe 102 that is proximal to the distal portion thereof.

[0022] The robotic system 100 can include a housing 106 and one or more actuators.

[0023] The housing 106 can enclose a space 108 configured to receive a control handle 104 of the ICE probe 102. In some examples, the housing 106 can be a clamshell housing. For example, the housing 106 can include a first housing section 110A and a second housing section HOB. The first housing section 110A can be hingedly coupled to the second housing section HOB about a first rotational axis A- A. In some examples, the first housing section 110A can be a lid and the second housing section HOB can be a base, or vice versa. In some examples, the housing 106 can include a latch 112. The latch 112 can be positioned at an end of the first housing section 110A and / or the second housing section 110B opposite the first rotational axis A- A. The latch 112 can be configured to selectively secure the first housing section 110A to the second housing section HOB. In some examples, the housing 106 can further include one or more pivotable arms 111.

[0024] The one or more pivotable arms 111 can each include a first end and a second end opposite the first end. The first end can be a pivoting end. The second end can be a securing end. The first end can be a securing end. The second end can be a pivoting end. The one or more pivotable arms 111 can rotate about a rotational axis between a first position and a second position. The first position can correspond to an open state. The first position can correspond to a release state. For example, in the first position the one or more pivotable arms 111 may be oriented away from the space 108, or the control handle 104 if positioned in the space 108. Accordingly, in the first position, the space 108 is readily accessible for removing the control handle 104 from, the space 108. In the first position, the space 108 is readily accessible for removing the control handle 104 from, the space 108. The second position can correspond to a closed state. The second position can correspond to an engaged state. In the second position the one or more pivotable arms 111 may be oriented toward the space 108, or the control handle 104 if positioned in the space 108. For example, in the second position, the space 108 can be inaccessible such that the control handle 104 cannot be provided to, or removed from, the space 108. In the second position, the rotation actuators can be configured to engaged with the control handle 104. Accordingly, each of the one or more pivotable arms 111 can have a first position allowing access to a portion of the space 108 within which the handle 104 is disposed in use and a second position enclosing a portion of a control handle assembly, e.g., a driven gear, within the space 108.

[0025] The one or more pivotable arms 111 can rotate about the first end. The one or more pivotable arms 111 can rotate about the second end. For example, the rotational axis can intersect either the first end or the second end of one or more pivotable arms 111. As described herein, the rotational axis may intersect the first end and the second end may be used to engage an engagement element for securing the one or more pivotable arms 111 m the second position. In some examples, the one or more pivotable arms 111 may be coupled to a portion of the housing 106. For example, the first ends of the one or more pivotable arms 111 may be rotatably coupled to the first housing section 110A.

[0026] Additionally, the one or more pivotable arms 111 may be configured to secure to an engagement element for securing the one or more pivotable arms 111 in the second position. For example, one or more rods 119 may be positioned on the second housing section 110B. In the second position, the one or more pivotable arms 111 may releasably engage witha corresponding one of the one or more rods 119. For example, the second end of the one or more pivotable arms 111 can include an engagement surface configured to releasably engage the one or more rods 119. The latch 112 can release the pivotable arms 111 from the corresponding rods 119.

[0027] The one or more actuators can each control one of the degrees of freedom of the ICE probe 102. In some examples, the one or more actuators can include a linear actuator 114 and one or more rotation actuators.

[0028] The linear actuator 114 can control an axial movement the ICE probe 102.In some examples, the linear actuator 114 can be a carriage configured to translate along a proximal-distal direction relative to the length of the housing 106. In some examples, the linear actuator 114 may be disposed within the housing 106, In such examples, the linear actuator 114 may translate between a proximal end and a distal end of the housing 106. For example, the linear actuator 114 can include a rail 114A (see FIG, 6) disposed along the second housing portion 110B upon which the carriage translates. In some examples, the one or more rotation actuators can be disposed on the linear actuator 114. Accordingly, the one or more rotation actuator can translate with the control handle 104 in response to a translation of the linear actuator 114. As shown in FIGS. 3-5, the linear actuator 114 can be coupled to the housing 106 via an alignment rod 121. For example, the alignment rod 121 may be part of the first housing section 110 / X. The alignment rod 121 may extend through a portion of the pivotable arms 111. The pivotable arms 111 may translate relative to the alignment rod 121. Accordingly, the linear actuator 114 can translate the carriage and pivotable arms 111 relative to the housing 106 and a rotation of the pivotable arms 111 can cause the first housing section 110A to rotate about the rotational axis A- A.

[0029] Each of the one or more rotation actuators can control a spatial configuration of a distal portion of the catheter, e.g., rotation of a transducer disposed in the distal portion of the catheter of the ICE probe 102, a yaw or a roll movement of the catheter of the ICE probe 102. In some examples, the one or more rotation actuators can include a first rotation actuator 116 and a second rotation actuator 118. In some examples, the one or more rotation actuators can further include a third rotation actuator 120. As shown in FIG. 2, the first rotation actuator 116, the second rotation actuator 118, and the third rotation actuator 120 can be disposed within the space 108. In some examples, the first rotation actuator 116 can bepositioned distally of the second rotation actuator 118 and the third rotation actuator 120 can be positioned proximally of the second rotation actuator 118. In some examples, the one or more rotation actuators may be disposed on a corresponding one of the one or more pivotable arms 111. For example, the first rotation actuator 116 can be disposed on a first pivotable arm, the second rotation actuator 118 can be disposed on a second pivotable arm, and the third rotation actuator 120 can be disposed on a third pivotable arm.

