System and method for navigating a guide wire

Patent metadata

Field	Value
Publication number	US-11918314-B2
Application number	US-202017105418-A
Country	US
Kind code	B2
Filing date	Nov 25, 2020
Priority date	Oct 12, 2009
Publication date	Mar 5, 2024
Grant date	Mar 5, 2024

Abstract

A catheter procedure system includes a bedside system having a guide wire, a guide wire advance/retract actuator coupled to the guide wire and a guide wire rotate actuator coupled to the guide wire and a workstation coupled to the bedside system. The workstation includes a user interface, at least one display and a controller coupled to the bedside system, the user interface and the at least one display. The controller is programmed to advance the guide wire through a path using the guide wire advance/retract actuator, wherein the guide wire is rotated a predetermined amount.

First claim

What is claimed is:

1. A workstation for operating a robotic catheter system comprising:
a user interface configured to receive a first user input and a second user input separate from the first user input;
a control system operatively coupled to the user interface, the control system configured to remotely and independently control movement of a percutaneous device with a bedside system, wherein the percutaneous device is moveable both for advancement and retraction along a longitudinal axis of the percutaneous device and for rotation about the longitudinal axis of the percutaneous device; and
a device movement algorithm subsystem including a first set of instructions and at least a second set of instructions;
wherein the control system controls the percutaneous device based upon both the first user input causing advancement or retraction of the percutaneous device and at least one of the sets of instructions of the device movement algorithm subsystem operatively selected with the second user input causing an automatic rotation of the percutaneous device by a specified non-zero amount only as the percutaneous device is advanced or retracted by the first user input,
wherein the second set of instructions includes an automatic rotation movement profile set of instructions configured to rotate the percutaneous device with the bedside system as the percutaneous device is advanced and/or retracted in response to the first set of instructions
wherein the rate of rotation is a set rate, and wherein the set rate is one of:
a set degrees of rotation per unit of axial distance traveled, or
a set degrees of rotation per unit of time of axial travel.

2. The workstation of claim 1 , wherein the second set of instructions is configured to cause the percutaneous device to be moved faster by the bedside system than it would be moved under the control of the first set of instructions.

3. The workstation of claim 1 , further including a third set of instructions, wherein a user may activate both the second set of instructions and the third set of instructions at the same time wherein, the second set of instructions is one of a rotation movement profile and the third set of instructions is a pulsed axial advancement such that operation of controls causes the bedside system to move the percutaneous device for both rotation and pulsed axial advancement, wherein the second set of instructions is a corkscrew movement profile and the third set of instructions is a pulsed axial advancement such that operation of controls causes the bedside system to move the percutaneous device for both corkscrew and pulsed axial advancement.

4. The workstation of claim 3 wherein the second user interface is a dropdown menu displaying each available set of instructions as a list, and/or wherein only a subset of the available movement sets of instructions may be selected by the user.

5. The workstation of claim 3 , wherein the first user input or the second user input allows a user to identify a specific procedure to be performed, and wherein the movement algorithm subsystem includes sets of instructions specific to the various type of procedures, and wherein a subset of a therapeutic procedure set of instructions for the selected procedure is activated.

6. The workstation of claim 1 , including a specific set of instructions for each different type, make and/or model of the percutaneous device used with the bedside system, and wherein the specific set of instructions causes the bedside system to move the percutaneous device in a manner consistent with the design of the percutaneous device.

7. The workstation of claim 6 , comprising an input device for identifying the type, make and/or model of the percutaneous device, and
wherein a procedure control module automatically activates the set of instructions from the movement algorithm subsystem based on the type of the percutaneous device identified.

8. The workstation of claim 1 , including an assist module configured to assess at least one property of a lesion.

9. The workstation of claim 8 , wherein the assist module further assesses lesion properties based on an analysis of an image data and suggests a movement set of instructions suitable for traversing the lesion with the percutaneous device, and/or wherein a selected set of movement instructions is set based on a degree of calcification of the lesion.

10. The workstation of claim 1 , wherein an assist module displays a suggested set of instructions based on one or more of a procedure type, a percutaneous device type, and/or a lesion property.

11. The workstation of claim 1 , wherein the movement algorithm subsystem includes a plurality of movement profile sets of instructions and wherein a controller is configured to allow a user to set or select one or more of the parameters associated with at least one of the movement profile set of instructions.

12. The workstation of claim 1 , wherein the second user input is separate from the first user input and
wherein automatic rotation of the percutaneous device by a specified amount occurs in response to the user's operation of the first user's input to cause advancement or retraction of the percutaneous device.

13. A catheter procedure system, comprising:
a bedside system comprising:
a percutaneous device actuating mechanism including an axial movement actuator configured to move a percutaneous device along a longitudinal axis of a percutaneous device and a rotation actuator configured to rotate the percutaneous device about the longitudinal axis of the percutaneous device; and

a remote workstation, the remote workstation comprising:
a first user interface configured to receive a first user input and a second user input separate for the first user input;
a control system operatively coupled to the user interface and to the bedside system, the control system configured to remotely and independently control movement of the percutaneous device; and
a device movement algorithm subsystem including a first set of instructions and at least a second set of instructions;

wherein the control system controls the percutaneous device based upon both the first user input causing advancement or retraction of the percutaneous device and at least one of the sets of instructions of the device movement algorithm subsystem operatively selected with the second user input causing an automatic non-zero rotation of the percutaneous device at a specified rate only as the percutaneous device is advanced or retracted in response to the first user input,
wherein the rate of rotation is a set rate, and wherein the set rate is a set degrees of rotation per unit of time of axial travel.

14. The catheter procedure system of claim 13 , wherein the second set of instructions is configured to cause the percutaneous device to be moved faster by the bedside system than it would be moved under the control of the first set of instructions.

15. The catheter procedure system of claim 13 , wherein the second set of instructions includes an automatic rotation movement profile set of instructions configured to rotate the percutaneous device with the bedside system as the percutaneous device is advanced and/or retracted in response to the first set of instructions.

16. The catheter procedure system of claim 13 , including a specific set of instructions for each different type, make and/or model of the percutaneous device used with the bedside system, and wherein the specific set of instructions causes the bedside system to move the percutaneous device in a manner consistent with the design of the percutaneous device.

Assignees

• Corindus Inc

Inventors

• Blacker Steven J
• Zirps Christopher
• Bromander Thomas
• Handler David
• Wenderow Tal

Classifications

• A61B34/70 Primary

  Manipulators specially adapted for use in surgery · CPC title

• A61B34/25

  User interfaces for surgical systems · CPC title

• G16H20/40

  relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture · CPC title

• G16H30/40

  for processing medical images, e.g. editing · CPC title

• G16H50/50

  for simulation or modelling of medical disorders · CPC title