System and method for detecting a position of a guide catheter support

Patent metadata

Field	Value
Publication number	US-11639847-B2
Application number	US-202017247759-A
Country	US
Kind code	B2
Filing date	Dec 22, 2020
Priority date	Jun 30, 2015
Publication date	May 2, 2023
Grant date	May 2, 2023

Abstract

A catheter procedure system includes a base and a robotic mechanism having a longitudinal axis and being movable relative to the base along the longitudinal axis. The robotic mechanism includes a robotic drive base including at least one drive mechanism, a cassette operatively secured to the robotic drive base, a rigid guide coupled to the cassette and fixed relative to the robotic mechanism and a flexible track having a distal end, a proximal end and a plurality of reflective sections. At least a portion of the flexible track is disposed within the rigid guide. The robotic mechanism also includes a position detector mounted to the robotic drive base and positioned beneath the flexible track. The position detector is configured to detect light reflected off of the reflective sections of the flexible track and to determine the position of the distal end of the flexible track based on the detected reflected light.

First claim

We claim:

1. A catheter procedure system comprising:
a base;
a robotic mechanism having a longitudinal axis and being movable relative to the base along the longitudinal axis; and
a controller,
the robotic mechanism comprising:
a robotic drive base including at least one drive mechanism;
a rigid guide fixed relative to the robotic mechanism;
a flexible track having a distal end and a proximal end, wherein at least a portion of the flexible track is disposed within the rigid guide; and
a position detector configured to determine the position of the distal end of the flexible track relative to the rigid guide,

wherein the controller is configured to:
move the robotic mechanism relative to the base in a first direction;
move the flexible track relative to the robotic mechanism in a second direction, and
use the position of the distal end of the flexible track relative to the rigid guide from the position detector to control or limit movement of the robotic mechanism relative to the base.

2. A catheter procedure system according to claim 1 , wherein the flexible track includes a plurality of reflective sections, and
wherein the position detector is configured to detect light reflected off of the reflective sections of the flexible track and to determine the position of the distal end of the flexible track relative to the rigid guide based on the detected reflected light.

3. A catheter procedure system according to claim 2 , wherein optical detector is positioned beneath the flexible track and beneath an opening in the rigid guide.

4. A catheter procedure system according to claim 2 , wherein the position detector comprises at least one optical detector.

5. A catheter procedure system according to claim 4 , wherein the at least one optical detector comprises a light emitting diode (LED) and a photo diode.

6. A catheter procedure system according to claim 4 , wherein the position detector further comprises a housing having at least one transparent section.

7. A catheter procedure system according to claim 6 , wherein the at least one optical detector is configured to emit light that passes through the transparent section of the housing onto the flexible track and to detect light reflected off of the reflective sections of the flexible track.

8. A catheter procedure system according to claim 2 , wherein the translation position detector comprises a first translational optical detector and a second translational optical detector.

9. A catheter procedure system according to claim 8 , wherein the first optical detector and the second optical detector are located within the position detector to output a two-bit Gray Code.

10. A catheter procedure system comprising:
a base;
a robotic mechanism having a longitudinal axis and being movable relative to the base along the longitudinal axis; and
a controller,
the robotic mechanism comprising:
a robotic drive base including at least one drive mechanism;
a cassette operatively secured to the robotic drive base;
a flexible track having a distal end and a proximal end, wherein at least a portion of the flexible track is disposed within the cassette; and
a position detector configured to determine the position of the distal end of the flexible track relative to the cassette,

wherein the controller is configured to:
move the robotic mechanism relative to the base in a first direction;
move the flexible track relative to the robotic mechanism in a second direction, and
use the position of the distal end of the flexible track relative to the cassette from the position detector to control or limit movement of the robotic mechanism relative to the base.

11. A catheter procedure system according to claim 10 ; wherein the cassette includes a rigid guide fixed relative to the robotic mechanism, wherein at least a portion of the flexible track is disposed within the rigid guide.

12. A catheter procedure system according to claim 10 , wherein the flexible track includes a plurality of reflective sections, and
wherein the position detector is configured to detect light reflected off of the reflective sections of the flexible track and to determine the position of the distal end of the flexible track relative to the rigid guide based on the detected reflected light.

13. A catheter procedure system according to claim 12 , wherein optical detector is positioned beneath the flexible track and beneath an opening in the rigid guide.

14. A method, comprising:
moving a robotic mechanism relative to a base in a first direction, the robotic mechanism having a longitudinal axis and being movable relative to the base along the longitudinal axis, the robotic mechanism comprising:
a robotic drive base including at least one drive mechanism;
a cassette operatively secured to the robotic drive base;
a rigid guide fixed relative to the robotic mechanism;
a flexible track having a distal end and a proximal end, wherein at least a portion of the flexible track is disposed within the rigid guide; and
a position detector;

moving the flexible track relative to the robotic mechanism in a second direction opposite the first direction,
using the position detector to determine the position of the distal end of the flexible track relative to the rigid guide; and
controlling or limiting movement of the robotic mechanism relative to the base based on the position of the distal end of the flexible track relative to the rigid guide.

15. A method according to claim 14 , wherein the flexible track includes a plurality of reflective sections, the method further comprising:
detecting, by the position detector, light reflected off of the reflective sections of the flexible track and to determine the position of the distal end of the flexible track relative to the rigid guide based on the detected reflected light.

16. A method according to claim 15 , wherein optical detector is positioned beneath the flexible track and beneath an opening in the rigid guide.

17. A method according to claim 15 , wherein the position detector comprises at least one optical detector.

18. A method according to claim 17 , wherein the at least one optical detector comprises a light emitting diode (LED) and a photo diode.

19. A method according to claim 17 , wherein the position detector further comprises a housing having at least one transparent section.

20. A method according to claim 19 , wherein the at least one optical detector is configured to emit light that passes through the transparent section of the housing onto the flexible track and to detect light reflected off of the reflective sections of the flexible track.

Assignees

• Corindus Inc

Inventors

• Kottenstette Nicholas
• Falb Peter
• Deignan Timothy
• Bergman Per

Classifications

• A61B5/0036

  including treatment, e.g., using an implantable medical device, ablating, ventilating · CPC title

• G01B11/14 Primary

  for measuring distance or clearance between spaced objects or spaced apertures (G01B11/26 takes precedence; rangefinders G01C3/00) · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title

• A61M25/02

  Holding devices, e.g. on the body · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title