CA2285342C - Method and device for detecting catheter-tissue contact and interaction with tissue during catheter ablation - Google Patents
Method and device for detecting catheter-tissue contact and interaction with tissue during catheter ablation Download PDFInfo
- Publication number
- CA2285342C CA2285342C CA002285342A CA2285342A CA2285342C CA 2285342 C CA2285342 C CA 2285342C CA 002285342 A CA002285342 A CA 002285342A CA 2285342 A CA2285342 A CA 2285342A CA 2285342 C CA2285342 C CA 2285342C
- Authority
- CA
- Canada
- Prior art keywords
- catheter
- ablation
- voltage
- tissue
- electrode
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000003993 interaction Effects 0.000 title claims abstract description 9
- 238000000034 method Methods 0.000 title abstract description 25
- 238000013153 catheter ablation Methods 0.000 title description 10
- 238000002679 ablation Methods 0.000 claims abstract description 52
- 238000005259 measurement Methods 0.000 claims description 34
- BASFCYQUMIYNBI-UHFFFAOYSA-N platinum Chemical compound [Pt] BASFCYQUMIYNBI-UHFFFAOYSA-N 0.000 claims description 18
- 230000007935 neutral effect Effects 0.000 claims description 9
- 229910052697 platinum Inorganic materials 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 2
- 239000011248 coating agent Substances 0.000 claims 2
- 238000000576 coating method Methods 0.000 claims 2
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000011282 treatment Methods 0.000 description 30
- 230000008569 process Effects 0.000 description 21
- 230000000694 effects Effects 0.000 description 13
- WSFSSNUMVMOOMR-UHFFFAOYSA-N Formaldehyde Chemical compound O=C WSFSSNUMVMOOMR-UHFFFAOYSA-N 0.000 description 10
- 230000003902 lesion Effects 0.000 description 10
- 239000000126 substance Substances 0.000 description 9
- 210000004369 blood Anatomy 0.000 description 6
- 239000008280 blood Substances 0.000 description 6
- 238000011156 evaluation Methods 0.000 description 5
- 238000011109 contamination Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000009834 vaporization Methods 0.000 description 3
- 230000008016 vaporization Effects 0.000 description 3
- 238000009529 body temperature measurement Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000015271 coagulation Effects 0.000 description 2
- 238000005345 coagulation Methods 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000002847 impedance measurement Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000010079 rubber tapping Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 210000001124 body fluid Anatomy 0.000 description 1
- 239000010839 body fluid Substances 0.000 description 1
- 230000001112 coagulating effect Effects 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/1206—Generators therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1492—Probes or electrodes therefor having a flexible, catheter-like structure, e.g. for heart ablation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00039—Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00084—Temperature
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/0066—Sensing and controlling the application of energy without feedback, i.e. open loop control
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Plasma & Fusion (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Physics & Mathematics (AREA)
- Otolaryngology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Endoscopes (AREA)
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19713234.0 | 1997-04-01 | ||
| DE19713234 | 1997-04-01 | ||
| DE19740976.8 | 1997-09-17 | ||
| DE19740976A DE19740976A1 (de) | 1997-04-01 | 1997-09-17 | Verfahren und Vorrichtung zur Erfassung des Katheter-Gewebekontaktes bei der HF-chirurgischen Katheterablation |
