Touch-free catheter user interface controller

Patent metadata

Field	Value
Publication number	US-9498291-B2
Application number	US-201313833482-A
Country	US
Kind code	B2
Filing date	Mar 15, 2013
Priority date	Mar 15, 2013
Publication date	Nov 22, 2016
Grant date	Nov 22, 2016

Abstract

A command interpreter is in communication with a wireless controller. The command interpreter is configured to identify a reference location of the wireless controller, identify a second location of the wireless controller, and determine, based on the reference location and the second location, a sequence of instrument commands configured to adjust positioning of the instrument device.

First claim

What is claimed is:

1. A system configured to receive a user input and command operation of a robotic instrument driver based on the user input, the system comprising:
a wireless controller for receiving a user input, the wireless controller comprising:
a first body element including a first location measurement device,
a second body element including a second location measurement device,
a flexible connection physically connecting the first body element to the second body element while providing for movement of the first body element relative to the second body element in six degrees of freedom, and
a wireless transmitter configured to provide location information from the first location measurement device and the second location measurement device; and

a command interpreter in wireless communication with the wireless controller, the command interpreter configured to:
identify a reference location of the first body element relative to the second body element from first location information received from the wireless controller,
identify a second location of the first body element relative to the second body element from second location information received from the wireless controller,
detect, based on the reference location and the second location, motion of the first body element relative to the second body element, and
determine, based on the motion of the first body element relative to the second body element, a sequence of instrument commands configured to adjust a position or orientation of an instrument in accordance with the user input.

2. The system of claim 1 , wherein the sequence of instrument commands is configured to adjust at least one of instrument rotation, instrument articulation angle, or instrument insertion amount.

3. The system of claim 1 , wherein the instrument is at least one of a catheter or a guide wire.

4. The system of claim 1 , wherein the reference location identifies a reference rotation according to an angle defined between the first and second body elements of the wireless controller and a reference articulation angle according to a plane defined by an orientation of the first and second body elements of the wireless controller.

5. The system of claim 1 , wherein the detected motion of the first body element relative to the second body element comprises at least one of a change in instrument rotation as compared to the reference location, a change in articulation angle as compared to the reference location, or a change in distance between the first and second body elements of the wireless controller as compared to the reference location.

6. The system of claim 1 , wherein the command interpreter is further configured to:
receive a user interface action configured to cause the command interpreter to identify the reference location; and
receive a second user interface action configured to cause the command interpreter to identify the second location.

7. The system of claim 1 , wherein the command interpreter is further configured to:
receive operator confirmation of the determined sequence of instrument commands; and
provide the determined sequence of instrument commands to an instrument driver to perform the requested instrument position adjustment.

8. A method of translating a user input into a command for a robotic instrument driver, the method comprising:
receiving a user input at a wireless controller, the wireless controller comprising a first body element, a second body element, and a flexible connection physically connecting the first body element to the second body element while providing for movement of the first body element relative to the second body element in six degrees of freedom;
identifying, by a command interpreter in wireless communication with the wireless controller, a reference location of the first body element relative to the second body element;
identifying, by the command interpreter, a second location of the first body element relative to the second body element,
detecting, based on the reference location and the second location, motion of the first body element relative to the second body element, and
determining, based on the motion of the first body element relative to the second body element, a sequence of instrument commands for commanding an instrument driver to adjust at least one of instrument rotation, instrument articulation angle, or instrument insertion amount of an instrument.

9. The method of claim 8 , wherein the instrument is at least one of a catheter or a guide wire.

10. The method of claim 8 , wherein identifying a reference location comprises identifying a reference rotation according to an angle defined between the first and second body elements of the wireless controller and a reference articulation angle, according to a plane defined by an orientation of the first and second body elements of the wireless controller.

11. The method of claim 8 , wherein detecting motion of the first body element relative to the second body element comprises identifying at least one of a change in instrument rotation, a change in articulation angle, or a change in distance between body elements of the wireless controller.

12. The method of claim 8 , further comprising:
receiving a user interface action configured to cause the command interpreter to identify the reference location; and
receiving a second user interface action configured to cause the command interpreter to identify the second location.

13. The method of claim 8 , further comprising:
receiving operator confirmation of the determined sequence of instrument commands; and
providing the determined sequence of instrument commands to the instrument driver to perform the requested instrument position adjustment.

Assignees

• Hansen Medical Inc

Inventors

• Balaji Kamini
• Walker Sean Paul
• Wong Serena H
• Park June
• Henderson Richard

Classifications

• A61B19/2203 Primary

  Human Necessities · mapped topic

• A61B2017/00221

  with wireless transmission of data, e.g. by infrared radiation or radiowaves · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B34/74 Primary

  Manipulators with manual electric input means · CPC title

• A61B34/30

  Surgical robots · CPC title