[0030] The first rotation actuator 116 can control the orientation of the transducer disposed at the distal end of the catheter of the ICE probe 102. For example, the first rotation actuator 116 can be configured to actuate a first control knob 122 disposed on the ICE probe 102. The first control knob 122 of the ICE probe 102 can be coupled to an elongate body extending along the length of the catheter of the ICE probe 102 for controlling rotation of the transducer about the longitudinal axis of the elongate body. For example, rotating the first control knob 122 in a first direction may act to rotate the transducer within the distal end of the catheter of the ICE probe 102 in a first direction and rotating the first control knob 122 m a second direction may act to rotate the transducer within the distal end of the catheter of the ICE probe 102 in a second direction. In some examples, a first engagement surface 124 can be fixedly coupled placed over or around the first control knob 122 such that the first engagement surface 124 does not move relative to the first control knob 122. In such examples, the first rotation actuator 116 can engage the first engagement surface 124 to actuate the first control knob 122. As shown in FIG. 2, the dashed line can indicate that the first control knob 122 is radially nested within the first engagement surface 124. The first engagement surface 124 can be part of a first control knob interface of the robotic system 100. In some examples, the first rotation actuator 116 can include a first drive gear configured to engage a first driven gear coupled with a control knob of the control handle 104 of the ICE probe 102.

[0031] The second rotation actuator 118 can control deflection of the distal portion of the catheter of the ICE probe 102. For example, the second rotation actuator 118 can be configured to actuate a second control knob 126 disposed on the ICE probe 102. The second control knob 126 of the ICE probe 102 can be coupled to one or more cables extending along the length of the ICE probe 102 for controlling a deflection of the distal tip of the catheter of the ICE probe 102. For example, rotating the second control knob 126 in a first direction may act to rotate the distal tip of the catheter of the ICE probe 102 about an axis disposedperpendicular to the longitudinal axis of the catheter of the ICE probe 102 and rotating the second control knob 126 in a second direction may act to rotate the distal tip of the catheter of the ICE probe 102 in a second direction opposite to the first direction to un-deflect the distal tip of the catheter or to deflect the catheter in an opposite direction about the axis perpendicular to the longitudinal axis of the catheter of the ICE probe 102. In some examples, a second engagement surface 128 can be fixedly coupled placed over or around the second control knob 126 such that the second engagement surface 128 does not move relative to the second control knob 126. In such examples, the second rotation actuator 118 can engage the second engagement surface 128 to actuate the second control knob 126. As shown in FIG. 2, the dashed line can indicate that the second control knob 126 is radially nested within the second engagement surface 128. The second engagement surface 128 can be part of a second control knob interface of the robotic system 100. In some examples, the second rotation actuator 118 can include a second drive gear configured to engage a second driven gear coupled with a control knob of the control handle 104 of the ICE probe 102

[0032] The third rotation actuator 120 can control a roll movement of the catheter of the ICE probe 102. For example, the third rotation actuator 120 can be configured to rotate the control handle 104 of the ICE probe 102. Rotating the control handle 104 in a first direction may act to rotate the catheter portion of the ICE probe 102 in a first direction about the longitudinal axis of the catheter body and rotating the control handle 104 in a second direction may act to rotate the catheter portion of the ICE probe 102 m a second direction about the longitudinal axis of the catheter body. In some examples, a third engagement surface 130 can be fixedly coupled placed over or around the control handle 104 such that the third engagement surface 130 does not move relative to the control handle 104. In such examples, the third rotation actuator 120 can engage the third engagement surface 130 to actuate the control handle 104. In some examples, the third rotation actuator 120 can include a third drive gear configured to engage a third driven gear coupled with the control handle 104 of the ICE probe 102. The third engagement surface 130 can be an ICE probe interface portion of the robotic system 100.

[0033] As discussed above, the robotic system 100 can further include one or more knob interfaces configured to engage a corresponding one of the control knobs of the ICE probe 102. In some examples, the one or more knob interfaces can be configured to be advanced over the control handle 104 and to be coupled with the corresponding one of thecontrol knobs of the ICE probe 102. In some examples, the robotic system 100 can include one, two, or more knob interfaces. For example, the robotic system 100 can include a first knob interface 123 and a second knob interface 127.

[0034] The first knob interface 123 can be configured to be advanced over the control handle 104 and to be coupled with the first control knob 122 of the ICE probe 102. The first knob interface 123 can be configured to mate with the first rotation actuator 116. In some examples, the first engagement surface 124 can be part of or can be disposed annularly around the first knob interface 123. In some examples, the first knob interface 123 can include a ring gear and a leaf spring support. The leaf spring support can provide a slip-on connection to the first control knob 122.

[0035] The second knob interface 127 can be configured to be advanced over the control handle 104 and to be coupled with the second control knob 126 of the ICE probe 102. The second knob interface 127 can be configured to mate with the second rotation actuator 118. In some examples, the second engagement surface 128 can be part of or can be disposed annularly around the second knob interface 127.

[0036] In some examples, the robotic system 100 may further include a load sensor 132. The load sensor 132 can be coupled with the housing 106 and configured to sense reaction loads applied to the ICE probe 102. FIG. 2A shows that in one implementation the load sensor 132 is mounted to the second housing section 110B. A vertical support 133A is provided between the sensor 132 and a catheter portion 104A. A cylindrical support 133B is provided around the catheter portion 104A. The vertical support 133A and the cylindrical support 133B can provide a load coupling between the catheter of the ICE probe 102 and the load sensor 132 to enable a load signal to be obtained that can indicate movement or resistance to movement. These signals can be provided to the computer electronics 608 and processed to provide control signals useful in operating the actuators of the system 100. One or more of the vertical support 133 A and the cylindrical support 133B can be configured to grip or clamp onto the catheter portion 104A to selectively provide load coupling in one configuration and to allow free movement of the catheter portion 104A in another configuration.

[0037] FIGS. 3-5 show an example method of engaging the control handle 104 of the ICE probe 102 with the one or more actuators of the robotic system 100.

[0038] FIG. 3 illustrates the control handle 104 separate from and uncoupled to the one or more actuators of the robotic system 100. The control handle 104 can be modified to include the first engagement surface 124, the second engagement surface 128, and the third engagement surface 130. The linear actuator 114 can include a clamshell device disposed in the housing 106 of the system 100. In some examples, the linear actuator 114 can include a base structure and the one or more pivotable arms 111 rotatably coupled to the base structure. For example, the linear actuator 114 can include a hinge about a second rotational axis B-B. In some examples, the second rotational axis B-B can be parallel to the first rotational axis A-A, In some examples, the second rotational axis B-B can be aligned with the first rotational axis A-A. For example, the second rotational axis B-B can be colinear with the first rotational axis A-A as shown in FIGS. 3-4.