| PCT/DE1998/000932 WO1998043547A2 (de) | 1997-04-01 | 1998-04-01 | Verfahren und vorrichtung zur erfassung des katheter-gewebekontaktes sowie von wechselwirkungen mit dem gewebe bei der katheterablation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2285342A1 CA2285342A1 (en) | 1998-10-08 |
| CA2285342C true CA2285342C (en) | 2007-06-19 |
Family
ID=26035367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002285342A Expired - Fee Related CA2285342C (en) | 1997-04-01 | 1998-04-01 | Method and device for detecting catheter-tissue contact and interaction with tissue during catheter ablation |
Country Status (10)
| Country | Link |
|---|---|
| US (1) | US6304776B1 (enExample) |
| EP (1) | EP0971636B1 (enExample) |
| JP (1) | JP4105238B2 (enExample) |
| AT (1) | ATE307536T1 (enExample) |
| AU (1) | AU740503B2 (enExample) |
| CA (1) | CA2285342C (enExample) |
| DE (1) | DE59813142D1 (enExample) |
| DK (1) | DK0971636T3 (enExample) |
| ES (1) | ES2249832T3 (enExample) |
| WO (1) | WO1998043547A2 (enExample) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8394054B2 (en) | 2004-03-05 | 2013-03-12 | Hansen Medical, Inc. | Robotic catheter system |
| US9457168B2 (en) | 2005-07-01 | 2016-10-04 | Hansen Medical, Inc. | Robotic catheter system and methods |
| US12502229B2 (en) | 2023-10-11 | 2025-12-23 | Auris Health, Inc. | Systems and methods for positioning an elongate member inside a body |
Families Citing this family (70)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7097641B1 (en) | 1999-12-09 | 2006-08-29 | Cryocath Technologies Inc. | Catheter with cryogenic and heating ablation |
| US6408199B1 (en) | 2000-07-07 | 2002-06-18 | Biosense, Inc. | Bipolar mapping of intracardiac potentials with electrode having blood permeable covering |
| US6569160B1 (en) | 2000-07-07 | 2003-05-27 | Biosense, Inc. | System and method for detecting electrode-tissue contact |
| US6546270B1 (en) | 2000-07-07 | 2003-04-08 | Biosense, Inc. | Multi-electrode catheter, system and method |
| US7789876B2 (en) * | 2000-08-14 | 2010-09-07 | Tyco Healthcare Group, Lp | Method and apparatus for positioning a catheter relative to an anatomical junction |
| US7819870B2 (en) * | 2005-10-13 | 2010-10-26 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Tissue contact and thermal assessment for brush electrodes |
| US7824408B2 (en) | 2004-08-05 | 2010-11-02 | Tyco Healthcare Group, Lp | Methods and apparatus for coagulating and/or constricting hollow anatomical structures |
| US20070016272A1 (en) | 2004-09-27 | 2007-01-18 | Thompson Russell B | Systems and methods for treating a hollow anatomical structure |
| US7605913B2 (en) | 2004-12-19 | 2009-10-20 | Kla-Tencor Corporation | System and method for inspecting a workpiece surface by analyzing scattered light in a front quartersphere region above the workpiece |
| WO2006069313A1 (en) * | 2004-12-20 | 2006-06-29 | Vnus Medical Technologies, Inc. | Systems and methods for treating a hollow anatomical structure |
| DE102005025946A1 (de) | 2005-01-26 | 2006-08-03 | Erbe Elektromedizin Gmbh | HF-Chirurgieeinrichtung |
| US7625372B2 (en) | 2005-02-23 | 2009-12-01 | Vnus Medical Technologies, Inc. | Methods and apparatus for coagulating and/or constricting hollow anatomical structures |
| CN102389333B (zh) | 2005-07-21 | 2014-08-27 | 泰科医疗集团有限合伙公司 | 治疗中空解剖结构的系统和方法 |
| US8672936B2 (en) * | 2005-10-13 | 2014-03-18 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Systems and methods for assessing tissue contact |
| US8679109B2 (en) | 2005-10-13 | 2014-03-25 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Dynamic contact assessment for electrode catheters |
| US20180311071A1 (en) | 2005-10-21 | 2018-11-01 | Daniel R. BURNETT | Method and apparatus for peritoneal oxygenation |
| US20070093697A1 (en) | 2005-10-21 | 2007-04-26 | Theranova, Llc | Method and apparatus for detection of right to left shunting in the cardiopulmonary vasculature |
