摘要:
A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.
摘要:
Configurations are described for conducting minimally invasive medical interventions utilizing elongate robotically controlled instruments and assemblies thereof. In one embodiment, a junction sheath may be utilized to facilitate surgical triangulation of two interventional instrument assemblies, while also directing them to the surgical theater through a minimal single wound or surgical port. One or more instrument drivers, and one or more master input devices comprising an operator workstation, may be utilized to independently and simultaneously control multiple degrees of freedom pertinent to each instrument comprising one or more instrument assembly.
摘要:
Embodiments are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic medical instrument system, comprising an elongate instrument having proximal and distal ends; a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move the instrument; a master input device in communication with the controller and configured to generate input commands in response to a directional movement of the master input device; and a load sensor operatively coupled to the elongate instrument and configured to sense magnitude and direction of loads applied to the distal end of the elongate instrument; wherein the controller is configured to compute an instrument movement command to selectively move the instrument based upon the input commands and an input command scaling factor applied to the input commands, the input command scaling factor being variable with the magnitude of sensed loads.
摘要:
A medical instrument system includes a controller and a guide instrument coupled to an instrument driver, the instrument driver configured to manipulate a distal end portion of the guide instrument in response to control signals generated by the controller. A force sensor is associated with the guide instrument or with a working instrument carried by the guide instrument, and generates force signals responsive to a force applied to a respective distal end portion of the guide instrument or working instrument. A position determining system generates position data indicative of a position of the respective guide or working instrument distal end portion associated with the force sensor, and a processor operatively coupled to the force sensor and position determining system processes respective force signals and position data to generate and display a geometric rendering of an internal body tissue surface based on sensed forces applied to the respective instrument distal end portion as the guide instrument is maneuvered within an interior region of a body containing the body surface.
摘要:
Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic tissue structure traversal system may comprise a controller including a master input device, an electromechanically controlled elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion comprising a traversing tip and being configured to be interactively navigated about internal structures of a patient's body in response to signals from the controller; and a load sensor operatively coupled between the distal portion of the elongate instrument and the controller; wherein the controller is configured to automatically advance the traversing tip through a thickness of an internal structure by observing loads from the load sensor.
摘要:
Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region.
摘要:
Systems are described herein that improve control of a shapeable or steerable instrument using shape data. Additional systems use such shape data for improved mapping or adjusting models of the instrument. Such systems include robotic medical systems for controlling a shapeable instrument within an anatomical region having a controller, one or more actuators, and a localization system for guiding one or more shapeable instruments.
摘要:
In one embodiment a system may comprise a controller including a master input device; and an electromechanically steerable elongate instrument having proximal interface and portions, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion being configured to be interactively navigated adjacent internal tissue structures of a patient's body in response to signals from the controller; wherein the controller is operatively coupled to a treatment interactivity variable sensor selected from the group consisting of: a cardiac electrogram electrode, an RF generator power output sensor, an instrument distal portion impedance sensor, and an instrument distal portion force sensor; and wherein the controller is configured to affect the operation of the electromechanically steerable elongate catheter by automatically executing an instrument movement or treatment command based upon changes in information received from the treatment interactivity variable sensor.
摘要:
An instrument system that includes a first optical fiber, a second optical fiber and a controller is provided. The first optical fiber is operatively coupled to an elongate body that is adapted to be placed inside a patient. The second optical fiber is operatively coupled to the patient, to an actuating element adapted to actuate the elongate body, or to a portion of an imaging system adapted to identify a location of the portion relative to the elongate body. The controller is operatively coupled to the first optical fiber and the second optical fiber and is adapted to receive a first signal from the strain sensor provided on the first optical fiber, receive a second signal from the strain sensor provided on the second optical fiber; and determine a position or orientation of the elongate body based on the first signal and based on the second signal.
摘要:
An instrument system that includes an elongate body, an optical fiber, a localization sensor and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The localization sensor is operatively coupled to the elongate body. The controller is operatively coupled to the optical fiber and to the localization sensor and is adapted to receive a first signal from the strain sensor, receive a second signal from the localization sensor, and determine a position or orientation of the elongate body based on the first signal and the second signal.