[0039] As further shown in FIG. 3, the linear actuator 114 can include one or more transverse grooves. Each of the one or more transverse grooves can have an annular shape configured to extend at least partially around the control handle 104 in an inserted state. The number of the transverse grooves can correspond to the number of one or more rotation actuators. In some examples, the one or more transverse grooves can include one, two, three, or more transverse grooves. For example, the one or more transverse grooves can include a first transverse groove 302, a second transverse groove 304, and a third transverse groove 306. The one or more transverse grooves can be configured to axially support the control handle 104 in an inserted state. For example, the one or more engagement surfaces can be configured to be inserted within a corresponding one of the one or more transverse grooves.

[0040] FIGS. 4-5 illustrate the control handle 104 placed within the linear actuator 114. In an inserted state, the first engagement surface 124 can be inserted within the first transverse groove 302, the second engagement surface 128 can be inserted within the second transverse groove 304, and the third engagement surface 130 can be inserted within the third transverse groove 306. Accordingly, the control handle 104 may be axially fixed relative to the linear actuator 114 in the inserted state. Each of the one or more transverse grooves can be paired with a corresponding one of the one or more pivotable arms 111. In the second position of the pivotable arms 111, the transverse grooves and corresponding pivotable arms 111 can completely surround the control handle 104. In some examples, the rods 119 may be at an end of the transverse grooves opposite the rotational axis B-B.II. ENHANCEMENTS INCORPORATING GEAR DRIVEN TRANSMISSIONS

[0041] FIGS. 6-13 show various aspects of enhancement to the robotic system 100, some of which include techniques for driving the control features of the ICE probe 102 using gear structures. For example, the one or more engagement surfaces described herein with reference to FIGS. 1-5 may have a gear structure with a plurality of radially extending teeth.

[0042] FIG. 6 shows a perspective view of the robotic system 100 with a control handle 104 removably coupled to the linear actuator 114. The control handle 104 can include one or more driven gears. In some examples, the control handle 104 can include one, two, three, or more driven gears. For example, the control handle 104 may include a first driven gear 602, a second driven gear 604, and a third driven gear 606. The one or more driven gears can be an example embodiment of the one or more engagement surfaces described above. Accordingly, the one or more driven gears can be driven by a corresponding one of the one or more rotation actuators.

[0043] FIG. 7 shows a perspective view of the robotic system 100 without a control handle 104. FIG. 7 illustrates the position of the one or more driven gears within corresponding transverse grooves of the linear actuator 114. The driven gear 606 is shown with an interface portion removed. The driven gear 604 is shown coupled with an interface portion configured to engage the control handle 104.

[0044] FIGS. 8-9 show the control handle 104 inserted within the linear actuator 114. FIGS. 8-9 further show a computer electronics 608. The computer electronics 608 can include a memory and a processor in electrical communication with the memory. In some examples, the memory may include instructions. For example, the instructions may be a non-transitory computer readable medium. The processor may be configured to execute the instructions stored on the memory. In some examples, the instructions may be configured for operating the one or more rotation actuators. FIG. 9 also shows three motors 609 disposed in and supported by the linear actuator 114. The motors 609 are coupled with the rotation actuators 116, 118, 120. Accordingly, the computer electronics 608 may be coupled to the motors 609 and configured to control operation of the motors 609. The motors 609 may be positioned on a lateral side of the system 100. In some examples, one or more of the motors609 may be positioned on a first side of the system 100 and one or more of the motors may be positioned on a second side of the system 100.

[0045] FIG. 10 shows an example of a distal end of the control handle 104 inserted within the linear actuator 114 having a single hinge in an open state. In some examples, the linear actuator 114 can include a base portion 610 and one or more first pivotable arms 612. In some examples, the first pivotable arms 612 can be the same or similar to the pivotable arms 111. For example, the first pivotable arms 612 can include a first end and a second end opposite the first end, wherein one of the first end and the second end is configured to rotatably couple to the base portion 610 and the other one of the first end and the second end is configured to releasably secure to an engagement element. The first pivotable arms 612 are sometimes referred to herein as rotating arms. The one or more first pivotable arms 612 can include a rotation actuator. For example, as shown in FIG. 10, one of the one or more first pivotable arms 612 can include the first rotation actuator 116, Other pivotable arms 612 can include the second rotation actuator 118 and the third rotation actuator 120. The one or more first pivotable arms 612 can be hingedly coupled to the base portion 610 about the second rotational axis B-B. Rotating the one or more first pivotable arms 612 to the second position can position the one or more rotation actuators to engage the corresponding engagement surface. In some examples, the base portion 610 can include a first attachment point 614 and the one or more first pivotable arms 612 can include a corresponding second attachment point 616. In some examples, the rods 119 may be aligned along the second attachment point 616. The second attachment point 616 can be configured to engage the first attachment point 614 for securing the one or more first pivotable arms 612 in position.

[0046] FIG. 11 shows another example of a distal end of the control handle 104 inserted within the linear actuator 114 having a dual hinge in an open state. FIG. 11 illustrates an example configuration of one dual hinge having pivotable arms for clarity. Additional dual hinges can be present. For example, the system 100 can include three sets of dual hinge pivotable arms. The dual hinge can further include one or more second pivotable arms 618. The one or more pivotable arms 618 are sometimes referred to herein as rotating arms. The one or more second pivotable arms 618 can be hingedly coupled to the base portion 610 about a third rotational axis C-C. As shown in FIG. 11, the one or more second pivotable arms 618 can include a rotation actuator. The rotation actuator can be configured to rotate about a fourthrotational axis D-D. In such examples, the one or more second pivotable arms 618 can include the first attachment point 614. For example, the one or more first pivotable arms 612 can secure to a corresponding one of the one or more second pivotable arms 618 about the fourth rotational axis D-D. Accordingly, the one or more first pivotable arms 612 can releasably couple to a corresponding one of the second pivotable arms 618. In some examples, securing the one or more first pivotable arms 612 to the corresponding one or more second pivotable arms 618 secures an engagement between the rotation actuator and a corresponding engagement surface.

