Integrated catheter and guide wire controller

Patent metadata

Field	Value
Publication number	US-9566414-B2
Application number	US-201313800261-A
Country	US
Kind code	B2
Filing date	Mar 13, 2013
Priority date	Mar 13, 2013
Publication date	Feb 14, 2017
Grant date	Feb 14, 2017

Abstract

A device may operate a guide wire and be operable by a single operator digit. The device may include an insertion control device for advancing the guide wire in a forward and in a reverse direction and along a longitudinal axis of the guide wire; and a rotary device for rolling a guide wire about the longitudinal axis. A robotic instrument driver may be operatively coupled to the device and configured to control axial movement of the guide wire along the longitudinal axis according to input received from the insertion control device and to control rotational movement of the guide wire according to input received from the rotary device.

First claim

What is claimed is:

1. A system for manipulating a guide wire, the system comprising:
an instrument driver coupled to a guide wire; and
an operator workstation communicatively coupled to, but physically remote from, the instrument driver and the guide wire, wherein the operator workstation is configured to receive control inputs from an operator and comprises a guide wire control device, wherein the guide wire control device comprises:
an insertion control member for controlling advancement and retraction of the guide wire along a longitudinal axis of the guide wire; and
a rotary member for controlling roll of the guide wire about the longitudinal axis,
wherein a first end of the insertion control member is movably coupled to a base member and a second end of the insertion control member is coupled to the rotary member, such that the rotary member is free to rotate relative to the insertion control member, and
wherein the guide wire control device is configured to receive the control inputs from the operator by a single operator digit.

2. The system of claim 1 , wherein the insertion control member is movable within a range of controlled motion along a first axis of the insertion control member, and wherein the guide wire control device further comprises an insertion control sensor configured to measure the motion along the first axis to provide commands for control of the guide wire along the longitudinal axis.

3. The system of claim 2 , wherein the rotary member is vertically mounted to the second end of the insertion control member and is configured to rotate perpendicular to the first axis of the insertion control member, and wherein the guide wire control device further comprises a rotation control sensor configured to measure rotation of the rotary member to provide commands for rolling the guide wire.

4. The system of claim 1 , wherein the insertion control member is at least one of pivotably mounted or slidably mounted at the first end to the base member.

5. The system of claim 2 , wherein the insertion control member operates in a position control mode in a center range of the controlled motion along the first axis and in a velocity control mode in a range outside the center range of the controlled motion along the first axis.

6. The system of claim 1 , wherein the instrument driver is robotic, operatively coupled to the guide wire control device, and configured to impart axial movement of the guide wire along the longitudinal axis according to an input received from the insertion control member and to impart rotational movement of the guide wire according to an input received from the rotary member.

7. The system of claim 1 , wherein the rotary member is configured to operate in a control mode, including at least one of:
an absolute position control mode, in which the guide wire follows movements of the rotary member to provide a corresponding amount of roll to the guide wire, or
a relative position control mode, in which rotation of the rotary member provides a corresponding amount of roll to the guide wire when the rotary member is in an active clutched state but not when in an inactive released-clutch state.

8. The system of claim 1 , further comprising a digit rest having an opening that the single operator digit may pass through, wherein the rotary member includes a rotating ring surrounding the digit rest.

9. The system of claim 1 , wherein the rotary member is horizontally mounted to a vertical support member on an axis of rotation extending along an axis of the vertical support member, and further comprising a digit holder attached to a top face of the rotary member by a digit holder support at a location offset from a center of the rotary member, such that the digit holder may freely rotate about an axis of the digit holder support.

10. The system of claim 9 , further comprising:
an insertion control mounted to the digit holder and configured to provide commands for axial insertion control of the guide wire; and
a retraction insertion control mounted to the digit holder and configured to provide commands for axial retraction control of the guide wire.

11. The system of claim 9 , wherein the vertical support member includes a slide path allowing the rotary member to translate a distance along the axis of rotation, wherein the guide wire control device includes at least one sensor capable of detecting translation movement of the rotary member along the axis of rotation to provide commands for axial control of the guide wire.

12. A system, comprising:
a robotic instrument driver coupled to a guide wire;
an operator workstation communicatively coupled to, but physically remote from, the instrument driver and the guide wire, wherein the operator workstation is configured to receive control inputs from an operator and comprises a guide wire control device operable by a single operator digit, the guide wire control device comprising:
an insertion control member for controlling advancement of the guide wire in a forward direction and a reverse direction along a longitudinal axis of the guide wire; and
a rotary member for controlling roll of the guide wire about the longitudinal axis; and
a catheter controller, wherein the guide wire control device is mounted to the catheter controller,
wherein the instrument driver is configured to impart axial movement to the guide wire along the longitudinal axis according to an input received from the insertion control member and to impart rotational movement to the guide wire according to an input received from the rotary member.

13. The system of claim 12 , wherein the input from the insertion control member and the input from the rotary member are received from an operator substantially simultaneously, and wherein imparting the axial movement to the guide wire along the longitudinal axis and the rotational movement to the guide wire are performed substantially simultaneously and in response to the received inputs.

14. The system of claim 12 , wherein the catheter controller comprises a joystick control configured to move about a pivot point.

Assignees

• Hansen Medical Inc

Inventors

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

Classifications

• A61M25/0105 Primary

  Steering means as part of the catheter or advancing means; Markers for positioning (systems for detection of markers A61B) · CPC title

• A61B34/74

  Manipulators with manual electric input means · 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

• A61B34/30 Primary

  Surgical robots · CPC title