Systems, apparatus and methods for robotic interventional procedures using a plurality of elongated medical devices

Patent metadata

Field	Value
Publication number	US-12419501-B2
Application number	US-202017597041-A
Country	US
Kind code	B2
Filing date	Jul 14, 2020
Priority date	Jul 15, 2019
Publication date	Sep 23, 2025
Grant date	Sep 23, 2025

Abstract

A robotic drive system for driving one or more elongated medical devices, the robotic drive can include a linear member and at least four device modules coupled to the linear member. Each device module may be independently controllable. The plurality of device modules may be switched between a first configuration where each device module is populated with an elongated medical device and a second configuration where a subset of the at least four device modules is populated with an elongated medical device.

First claim

We claim:

1. A robotic drive system for driving one or more elongated medical devices, the robotic drive system comprising:
a linear member; and
at least four device modules coupled to the linear member, wherein each device module is independently controllable to move linearly along the linear member; wherein
the at least four device modules are configured to be switched between a first configuration where each device module is populated with a corresponding elongated medical device and a second configuration where a subset of the at least four device modules is populated with a corresponding elongated medical device, and
the first configuration is a triaxial configuration.

2. The robotic drive system according to claim 1 , wherein each device module comprises:
a drive module; and
a cassette mounted on the drive module; and
wherein the drive module has at least one dimension that is smaller than at least one dimension of the cassette.

3. The robotic drive system according to claim 1 , wherein the second configuration is a biaxial configuration.

4. The robotic drive system according to claim 1 , wherein the second configuration includes a catheter or a wire-based elongated medical device.

5. A robotic drive system for driving one or more elongated medical devices, the robotic drive system comprising:
a linear member; and
at least four device modules coupled to the linear member, wherein each device module is independently controllable to move linearly along the linear member; wherein
the at least four device modules are configured to be switched between a first configuration where each device module is populated with a corresponding elongated medical device and a second configuration where a subset of the at least four device modules is populated with a corresponding elongated medical device, and
the first configuration includes at least one of the at least four device modules configured to drive a proximal region of the corresponding elongated medical device along a first longitudinal axis and the second configuration includes at least one of the at least four device modules configured to drive a proximal portion of the corresponding elongated medical device along a second longitudinal axis, which is different from the first longitudinal axis.

6. The robotic drive system according to claim 5 , wherein the linear member comprises three or more linear members arranged in parallel, and wherein one of the at least four device modules is moveably coupled to one of the three or more linear members.

7. The robotic drive system according to claim 5 , wherein, in the first configuration, the corresponding elongated medical device driven by the at least one of the at least four device modules is an over the wire elongated medical device.

8. The robotic drive system according to claim 5 , wherein, in the second configuration, the corresponding elongated medical device driven by the at least one of the at least four device modules is a rapid exchange elongated medical device.

9. The robotic drive system of claim 1 , wherein
each device module is configured to manipulate an elongated medical device,
the second configuration is a biaxial configuration,
in the triaxial configuration, the elongated medical device manipulated by three of the at least four device modules is a catheter and the elongated medical device manipulated by a fourth device module of the at least four device modules is a wire-based device, and
in the biaxial configuration, the elongated medical device manipulated by two of the at least four device modules is a catheter, the elongated medical device manipulated by a third device module of the at least four device modules is a wire-based device and a fourth device module of the at least four device modules is unpopulated.

10. The robotic drive system according to claim 9 , further comprising:
at least one elongated medical device; and
at least one on-device adapter coupled to the at least one elongated medical device, the at least one on-device adapter configured to interface with one or more of the at least four device modules.

11. The robotic drive system according to claim 9 , wherein each device module comprises:
a drive module; and
a cassette mounted on the drive module; and
wherein the cassette of each device module is configured to interface with the drive module of any of the at least four device modules using a common coupling interface, wherein the robotic drive system is reconfigurable by moving at least one cassette from a first drive module to a second drive module.

12. A robotic drive system for driving one or more elongated medical devices, the robotic drive system comprising:
a linear member; and
at least four device modules coupled to the linear member, wherein each device module is independently controllable to move linearly along the linear member; wherein
the at least four device modules are configured to be switched between a first configuration where each device module is populated with a corresponding elongated medical device and a second configuration where a subset of the at least four device modules is populated with a corresponding elongated medical device,
a first device module, among the east four device modules, is coupled to the linear member and configured to manipulate a first elongated medical device,
a second device module, among the at least four device modules, is coupled to the linear member at a position distal to the first device module and configured to manipulate a second elongated medical device, and
the robotic drive system includes a device support having a section moveably positioned in the first device module and having a first end and a second end, wherein the device support is configured to provide a channel to contain and support the first elongated medical device in a distance between the first device module and the second device module, and wherein the first end and the second end of the device support are coupled to the second device module.

13. The robotic drive system according to claim 12 , wherein the device support is a flexible tube having a lengthwise slit.

14. The robotic drive system according to claim 12 , wherein the first device module comprises:
a drive module; and
a cassette mounted on the drive module, the cassette including a channel configured to receive the section of the device support.

15. The robotic drive system according to claim 14 , wherein the device support and the cassette are configured to move relative to one another.

16. The robotic drive system according to claim 15 , wherein the cassette is configured to move along the device support.

17. The robotic drive system according to claim 15 , wherein the device support is configured to move through the channel of the cassette.

18. The robotic drive system according to claim 12 , wherein the device support has a length supported in tension from the first end and the second end.

19. The robotic drive system according to claim 12 , wherein the second device module comprises:
a drive module having an arm extending in a proximal direction away from the second device module, wherein the second end of the device support is coupled to the arm; and
a cassette mounted on the drive module, wherein the first end of the device support is coupled to a proximal end of the cassette.

20. The robotic drive system of claim 1 , wherein
a first device module, among the at least four device modules, is configured to manipulate a first elongated medical device,
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Assignees

• Corindus Inc
• Siemens Healthineers Endovascular Robotics Inc

Inventors

• Canale Cameron
• Klem Eric
• Saber Omid
• Sokhanvar Saeed
• Clark Andrew

Classifications

• A61M25/09041

  Mechanisms for insertion of guide wires · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2034/715

  Cable tensioning mechanisms for removing slack · CPC title

• A61B2034/301

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

• B25J9/16

  Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title