Guide catheter control flexible track

Patent metadata

Field	Value
Publication number	US-11801366-B2
Application number	US-201916730558-A
Country	US
Kind code	B2
Filing date	Dec 30, 2019
Priority date	Oct 15, 2013
Publication date	Oct 31, 2023
Grant date	Oct 31, 2023

Abstract

A robotic catheter system includes a base and a robotic mechanism having a longitudinal axis and being movable relative to the base along the longitudinal axis. A flexible track is releasably secured to the base and includes an outer surface having a longitudinal opening slit extending therethrough to an inner channel. A rigid guide has a non-linear portion fixed relative to the robotic mechanism. A portion of the flexible track moves along the non-linear portion of the rigid guide away from the longitudinal axis when the robotic mechanism moves along the longitudinal axis.

First claim

What is claimed is:

1. A robotic catheter system comprising;
a base;
a robotic mechanism having a longitudinal axis and being movable relative to the base along the longitudinal axis;
a flexible track releasably secured to the base and including an outer surface having a longitudinal opening slit extending therethrough to an inner channel;
a guide having a portion fixed relative to the robotic mechanism;
an elongated medical device extending along the longitudinal axis; and
a portion of the flexible track moves along a non-linear path when the robotic mechanism moves relative to the base;
the elongated medical device entering the inner channel of the flexible track as the portion of the flexible track moves relative to the base.

2. The robotic catheter system of claim 1 , wherein the elongated medical device maintains a straight orientation along the longitudinal axis from a position within the robotic mechanism through a distal end of the flexible track.

3. The robotic catheter system of claim 2 , wherein the portion of the flexible track is co-linear with the elongated medical device when the robotic mechanism is a first distance from the distal end of the flexible track and is not co-linear with the elongated medical device the flexible track is at a second distance from the distal end of the flexible track where the first distance is greater than the second distance.

4. The robotic catheter system of claim 2 , wherein the elongated medical device is a catheter, and the catheter is in a continuous straight line along the longitudinal axis from a hemostasis valve in the robotic mechanism to the distal end of the flexible track.

5. The robotic catheter system of claim 2 , wherein a distal end of the flexible track is located outside of a patient.

6. The robotic catheter system of claim 5 , wherein a proximal end of the flexible track and the distal end of the flexible track are in a fixed position as the robotic mechanism moves relative to the base.

7. The robotic catheter system of claim 6 , further including a clip operatively connected to the distal end of the flexible track, the clip being fixed relative to the patient.

8. The robotic catheter system of claim 7 , wherein the clip is removably coupled to an introducer sheath extending into a vasculature of the patient.

9. The robotic catheter system of claim 7 , wherein the clip includes an introducer sheath connector releasably engaging an introducer sheath.

10. The robotic catheter system of claim 1 , wherein the elongated medical device is a catheter, the catheter being in a continuous straight line when the catheter is first inserted through the longitudinal opening slit and through a distal end of the flexible track, the guide catheter being bend free and maintaining a continuous straight line orientation from within the robotic mechanism through the distal end of the flexible track.

11. The robotic catheter system of claim 10 , wherein the distal end of the flexible track is adjacent a distal end of the robotic mechanism when the catheter is first inserted through the longitudinal opening slit and the distal end of the flexible track is moved further away from distal end of the robotic mechanism prior to the robotic mechanism moving relative to the base.

12. The robotic catheter system of claim 1 , further including a clamp releasably securing a proximal portion of the flexible track to the base, the clamp including a clamp member extending into a channel of the guide through the longitudinal opening slit.

13. The robotic catheter system of claim 12 , further including an engagement member that releasably presses against an outer surface of the flexible track fixing an inner surface of the flexible track against the clamp member within the channel of the flexible track fixing the proximal portion of the flexible track relative to the base.

14. The robotic catheter system of claim 1 , wherein the longitudinal opening slit extends an entire length of the flexible track.

15. The robotic catheter system of claim 1 , wherein the portion of the guide fixed relative to the robotic mechanism moves with the robotic mechanism as the robotic mechanism 212 is moved along the longitudinal axis.

16. A method of supporting an elongated medical device comprising;
providing a robotic mechanism having a longitudinal axis;
providing a flexible track having a proximal portion, a distal end, and an intermediate portion therebetween, the flexible track including an outer surface having a longitudinal opening slit extending therethrough to a channel;
providing a guide having a portion fixed relative to the robotic mechanism;
positioning an elongated medical device along the longitudinal axis within the channel of the flexible track;
translating the robotic mechanism along the longitudinal axis relative to a base toward a patient and;
moving the intermediate portion of the flexible track along the guide in a non-linear path as the robotic mechanism moves relative to the base; and
removing a portion of the elongated medical device from the channel through the longitudinal opening slit in the intermediate portion as the intermediate portion moves along the non-linear path.

17. The method of claim 16 , further including fixing a proximal portion and the distal end of the flexible track relative to the base prior to translating the robotic mechanism.

18. The method of claim 16 , further including moving the intermediate portion of the flexible track from a position co-linear with a straight line defined by the elongated medical device within the robotic mechanism through the distal end of the flexible track to a position offset from the straight line as the robotic mechanism moves relative to the base toward the patient.

19. The method of claim 16 , further including moving the intermediate portion of the flexible track from a position offset from a straight line defined by the elongated medical device within the robotic mechanism through the distal end of the flexible track to a position co-linear with the straight line as the robotic mechanism moves relative to the base away from a patient.

20. The method of claim 16 , further including providing a clip on the distal end of the flexible track and coupling the clip to an introducer connected to the patient.

Assignees

• Corindus Inc

Inventors

• Falb Peter
• Young Adam
• Bagley Kevin
• Lemieux Erin-Anne
• Labak Christopher
• Blacker Steven J
• Atlas Michael

Classifications

• A61M25/02 Primary

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

• A61B34/25

  User interfaces for surgical systems · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61M25/0113 Primary

  Mechanical advancing means, e.g. catheter dispensers · CPC title

• A61M25/09041

  Mechanisms for insertion of guide wires · CPC title