[0047] FIG. 11 further shows another embodiment of an engagement surface. For example, the first engagement surface 124 does not include radially extended teeth. Instead, the first engagement surface 124 can include a first peripheral surface 620. The first peripheral surface 620 can be configured to engage a belt. Accordingly, the one or more rotation actuators can be of different types.

[0048] FIGS. 12-13 show cross-sectional views of a dual hinge, FIGS. 12-13 are cross-sectional views intersecting the system 100 through the second control knob 126 and the second rotation actuator 118. Although FIGS. 12-13 illustrate the second control knob 126 and the second rotational actuator 118, the dual hinge may be the same for other pivotable arms and rotational actuators of the system 100.

[0049] As shown in FIG. 13, the second pivotable arm 618 can transition from the second state to the first state followed by the first pivotable arm 612. For example, the second pivotable arm 618 can rotate about the third rotational axis C-C until the rotation actuator engages the 126 Accordingly, a corresponding rotational actuator can engage the driven gear 604. The first pivotable arm 612 may then rotate about the second rotational axis B-B until the second end of the first pivotable arm 612 secures to the second pivotable arm 618.

[0050] As described herein, the system 100 can include a one or more rotation actuators. The rotation actuators can be configured to control a distinct degree of freedom of the control handle 104. For example, the plurality of rotation actuators may be axially displaced from one another along the length of the control handle 104 and located at positions corresponding to the control knobs of the control handle 104. In some examples, rotation actuators can be sets of rotation actuators. For example, each of the rotation actuators configured to control a distinct degree of freedom can include a set of one or more rotation actuators. For example, as shown in FIG. 12, the system 100 can include a plurality of secondrotation actuators 118. Each of the plurality of second rotation actuators 118 can engage with the second engagement surface 128. The plurality of second rotation actuators 118 can include a first rotation actuator 118 A, a second rotation actuator 118B, and a third rotation actuator 118C. The first rotation actuator 118A can be positioned within or along the base portion 610. As shown in FIGS. 12-13, the first rotation actuator 118A can be positioned between the first end and the second end of the base portion 610. For example, the first rotation actuator 118A may be positioned along the bottom of the base portion 610 opposite the second rotational axis B-B. The first rotation actuator 118A can rotate about a fifth rotational axis E-E, The second rotation actuator 118B can be configured to rotate about the second rotational axis B-B, Accordingly, the second rotation actuator 118B may be positioned opposite the first rotation actuator 118A. The second rotation actuator 118B may be disposed within the base portion, or coupled to the first pivotable arm 612. The third rotation actuator 118C may be disposed within the second pivotable arm 618, For example, the third rotation actuator 118C may be configured to rotate about the fourth rotational axis D-D,

[0051] One or more of the second and third rotation actuators can be drive elements and one or more of the second and third rotation actuators can be follower elements. For example, as shown in FIGS. 12-13, the first rotation actuator 118A can be a drive element, and the second rotation actuator 118B and the third rotation actuator 118C can be follower elements. The drive elements can be coupled to one of the motors 609 shown in FIG. 9 by an output shaft having at least one non-round edge for transmitting torque. In some examples, the second rotation actuator and / or the third rotation actuator is coupled to one of the motors 609 can be a drive element. The drive elements can be configured to rotate about a rotational axis for providing a rotational input to a corresponding engagement surface. For example, the drive element can be configured to rotate about a rotational axis of the output shaft of the corresponding motor 609. The drive element can be a gear, a pulley, or other transmission device. For example, as shown in FIGS. 12-13, the drive element can be a gear. One or more of the second rotation and the third rotation actuators can be freely rotatable. In some examples, the freely rotatable second rotation actuator or the freely rotatable third rotation actuator can be a follower element. The follower elements can be configured to rotate about a rotational axis for maintaining the position and smooth operation of the corresponding engagement surface. For example, the follower elements can be follower gears that are not directly drivenbut help to maintain the position and smooth operation of the driven gear 604. The driven gear 604 can be coupled to the knob 122 by a leaf spring ring. The leaf spring ring can be disposed between the outer surface of the knob 122 and the inner surface of the driven gear 604. Leaf spring elements are deflectable for assembly but spring into place for securely holding the driven gear 604 to the knob 122.III. ENHANCEMENTS INCORPORATING BELT DRIVEN TRANSMISSIONS

[0052] FIGS. 14-19 show various aspects of enhancement to the robotic system 100, some of which including techniques for driving the control features of the ICE probe 102 using belt structures,

[0053] FIG. 14 shows a perspective view of the robotic system 100 with a control handle 104 removably coupled to a cradle portion of the linear actuator 114, The control handle 104 can include peripheral surfaces configured to receive a belt 1406. In some examples, the control handle 104 can include one, two, three, or more peripheral surfaces. For example, the control handle 104 may include a first peripheral surface 620, a second peripheral surface 1402, and a third peripheral surface 1404. The one or more peripheral surface can be an example embodiment of the one or more engagement surfaces described above. Accordingly, the one or more peripheral surfaces can be engaged by a corresponding one of the one or more rotation actuators.

[0054] FIGS. 15-19 show engagement surfaces configured to receive a belt inserted within the linear actuator 114 having a dual hinge as described above. Accordingly, the robotic system 100 can include one or more belts configured to engage a corresponding one of the one or more engagement surfaces. The one or more belts can include one, two, three, or more belts. As shown in FIGS. 15-19, the one or more belts can include a belt 1406. The belt 1406 can represent any of the one or more belts.

[0055] The belt 1406 can be driven, at least in part, by a rotation actuator disposed in the one or more second pivotable arms 618. In some examples, the belt 1406 can be configured to engage a peripheral surface coupled with the control handle 104 of the ICE probe 102. In some examples, the belt 1406 can be a first belt and the peripheral surface can be a first peripheral surface and further comprising a second belt configured to engage the second peripheral surface. The belt 1406 can be wrapped around a roller mounted in a pivotable armhaving a first position allowing access to the space 108 and a second position enclosing the driven gear within the space 108.

