Robotic assisted movements of elongated medical devices

Patent metadata

Field	Value
Publication number	US-12239405-B2
Application number	US-201917250875-A
Country	US
Kind code	B2
Filing date	Sep 18, 2019
Priority date	Sep 19, 2018
Publication date	Mar 4, 2025
Grant date	Mar 4, 2025

Abstract

An example system includes an apparatus having a first elongated medical device and a second elongated medical device; and a controller coupled to the apparatus. The controller is provided to determine a magnitude and a direction of linear translation of the first elongated medical device and responsive to the determined translation of the first elongated medical device, cause a linear translation of the second elongated medical device, the linear translation of the second elongated device having a substantially equal magnitude to the linear translation of the first elongated medical device and being in a direction opposite the direction of translation of the first elongated medical device. The controller is further provided to modify at least one parameter of the linear translation of either (a) the first elongated medical device or (b) the second elongated medical device in response to the determined translation of the first elongated device.

First claim

We claim:

1. A system, comprising:
an apparatus configured to cause movement of a first elongated medical device and of a second elongated medical device; and
a controller coupled to the apparatus, the controller configured to:
determine a magnitude and a direction of linear translation of the first elongated medical device, and
responsive to the determined linear translation of the first elongated medical device, control the apparatus to cause a linear translation of the second elongated medical device, the linear translation of the second elongated device having a substantially equal magnitude to the linear translation of the first elongated medical device and being in a direction opposite the direction of the linear translation of the first elongated medical device,

wherein the controller is further configured to modify at least one parameter of the linear translation of either (a) the first elongated medical device or (b) the second elongated medical device.

2. The system of claim 1 , wherein modifying the at least one parameter includes:
limiting the magnitude of the linear translation of the second elongated medical device.

3. The system of claim 2 , wherein the controller modifies the at least one parameter in response to a determination of a loss of traction for the linear translation of the second elongated medical device.

4. The system of claim 1 , wherein the at least one parameter includes:
the magnitude or speed of the linear translation of the first elongated medical device.

5. The system of claim 1 , wherein the first elongated medical device is a catheter and the second elongated medical device is a guidewire.

6. The system of claim 1 , wherein the linear translation of the first elongated medical device and the linear translation of the second elongated medical device are substantially simultaneous.

7. The system of claim 1 , wherein the controller identifies an unintended movement of the second elongated medical device, and wherein the controller suspends modification of the at least one parameter of the first elongated medical device or the second elongated medical device upon the identification of the unintended movement of the second elongated medical device.

8. The system of claim 1 , wherein the controller detects an absence or a presence of the second elongated medical device based on detection of movement of the second elongated medical device via an input from a sensor.

9. The system of claim 8 , wherein the controller suspends modification of the at least one parameter of the first elongated medical device or the second elongated medical device when the controller detects the absence of the second elongated medical device.

10. The system of claim 1 , wherein the controller terminates the linear translation of the second elongated medical device when the linear translation of the second elongated medical device is within a first threshold of the determined translation of the first elongated medical device.

11. The system of claim 10 , wherein the controller resumes the linear translation of the second elongated medical device when the linear translation of the second elongated medical device is greater than a second threshold of the determined linear translation of the first elongated medical device, wherein the second threshold is greater than the first threshold.

12. A system, comprising:
an apparatus configured to cause movement of a first elongated medical device and of a second elongated medical device; and
a controller coupled to the apparatus, the controller configured to:
receive a command to move the first elongated medical device;
control the apparatus to move the first elongated medical device in response to the command;
detect the movement of the first elongated medical device; and
responsive to the detected movement of the first elongated medical device, control the apparatus to synchronize movement of the second elongated medical device to the movement of the first elongated medical device.

13. The system of claim 12 , wherein the movement of the first elongated medical device and the synchronized movement of the second elongated medical device includes small alternatingly forward and backward linear movements with a resultant forward linear translation.

14. A method comprising:
determining a magnitude and a direction of linear translation of a first elongated medical device,
responsive to determining the magnitude and the direction of the linear translation of the first elongated medical device, causing a linear translation of a second elongated medical device, the linear translation of the second elongated medical device having a substantially equal magnitude to the linear translation of the first elongated medical device and being in a direction opposite the direction of the linear translation of the first elongated medical device; and
modifying at least one parameter of the linear translation of either (a) the first elongated medical device or (b) the second elongated medical device.

15. The method of claim 14 , wherein modifying the at least one parameter includes:
limiting the magnitude of the linear translation of the second elongated medical device.

16. The method of claim 15 , wherein the at least one parameter is modified in response to determining a loss of traction for the linear translation of the second elongated medical device.

17. The method of claim 14 , wherein the at least one parameter includes:
the magnitude or speed of the linear translation of the first elongated medical device.

18. The method of claim 14 , further comprising:
identifying an unintended movement of the second elongated medical device; and
in response to identifying the unintended movement of the second elongated medical device, suspending modification of the at least one parameter of the first elongated medical device or the second elongated medical device.

19. The method of claim 14 , further comprising:
determining the linear translation of the second elongated medical device is within a first threshold of the determined translation of the first elongated medical device; and
in response to determining the linear translation of the second elongated medical device is within the first threshold of the determined translation of the first elongated medical device, terminating the linear translation of the second elongated medical device.

Assignees

• Corindus Inc
• Siemens Healthineers Endovascular Robotics Inc

Inventors

• Stepanauskas Jared
• Blacker Steven J
• Drake Kaitlyn
• Bergman Per
• Lee Sang-Joon
• Kottenstette Nicholas

Classifications

• A61M25/09041

  Mechanisms for insertion of guide wires · CPC title

• A61M25/0113

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

• A61B2034/742

  Joysticks · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title