System and method of automatic detection of obstructions for a robotic catheter system

Patent metadata

Field	Value
Publication number	US-9301810-B2
Application number	US-200913120715-A
Country	US
Kind code	B2
Filing date	Sep 23, 2009
Priority date	Mar 27, 2008
Publication date	Apr 5, 2016
Grant date	Apr 5, 2016

Abstract

An obstruction detection system for a robotic catheter system including a robotic catheter manipulator assembly including one or more catheter manipulation bases and one or more sheath manipulation bases. Each manipulation base may be generally linearly movable on one or more tracks relative to the robotic catheter manipulator assembly. The obstruction detection system may include one or more obstruction detection sensors disposed on the track or on the manipulation bases to detect an obstruction along a path of motion of one or more manipulation bases. A software system may be provided for monitoring movement of the catheter and sheath manipulation bases, and/or a status of the obstruction detection sensors.

First claim

What is claimed is:

1. An obstruction detection system for a robotic catheter system including a robotic catheter manipulator assembly including at least one catheter manipulation base and at least one sheath manipulation base, each manipulation base being generally linearly movable on at least one track relative to the robotic catheter manipulator assembly, the obstruction detection system comprising:
at least one obstruction detection sensor disposed on the track or on at least one of the manipulation bases to detect an obstruction along a path of motion of at least one of the manipulation bases; and
an electronic control system configured to control movement of the at least one catheter manipulation base and the at least one sheath manipulation base and to receive a signal indicating an obstruction along the path of motion;
wherein the at least one obstruction detection sensor is configured to send the signal indicating an obstruction along the path of motion to the electronic control system.

2. The obstruction detection system according to claim 1 , wherein the obstruction detection sensor is an ultrasonic sensor or a light-emitting sensor.

3. The obstruction detection system according to claim 1 , further comprising obstruction detection sensors located at both ends of the track.

4. The obstruction detection system according to claim 1 , further comprising obstruction detection sensors located at both longitudinal ends of the catheter and sheath manipulation bases.

5. The obstruction detection system according to claim 4 , wherein the obstruction detection sensors enable the electronic control system to maintain a predetermined distance between the catheter and sheath manipulation bases.

6. The obstruction detection system according to claim 1 , wherein the electronic control system comprises software that includes code for:
determining if a relative distance between the catheter and sheath manipulation bases is less than a predetermined distance,
if the relative distance is less than the predetermined distance, then indicating an obstruction status of the catheter and sheath manipulation bases as obstructed, and stopping motion of the catheter and sheath manipulation bases,
if the relative distance is greater than or equal to the predetermined distance, then indicating the obstruction status of the catheter and sheath manipulation bases as unobstructed, and allowing motion of the catheter and sheath manipulation bases.

7. The obstruction detection system according to claim 6 , further comprising at least one of a LED, a visual signal, an audible signal, and haptic feedback to a user input device, for indicating the obstruction status of the catheter and sheath manipulation bases.

8. The obstruction detection system according to claim 1 , wherein the electronic control system comprises software that includes code for:
determining a relative distance between the catheter and sheath manipulation bases by determining an amount of rotation of motors that drive the catheter and sheath manipulation bases.

9. The obstruction detection system according to claim 1 , wherein the electronic control system comprises software that includes code for:
stopping motion of the catheter and sheath manipulation bases if the sensor status of at least one of the obstruction detection sensors is obstructed; and
allowing motion of the catheter and sheath manipulation bases if the sensor status of all obstruction detection sensors is unobstructed.

10. The obstruction detection system according to claim 9 , further comprising at least one of a LED, a visual signal, an audible signal, and haptic feedback to a user input device, for indicating the sensor status of the obstruction detection sensor.

11. The obstruction detection system according to claim 1 , wherein the electronic control system comprises software that includes code for:
determining a direction of travel of the catheter and sheath manipulation bases; and
allowing motion of the catheter and sheath manipulation bases if the sensor status of one of the obstruction detection sensors is obstructed, only if the direction of travel is away from the obstruction.

12. The obstruction detection system according to claim 1 , wherein the electronic control system comprises software that includes code for:
determining a direction of travel of the catheter and sheath manipulation bases by determining a direction of rotation of motors that drive at least one of the catheter and sheath manipulation bases.

13. The obstruction detection system according to claim 1 , wherein the electronic control system comprises software that monitors the manipulation bases and the obstruction detection sensors by means of a CANOpen protocol standard.

14. The obstruction detection system according to claim 1 , wherein the electronic control system is configured to cut power to the at least one catheter manipulation base and the at least one sheath manipulation base before the obstruction detection sensor contacts an obstruction.

15. An obstruction detection system for a robotic catheter system including a robotic catheter manipulator assembly including at least one catheter manipulation base and at least one sheath manipulation base, each manipulation base being generally linearly movable on at least one track relative to the robotic catheter manipulator assembly, the obstruction detection system comprising:
detection means disposed on the track or on at least one of the manipulation bases to detect an obstruction along a path of motion of at least one of the manipulation bases; and
monitoring means comprising a software system for monitoring at least one of movement of the catheter and sheath manipulation bases, and a detection status of the detection means,
wherein the software system is configured to move the at least one catheter manipulation base and the at least one sheath manipulation base on the at least one track; and
wherein the detection means is configured to send a signal indicating an obstruction along the path of motion to the software system.

16. The obstruction detection system according to claim 15 , wherein the detection means is an ultrasonic sensor or a light-emitting sensor.

17. The obstruction detection system according to claim 15 , wherein the detection means includes obstruction detection sensors located at both ends of the track.

18. The obstruction detection system according to claim 15 , wherein the detection means includes obstruction detection sensors located at both longitudinal ends of the catheter and sheath manipulation bases.

19. The obstruction detection system according to claim 18 , wherein the obstruction detection sensors enable the software system to maintain a predetermined distance between the catheter and sheath manipulation bases.

20. The obstruction detection system according to claim 15 , wherein the software system comprises code for:
determining if a relative distance between the catheter and sheath manipulation bases is less than a predetermined distance,
if the relative distance is less than the predetermined distance, then indicating an obstruction status of the catheter and sheath manipulation bases as obstructed, and stopping motion of the catheter and sheath manipulation bases,
if the relative distance is greater than or equal to the predetermined distance, then indicating the obstruction status of the catheter and sheath manipulation bases as unobstructed, and allowing motion of the catheter and sheath manipulation bases.

Assignees

• Amiri Atila
• Sandhu Kulbir
• Mark Betty
• Kirschenman Mark B
• St Jude Medical Atrial Fibrill

Inventors

• Amiri Atila
• Sandhu Kulbir
• Mark Betty
• Kirschenman Mark B

Classifications

• A61B2017/00026

  Conductivity or impedance, e.g. of tissue · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B90/06

  Measuring instruments not otherwise provided for · CPC title

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B18/1492

  having a flexible, catheter-like structure, e.g. for heart ablation (A61B18/1477 takes precedence) · CPC title