[0056] In some examples, the rotation actuator can be a pulley 1408. As described above, the linear actuator 114 can include one or more rotation actuators for each engagement surface of the control handle 104. For example, as shown in FIG. 19, the linear actuator 114 can includ e a plurality of second rotation actuators 118. Each of the plurality of second rotation actuators 118 can be a pulley 1408 configured to drive a belt 1406 along a peripheral surface.

[0057] While certain embodiments of the disclosure have been described, these embodiments have been presented by way of example only and are not intended to limit the scope of the disclosure. Indeed, the novel methods and systems described herein may be embodied in a variety of other forms. Furthermore, various omissions, substitutions and changes in the systems and methods described herein may be made without departing from the spirit of the disclosure. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the disclosure. Accordingly, the scope of the present disclosure is defined only by reference to the appended claims and their equivalents.

[0058] Features, materials, characteristics, or groups described in conjunction with a particular aspect, embodiment, or example are to be understood to be applicable to any other aspect, embodiment or example described in this section or elsewhere in this specification unless incompatible therewith. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and / or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and / or steps are mutually exclusive. The protection is not restricted to the details of any foregoing embodiments. The protection extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed.

[0059] Furthermore, certain features that are described in this disclosure in the context of separate implementations can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in anysuitable sub-combination. Moreover, although features may be described above as acting in certain combinations, one or more features from a claimed combination can, in some cases, be excised from the combination, and the combination may be claimed as a sub-combination or variation of a sub-combination.

[0060] Moreover, while operations may be depicted in the drawings or described in the specification in a particular order, such operations need not be performed in the particular order shown or m sequential order, or that all operations be performed, to achieve desirable results. Other operations that are not depicted or described can be incorporated in the example methods and processes. For example, one or more additional operations can be performed before, after, simultaneously, or between any of the described operations. Further, the operations may be rearranged or reordered in other implementations. Those skilled in the art will appreciate that in some embodiments, the actual steps taken in the processes illustrated and / or disclosed may differ from those shown in the figures. Depending on the embodiment, certain of the steps described above may be removed, others may be added. Furthermore, the features and attributes of the specific embodiments disclosed above may be combined in different ways to form additional embodiments, all of which fall within the scope of the present disclosure. Also, the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described components and systems can generally be integrated together in a single product or packaged into multiple products.

[0061] For purposes of this disclosure, certain aspects, advantages, and novel features are described herein. Not necessarily all such advantages may be achieved in accordance with any particular embodiment. Thus, for example, those skilled in the art will recognize that the disclosure may be embodied or carried out in a manner that achieves one advantage or a group of advantages as taught herein without necessarily achieving other advantages as may be taught or suggested herein.

[0062] Conditional language, such as “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements, and / or steps. Thus, such conditional language is not generally intended to imply that features, elements, and / or steps are in any way required for one or moreembodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and / or steps are included or are to be performed in any particular embodiment.

[0063] Conjunctive language such as the phrase “at least one of X, Y, and Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be either X, Y, or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require the presence of at least one of X, at least one of Y, and at least one of Z.

[0064] Language of degree used herein, such as the terms “approximately,” “about,” “generally,” and “substantially” as used herein represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function or achieves a desired result. For example, the terms “approximately”, “about”, “generally,” and “substantially” may refer to an amount that is within less than 10% of, within less than 5% of, within less than 1% of, within less than 0.1% of, and within less than 0.01% of the stated amount. As another example, in certain embodiments, the terms “generally parallel” and “substantially parallel” refer to a value, amount, or characteristic that departs from exactly parallel by less than or equal to 15 degrees, 10 degrees, 5 degrees, 3 degrees, 1 degree, or 0.1 degree.

[0065] The scope of the present disclosure is not intended to be limited by the specific disclosures of preferred embodiments in this section or elsewhere in this specification and may be defined by claims as presented in this section or elsewhere in this specification or as presented in the future. The language of the claims is to be interpreted broadly based on the language employed in the claims and not limited to the examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive.

[0066] Of course, the foregoing description is that of certain features, aspects, and advantages of the present disclosure, to which various changes and modifications can be made without departing from the spirit and scope of the present disclosure. Moreover, the devices described herein need not feature all of the objects, advantages, features and aspects discussed above. Thus, for example, those of skill in the art will recognize that the disclosure can be embodied or carried out in a manner that achieves or optimizes one advantage or a group ofadvantages as taught herein without necessarily achieving other objects or advantages as may be taught or suggested herein. In addition, while a number of variations of the disclosure have been shown and described in detail, other modifications and methods of use, which are within the scope of this disclosure, will be readily apparent to those of skill m the art based upon this disclosure. It is contemplated that various combinations or sub-combinations of these specific features and aspects of embodiments may be made and still fail within the scope of the disclosure. Accordingly, it should be understood that various features and aspects of the disclosed embodiments can be combined with or substituted for one another in order to form varying modes of the discussed apparatuses and methods.Example Clauses

[0067] Examples of the implementations of the present disclosure can be described in view of the following example clauses. The features recited in the below example implementations can be combined with additional features disclosed herein. Furthermore, additional inventive combinations of features are disclosed herein, which are not specifically recited in the below example implementations, and which do not include the same features as the specific implementations below. For sake of brevity, the below example implementations do not identify every inventive aspect of this disclosure. The below example implementations are not intended to identify key features or essential features of any subject matter described herein. Any of the example clauses below, or any features of the example clauses, can be combined with any one or more other example clauses, or features of the example clauses or other features of the present disclosure.

[0068] Clause 1. A robotic system for positioning an ICE catheter assembly having a catheter and a control handle, the system comprising: a housing enclosing a space configured to receive the control handle of the ICE catheter assembly; a first rotation actuator disposed in the space and configured to rotate a first control knob disposed on the control handle; and a second rotation actuator disposed in the space and configured to rotate a second control knob disposed on the control handle, the second rotation actuator being disposed proximal to the first rotation actuator.

[0069] Clause 2. The robotic system of Clause 1, further comprising a load sensor coupled with the housing configured to sense reaction loads applied to the ICE catheter assembly.

