Systems and methods for aligning an elongate member with an access site

Patent metadata

Field	Value
Publication number	US-2016100896-A1
Application number	US-201514880024-A
Country	US
Kind code	A1
Filing date	Oct 9, 2015
Priority date	Oct 9, 2014
Publication date	Apr 14, 2016
Grant date	—

Abstract

Described herein are systems and methods for aligning an elongate member with an access site. An alignment system for controlling an alignment of a robotically controlled elongate member at an access site on a patient may include a longitudinal support rail and support arms coupled with and extending from the longitudinal support rail to form an alignment joint. One or more of the support arms may be configured to maintain the alignment of the elongate member with the access site during a surgical procedure. A method of aligning an elongate member with an access site may include determining a position of a stabilizer of an alignment joint and the access site on a patient, coupling the stabilizer to the access site on the patient, and automatically aligning the instrument driver with the stabilizer on the patient.

First claim

What is claimed is:

1 . An alignment system for controlling an alignment of a robotically controlled elongate member at an access site on a patient, the system comprising:
a longitudinal support rail; multiple support arms coupled with and extending from the longitudinal support rail to form an alignment joint, wherein the support arms are configured to reach the access site on the patient, and wherein the support arms are configured to maintain the alignment of the elongate member with the access site during a surgical procedure.

2 . The alignment system of claim 1 , wherein the longitudinal support rail is attached to a patient support.

3 . The alignment system of claim 2 , wherein the support arms and the longitudinal support rail are draped with a sterile drape.

4 . The alignment system of claim 3 , wherein the support arms and the longitudinal support rail maintain the alignment of the elongate member through the sterile drape.

5 . The alignment system of claim 1 , wherein the support arms form at least one rotatable joint configured to adjust a yaw orientation of the elongate member.

6 . The alignment system of claim 1 , wherein at least one of the support arms is adjustable in a yaw orientation.

7 . The alignment system of claim 1 , wherein at least one of the support arms is adjustable in a pitch orientation.

8 . The alignment system of claim 1 , further comprising a stabilizer coupled to a distal portion of one of the support arms, wherein the stabilizer is configured to couple the distal portion to the patient.

9 . The alignment system of claim 1 , further comprising:
a stabilizer coupled to a distal portion of one of the support arms; and an anti-buckling device coupled to the stabilizer and supporting the elongate member.

10 . The alignment system of claim 1 , further comprising an active drive device coupled to a distal portion of one of the support arms, wherein the active drive devices inserts and retracts the elongate member.

11 . The alignment system of claim 1 , further comprising at least one sensor configured to determine a position of the access site.

12 . The alignment system of claim 11 , further comprising an instrument driver on a second support structure, wherein a position of the access site is communicated to the second support structure, and a heading direction of the instrument driver is adjustable to ensure alignment of the elongate member with the access site.

13 . A system for aligning an elongate member with an access site, the system comprising:
a revolute joint configured to support an instrument driver, wherein the revolute joint is longitudinally translatable relative to an operating table, and wherein the instrument driver is configured to axially and laterally displace an elongate member; an alignment joint comprising a stabilizer, wherein the alignment joint is longitudinally translatable relative to the operating table, and wherein the alignment joint is configured to align the elongate member with the access site; and at least one position sensor, wherein the at least one position sensor provides feedback to the revolute joint, such that the revolute joint aligns the instrument driver with the access site and prevents the instrument driver from overrunning the access site.

14 . The system of claim 13 , wherein the stabilizer is configured to couple to an anti-buckling mechanism of the elongate member.

15 . The system of claim 13 , further comprising an active drive device attached to the stabilizer, wherein the active drive device inserts and retracts the elongate member.

16 . The system of claim 13 , wherein the at least one position sensor is located on the alignment joint.

17 . A system for aligning an elongate member with an access site, the system comprising:
an alignment joint comprising a stabilizer, wherein the alignment joint is longitudinally translatable relative to a patient support, and wherein the alignment joint is configured to align an elongate member with the access site; and an active drive device coupled to the stabilizer of the alignment joint, wherein the active drive device is configured to manipulate the elongate member at the target site.

18 . The system of claim 17 , wherein the active drive device axially translates the elongate member.

19 . A method of aligning an elongate member, controlled by an instrument driver, with an access site, the method comprising:
determining a position of a stabilizer of an alignment joint and the access site on a patient; coupling the stabilizer to the access site on the patient; and automatically aligning the instrument driver with the stabilizer on the patient, wherein the instrument driver is configured to not overrun the access site.

20 . The method of claim 19 , further comprising coupling at least one of an anti-buckling mechanism of an instrument driver or an active drive device to the stabilizer of the alignment joint.

Assignees

• Hansen Medical Inc

Inventors

• Yu Alan Lau

Classifications

• A61B2090/571

  for clamping a support arm to a bed or other supports · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2034/301

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

• A61B19/08

  Human Necessities · mapped topic

• A61B19/2203

  Human Necessities · mapped topic