| AU2006305967B2 (en) * | 2005-10-27 | 2013-02-07 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Systems and methods for electrode contact assessment |
| US8190238B2 (en) | 2005-12-09 | 2012-05-29 | Hansen Medical, Inc. | Robotic catheter system and methods |
| US7879029B2 (en) | 2005-12-30 | 2011-02-01 | Biosense Webster, Inc. | System and method for selectively energizing catheter electrodes |
| US20070244371A1 (en) * | 2006-04-04 | 2007-10-18 | Nguyen Hoa D | Phlebectomy illumination device and methods |
| CN100421617C (zh) * | 2006-08-16 | 2008-10-01 | 中山市创源电子有限公司 | 一种人体阻抗测量装置及应用该装置的脂肪计 |
| US7955326B2 (en) * | 2006-12-29 | 2011-06-07 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Pressure-sensitive conductive composite electrode and method for ablation |
| US8226648B2 (en) | 2007-12-31 | 2012-07-24 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Pressure-sensitive flexible polymer bipolar electrode |
| US7883508B2 (en) | 2006-12-29 | 2011-02-08 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Contact-sensitive pressure-sensitive conductive composite electrode and method for ablation |
| US9579483B2 (en) | 2006-12-29 | 2017-02-28 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Pressure-sensitive conductive composite contact sensor and method for contact sensing |
| US10085798B2 (en) * | 2006-12-29 | 2018-10-02 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Ablation electrode with tactile sensor |
| US8374673B2 (en) | 2007-01-25 | 2013-02-12 | Warsaw Orthopedic, Inc. | Integrated surgical navigational and neuromonitoring system having automated surgical assistance and control |
| US7987001B2 (en) | 2007-01-25 | 2011-07-26 | Warsaw Orthopedic, Inc. | Surgical navigational and neuromonitoring instrument |
| JP2010523230A (ja) * | 2007-04-05 | 2010-07-15 | ベロメディックス，インク | 自動治療システム及び方法 |
| CA2693774A1 (en) | 2007-07-09 | 2009-01-15 | Velomedix, Inc. | Hypothermia devices and methods |
| US8396533B2 (en) * | 2007-08-21 | 2013-03-12 | Siemens Aktiengesellschaft | Method and system for catheter detection and tracking in a fluoroscopic image sequence |
| US8500731B2 (en) * | 2007-12-21 | 2013-08-06 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Adjustable length flexible polymer electrode catheter and method for ablation |
| US8211102B2 (en) * | 2007-12-21 | 2012-07-03 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Contact sensing flexible conductive polymer electrode |
| US8900150B2 (en) | 2008-12-30 | 2014-12-02 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Intracardiac imaging system utilizing a multipurpose catheter |
| US20100168557A1 (en) * | 2008-12-30 | 2010-07-01 | Deno D Curtis | Multi-electrode ablation sensing catheter and system |
| US8948476B2 (en) | 2010-12-20 | 2015-02-03 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Determination of cardiac geometry responsive to doppler based imaging of blood flow characteristics |
| US9610118B2 (en) | 2008-12-31 | 2017-04-04 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Method and apparatus for the cancellation of motion artifacts in medical interventional navigation |
| US9254123B2 (en) | 2009-04-29 | 2016-02-09 | Hansen Medical, Inc. | Flexible and steerable elongate instruments with shape control and support elements |
| US20100280328A1 (en) * | 2009-05-01 | 2010-11-04 | Tyco Healthcare Group, Lp | Methods and systems for illumination during phlebectomy procedures |
| US9616246B2 (en) | 2010-01-04 | 2017-04-11 | Covidien Lp | Apparatus and methods for treating hollow anatomical structures |
| US9237961B2 (en) * | 2010-04-23 | 2016-01-19 | Medtronic Vascular, Inc. | Stent delivery system for detecting wall apposition of the stent during deployment |
| WO2012006625A2 (en) | 2010-07-09 | 2012-01-12 | Velomedix, Inc. | Method and apparatus for pressure measurement |