[0070] Clause 3. The robotic system of any of Clauses 1-2, further comprising a third rotation actuator disposed in the space and configured to rotate the control handle of the ICE catheter assembly within the space.

[0071] Clause 4. The robotic system of any of Clauses 1-3, further comprising a linear actuator disposed in the space and configured to move the control handle of the ICE catheter assembly along a proximal-distal direction within the space,

[0072] Clause 5. The robotic system of any of Clauses 1-4, further comprising a first knob interface configured to be advanced over the control handle and to be coupled with the first control knob of the ICE catheter assembly, the first knob interface configured to mate with the first rotation actuator.

[0073] Clause 6. The robotic system of any of Clauses 1-5, further comprising a second knob interface configured to be advanced over the control handle and to be coupled with the second control knob of the ICE catheter assembly, the second knob interface configured to mate with the second rotation actuator.

[0074] Clause 7. The robotic system of Clause 5, wherein the first knob interface comprises a ring gear and a leaf spring support, the leaf spring support providing slip-on connection to the first control knob.

[0075] Clause 8. The robotic system of any of Clauses 1-7, wherein the first rotation actuator comprises a drive gear configured to engage a driven gear coupled with the control handle of the ICE catheter assembly.

[0076] Clause 9. The robotic system of Clause 8, wherein the drive gear is a first drive gear and the driven gear is a first driven gear and further comprising a second drive gear coupled with the second rotation actuator and configured to engage a second driven gear coupled with the control handle of the ICE catheter assembly.

[0077] Clause 10. The robotic system of Clause 8, further comprising a pivotable arm having a first position allowing access to the space and a second position enclosing the driven gear within the space.

[0078] Clause 11. The robotic system of Clause 10, wherein a gear configured to engage the driven gear is coupled with the pivotable arm.

[0079] Clause 12. The robotic system of Clause 10, wherein the pivotable arm comprises a first pivotable arm and further comprising a second pivotable arm, each of the first pivotable arm and the second pivotable arm having a first position allowing access to the space and a second position enclosing the driven gear within the space.

[0080] Clause 13. The robotic system of Clause 8, wherein the drive gear is a first gear and further comprising a second gear configured to engage the driven gear,

[0081] Clause 14, The robotic system of Clause 13, wherein the second gear is coupled with a pivotable arm, the pivotable arm providing access to the space,

[0082] Clause 15, The robotic system of any of Clauses 1-14, wherein the first rotation actuator comprises a belt configured to engage a peripheral surface coupled with the control handle of the ICE catheter assembly.

[0083] Clause 16, The robotic system of Clause 15, wherein the belt is a first belt and the peripheral surface is a first peripheral surface and further comprising a second belt configured to engage the second peripheral surface.

[0084] Clause 17. The robotic system of Clause 15, wherein the belt is wrapped around a roller mounted in a pivotable arm having a first position allowing access to the space and a second position enclosing a driven gear within the space.

[0085] Clause 18. The robotic system of Clause 17, wherein the pivotable arm comprises a first pivotable arm and further comprising a second pivotable arm, each of the first pivotable arm and the second pivotable arm having a first position allowing access to the space and a second position enclosing the driven gear within the space.

[0086] Clause 19. The robotic system of Clause 15, wherein the peripheral surface comprises an outer periphery of a knob interface, the knob interface comprising an inner periphery configured to mate with an outer surface of the first control knob.

[0087] Clause 20. The robotic system of Clause 19, wherein the peripheral surface comprises a seam connection.

[0088] Clause 21. A probe carriage for robotically driving a control handle, the probe carriage comprising: a clamshell housing having a first end and a second end; a linear actuator disposed within the clamshell housing, the linear actuator configured to axially movebetween the first end and the second end; and one or more rotation actuators disposed on the linear actuator, the one or more rotation actuators configured to rotatably move at least a portion of the control handle.

[0089] Clause 22. The probe carriage of Clause 21, wherein each of the one or more rotation actuators comprise: a first gear having a first axis of rotation; a second gear having a second axis of rotation transversely displaced from the first axis of rotation; a third gear having a third axis of rotation transversely positioned between the first axis of rotation and the second axis of rotation and vertically displaced from the first axis of rotation and the second axis of rotation; and a belt extending between the first gear, the second gear, and the third gear; wherein the belt is configured to engage a control knob of the control handle.

[0090] Clause 23. The probe carriage of Clause 21, wherein each of the one or more rotation actuators comprise a drive gear and an outer knob interface portion configured to couple to a control knob of the control handle, wherein the drive gear engages the outer knob interface portion.

[0091] Clause 24. The probe carriage of Clause 21, wherein each of the one or more rotation actuators comprise: a first gear having a first axis of rotation; a second gear having a second axis of rotation transversely displaced from the first axis of rotation; a third gear having a third axis of rotation transversely positioned between the first axis of rotation and the second axis of rotation and vertically displaced from the first axis of rotation and the second axis of rotation; and an outer knob interface portion configured to couple to a control knob of the control handle; wherein the first gear, the second gear, and the third gear are configured to engage the outer knob interface portion of the control handle.

[0092] Clause 25. A method of robotically driving a control knob of a control handle, the method comprising: disposing a control handle within a probe carriage comprising: a clamshell housing having a first end and a second end; a linear actuator disposed within the clamshell housing, the linear actuator configured to axially move between the first end and the second end; and one or more rotation actuators disposed on the linear actuator, the one or more rotation actuators configured to rotatably move at least a portion of the control handle; and actuating the linear actuator to axially move the control handle and actuating the one or more rotation actuators to rotatably move one or more components of the probe handle.

[0093] Clause 26. A robotic system for controlling an ICE catheter assembly having a catheter and a control handle having one or more control knobs for controlling a degree of freedom of the catheter, the system comprising: a housing comprising: a first housing section; a second housing section rotatably coupled to the first housing section; a rail extending along a length of the housing; and an alignment rod extending along a length of the housing; a linear actuator disposed in the housing, the linear actuator comprising a carriage slidably coupled to the rail, the carriage comprising a plurality of base portions each having a first end and a second end opposite the first end, and a transverse groove extending between the first end and the second end; a plurality of pivotable arms each comprising a first end rotatably coupled to the first end of a corresponding one of the plurality of base portions, and a second end slidably coupled to the alignment rod; and a plurality of rotation actuators aligned with a corresponding one of the plurality of base portions; wherein: each of the plurality of pivotable arms rotate between a first position and a second position; the first housing section is rotated away from the second housing section in the first position allowing access to a space within the housing; and the first housing section and the second housing section enclose the space within the housing in the second position.

[0094] Clause 27. The robotic system of Clause 26, wherein the transverse groove of each of the plurality of base portions is configured to receive a corresponding one of the one or more control knobs.

[0095] Clause 28. The robotic system of Clause 26, wherein the carriage is configured to receive and support the control handle of the ICE catheter assembly.

[0096] Clause 29. The robotic system of Clause 26, wherein the plurality of pivotable arms are configured to secure the control handle of the ICE catheter assembly within the housing.

[0097] Clause 30. The robotic system of Clause 26, wherein the linear actuator is configured to move the control handle of the ICE catheter assembly along a proximal-distal direction.

[0098] Clause 31. The robotic system of Clause 26, wherein the plurality of rotation actuators are configured to rotate a corresponding one of the one or more control knobs of the ICE catheter assembly.

[0099] Clause 32. The robotic system of Clause 31, wherein one of the plurality of rotation actuators is configured to rotate the control handle of the ICE catheter assembly.

[0100] Clause 33. The robotic system of Clause 26, wherein each of the plurality of base portions comprises an engagement element disposed at the second end.

[0101] Clause 34. The robotic system of Clause 33, wherein each of the plurality of pivotable arms engages the engagement element in the second position.

[0102] Clause 35. An intracardiac echocardiography (ICE) probe assembly, comprising: a control handle having a proximal end and a distal end; and a control knob coupled with the control handle and configured to be driven by a rotation actuator of a probe carriage for robotically driving the control handle; and an engagement surface disposed proximal to the distal end and coupled with the control handle, the engagement surface configured to engage a surface of the probe carriage.

[0103] Clause 36. The ICE probe assembly of Clause 35 further comprising a catheter portion extending from the distal end.

[0104] Clause 37. The ICE probe assembly of Clause 36 wherein the engagement surface is a first engagement surface and further comprising a second engagement surface.

[0105] Clause 38. The ICE probe assembly of Clause 37 wherein the first engagement surface is disposed adjacent to the catheter portion and the second engagement surface is disposed adjacent to the proximal end of the control handle.

[0106] Clause 39. The ICE probe assembly of Clause 37 further comprising a third engagement surface disposed between the first engagement surface and the second engagement surface.

[0107] Clause 40. The ICE probe assembly of Clause 35 wherein the control knob is a first control knob and further comprising a second control knob coupled with the control handle and configured to be driven by a rotation actuator of a probe carriage for robotically driving the control handle.

[0108] Clause 41. The ICE probe assembly of Clause 40 further comprising a catheter portion extending from the distal end, wherein the first control knob controls a first degree of freedom of the catheter portion and the second control knob control controls a second degree of freedom of the catheter portion.

Claims

WHAT IS CLAIMED IS:

1. A robotic system for positioning an ICE catheter assembly having a catheter and a control handle, the system comprising:a housing configured to transition between a first position allowing access to a space configured to receive the control handle of the ICE catheter assembly and a second position enclosing the space configured to receive the control handle of the ICE catheter assembly;a first rotation actuator disposed in the space and configured to rotate a first control knob disposed on the control handle; anda second rotation actuator disposed in the space and configured to rotate a second control knob disposed on the control handle, the second rotation actuator being disposed proximal to the first rotation actuator.

2. The robotic system of Claim 1, further comprising a load sensor coupled with the housing configured to sense reaction loads applied to the ICE catheter assembly.

3. The robotic system of Claim 1, further comprising a third rotation actuator disposed in the space and configured to rotate the control handle of the ICE catheter assembly within the space.

4. The robotic system of Claim 1, further comprising a linear actuator disposed in the space and configured to move the control handle of the ICE catheter assembly along a proximal-distal direction within the space.

5. The robotic system of Claim 1, further comprising a first knob interface configured to be advanced over the control handle and to be coupled with the first control knob of the ICE catheter assembly, the first knob interface configured to mate with the first rotation actuator.

6. The robotic system of Claim 5, further comprising a second knob interface configured to be advanced over the control handle and to be coupled with the second control knob of the ICE catheter assembly, the second knob interface configured to mate with the second rotation actuator.

7. The robotic system of Claim 5, wherein the first knob interface comprises a ring gear and a leaf spring support, the leaf spring support providing slip-on connection to the first control knob.

8. The robotic system of Claim 1, wherein the first rotation actuator comprises a drive gear configured to engage a driven gear coupled with the control handle of the ICE catheter assembly.

9. The robotic system of Claim 8, wherein the drive gear is a first drive gear and the driven gear is a first driven gear and further comprising a second drive gear coupled with the second rotation actuator and configured to engage a second driven gear coupled with the control handle of the ICE catheter assembly.

10. The robotic system of Claim 8, further comprising a pivotable arm having a first position allowing access to the space and a second position enclosing the driven gear within the space.

11. The robotic system of Claim 10, wherein a gear configured to engage the driven gear is coupled with the pivotable arm.

12. The robotic system of Claim 10, wherein the pivotable arm comprises a first pivotable arm and further comprising a second pivotable arm, each of the first pivotable arm and the second pivotable arm having a first position allowing access to the space and a second position enclosing the driven gear within the space.

13. The robotic system of Claim 8, wherein the drive gear is a first gear and further comprising a second gear configured to engage the driven gear.

14. The robotic system of Claim 13, wherein the second gear is coupled with a pivotable arm, the pivotable arm providing access to the space.

15. The robotic system of Claim 1, wherein the first rotation actuator comprises a belt configured to engage a peripheral surface coupled with the control handle of the ICE catheter assembly.

16. The robotic system of Claim 15, wherein the belt is a first belt and the peripheral surface is a first peripheral surface and further comprising a second belt configured to engage the second peripheral surface.

17. The robotic system of Claim 15, wherein the belt is wrapped around a roller mounted in a pivotable arm having a first position allowing access to the space and a second position enclosing a driven gear within the space.

18. The robotic system of Claim 17, wherein the pivotable arm comprises a first pivotable arm and further comprising a second pivotable arm, each of the first pivotable armand the second pivotable arm having a first position allowing access to the space and a second position enclosing the driven gear within the space.

19. The robotic system of Claim 15, wherein the peripheral surface comprises an outer periphery of a knob interface, the knob interface comprising an inner periphery configured to mate with an outer surface of the first control knob.

20. The robotic system of Claim 19, wherein the peripheral surface comprises a seam connection.

21. A probe carriage for robotically driving a control handle, the probe carriage comprising:a clamshell housing having a first end and a second end;a linear actuator disposed within the clamshell housing, the linear actuator configured to axially move between the first end and the second end; andone or more rotation actuators disposed on the linear actuator, the one or more rotation actuators configured to rotatably move at least a portion of the control handle.

22. The probe carriage of Claim 21, wherein each of the one or more rotation actuators comprise:a first gear having a first axis of rotation;a second gear having a second axis of rotation transversely displaced from the first axis of rotation;a third gear having a third axis of rotation transversely positioned between the first axis of rotation and the second axis of rotation and vertically displaced from the first axis of rotation and the second axis of rotation; anda belt extending between the first gear, the second gear, and the third gear; wherein the belt is configured to engage a control knob of the control handle.

23. The probe carriage of Claim 21, wherein each of the one or more rotation actuators comprise a drive gear and an outer knob interface portion configured to couple to a control knob of the control handle, wherein the drive gear engages the outer knob interface portion.

24. The probe carriage of Claim 21, wherein each of the one or more rotation actuators comprise:a first gear having a first axis of rotation;a second gear having a second axis of rotation transversely displaced from the first axis of rotation;a third gear having a third axis of rotation transversely positioned between the first axis of rotation and the second axis of rotation and vertically displaced from the first axis of rotation and the second axis of rotation; andan outer knob interface portion configured to couple to a control knob of the control handle;wherein the first gear, the second gear, and the third gear are configured to engage the outer knob interface portion of the control handle.

25. A method of robotically driving a control knob of a control handle, the method comprising:disposing a control handle within a probe carriage comprising:a clamshell housing having a first end and a second end;a linear actuator disposed within the clamshell housing, the linear actuator configured to axially move between the first end and the second end; andone or more rotation actuators disposed on the linear actuator, the one or more rotation actuators configured to rotatably move at least a portion of the control handle; andactuating the linear actuator to axially move the control handle and actuating the one or more rotation actuators to rotatably move one or more components of the probe handle.

26. A robotic system for controlling an ICE catheter assembly having a catheter and a control handle having one or more control knobs for controlling a degree of freedom of the catheter, the system comprising:a housing comprising:a first housing section;a second housing section rotatably coupled to the first housing section; a rail extending along a length of the housing; and an alignment rod extending along a length of the housing;a linear actuator disposed in the housing, the linear actuator comprising a carriage slidably coupled to the rail, the carriage comprising a plurality of base portions each having a first end and a second end opposite the first end, and a transverse groove extending between the first end and the second end;a plurality of pivotable arms each comprising a first end rotatably coupled to the first end of a corresponding one of the plurality of base portions, and a second end slidably coupled to the alignment rod; anda plurality of rotation actuators aligned with a corresponding one of the plurality of base portions;wherein:each of the plurality of pivotable arms rotate between a first position and a second position;the first housing section is rotated away from the second housing section in the first position allowing access to a space within the housing; andthe first housing section and the second housing section enclose the space within the housing in the second position.

27. The robotic system of Claim 26, wherein the transverse groove of each of the plurality of base portions is configured to receive a corresponding one of the one or more control knobs.

28. The robotic system of Claim 26, wherein the carriage is configured to receive and support the control handle of the ICE catheter assembly.

29. The robotic system of Claim 26, wherein the plurality of pivotable arms are configured to secure the control handle of the ICE catheter assembly within the housing.

30. The robotic system of Claim 26, wherein the linear actuator is configured to move the control handle of the ICE catheter assembly along a proximal-distal direction.

31. The robotic system of Claim 26, wherein the plurality of rotation actuators are configured to rotate a corresponding one of the one or more control knobs of the ICE catheter assembly.

32. The robotic system of Claim 31, wherein one of the plurality of rotation actuators is configured to rotate the control handle of the ICE catheter assembly.

33. The robotic system of Claim 26, wherein each of the plurality of base portions comprises an engagement element disposed at the second end.

34. The robotic system of Claim 33, wherein each of the plurality of pivotable arms engages the engagement element in the second position.

35. An intracardiac echocardiography (ICE) probe assembly, comprising:a control handle having a proximal end and a distal end; anda control knob coupled with the control handle and configured to be driven by a rotation actuator of a probe carriage for robotically driving the control handle; and an engagement surface disposed proximal to the distal end and coupled with the control handle, the engagement surface configured to engage a surface of the probe carriage.

36. The ICE probe assembly of Claim 35, further comprising a catheter portion extending from the distal end,37. The ICE probe assembly of Claim 36 wherein the engagement surface is a first engagement surface and further comprising a second engagement surface.

38. The ICE probe assembly of Claim 37 wherein the first engagement surface is disposed adjacent to the catheter portion and the second engagement surface is disposed adjacent to the proximal end of the control handle.

39. The ICE probe assembly of Claim 37 further comprising a third engagement surface disposed between the first engagement surface and the second engagement surface.

40. The ICE probe assembly of Claim 35 wherein the control knob is a first control knob and further comprising a second control knob coupled with the control handle and configured to be driven by a rotation actuator of a probe carriage for robotically driving the control handle.

41. The ICE probe assembly of Claim 40 further comprising a catheter portion extending from the distal end, wherein the first control knob controls a first degree of freedom of the catheter portion and the second control knob control controls a second degree of freedom of the catheter portion.

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