| US8827948B2 (en) | 2010-09-17 | 2014-09-09 | Hansen Medical, Inc. | Steerable catheters |
| US20120191083A1 (en) | 2011-01-20 | 2012-07-26 | Hansen Medical, Inc. | System and method for endoluminal and translumenal therapy |
| US20130030363A1 (en) | 2011-07-29 | 2013-01-31 | Hansen Medical, Inc. | Systems and methods utilizing shape sensing fibers |
| US8700133B2 (en) | 2012-06-18 | 2014-04-15 | Smart Iv Llc | Apparatus and method for monitoring catheter insertion |
| US9597482B2 (en) | 2012-06-18 | 2017-03-21 | Smart Iv Llc | Apparatus and method for monitoring catheter insertion |
| DE102012220658A1 (de) * | 2012-11-13 | 2014-05-15 | Olympus Winter & Ibe Gmbh | Elektrochirurgisches Instrument für die Koagulation oder Ablation von Körpergewebe |
| US20140148673A1 (en) | 2012-11-28 | 2014-05-29 | Hansen Medical, Inc. | Method of anchoring pullwire directly articulatable region in catheter |
| US20140277334A1 (en) | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
| US9326822B2 (en) | 2013-03-14 | 2016-05-03 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
| US9408669B2 (en) | 2013-03-15 | 2016-08-09 | Hansen Medical, Inc. | Active drive mechanism with finite range of motion |
| US20140276936A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Active drive mechanism for simultaneous rotation and translation |
| US10682175B2 (en) * | 2013-11-06 | 2020-06-16 | Biosense Webster (Israel) Ltd. | Using catheter position and temperature measurement to detect movement from ablation point |
| US10046140B2 (en) | 2014-04-21 | 2018-08-14 | Hansen Medical, Inc. | Devices, systems, and methods for controlling active drive systems |
| CN109069840B (zh) | 2016-02-04 | 2022-03-15 | 心脏起搏器股份公司 | 具有用于无引线心脏装置的力传感器的递送系统 |
| US10463439B2 (en) | 2016-08-26 | 2019-11-05 | Auris Health, Inc. | Steerable catheter with shaft load distributions |
| US11241559B2 (en) | 2016-08-29 | 2022-02-08 | Auris Health, Inc. | Active drive for guidewire manipulation |
| US11426126B2 (en) | 2019-05-23 | 2022-08-30 | Biosense Webster (Israel) Ltd. | Indicating electrode contact |
| US12369975B2 (en) | 2019-09-12 | 2025-07-29 | Biosense Webster (Israel) Ltd. | Balloon catheter with force sensor |
| US12484959B2 (en) | 2020-12-16 | 2025-12-02 | Biosense Webster (Israel) Ltd. | Accurate tissue proximity |
| US11864844B2 (en) | 2020-12-22 | 2024-01-09 | Biosense Webster (Israel) Ltd. | Distal end assembly guidance |
| US12251167B2 (en) | 2021-05-24 | 2025-03-18 | Biosense Webster (Israel) Ltd. | Gesture based selection of portion of catheter |
| US20230008606A1 (en) | 2021-07-06 | 2023-01-12 | Biosense Webster (Israel) Ltd. | Contact assessment for balloon catheter |
| US12070264B2 (en) | 2021-07-23 | 2024-08-27 | Biosense Webster (Israel) Ltd. | Accurate tissue proximity |
| US20230157569A1 (en) | 2021-11-22 | 2023-05-25 | Biosense Webster (Israel) Ltd. | Mapping System with Real Time Electrogram Overlay |
| US20230210437A1 (en) | 2021-12-30 | 2023-07-06 | Biosense Webster (Israel) Ltd. | Intuitive Mapping System |
| CN121038709A (zh) | 2022-12-27 | 2025-11-28 | 透壁系统有限责任公司 | 导管和致动器系统及方法 |
| US12490963B2 (en) * | 2022-12-27 | 2025-12-09 | Transmural Systems Llc | Tissue cutting systems and methods |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3911416A1 (de) | 1989-04-07 | 1990-10-11 | Delma Elektro Med App | Elektrochirurgisches hochfrequenzgeraet |
| US5419767A (en) * | 1992-01-07 | 1995-05-30 | Thapliyal And Eggers Partners | Methods and apparatus for advancing catheters through severely occluded body lumens |
| US5462545A (en) * | 1994-01-31 | 1995-10-31 | New England Medical Center Hospitals, Inc. | Catheter electrodes |
| US5562722A (en) * | 1994-03-14 | 1996-10-08 | Medical Evaluation Devices & Instruments Corp. | Multiple electrode catheter |
| US5697925A (en) | 1995-06-09 | 1997-12-16 | Engineering & Research Associates, Inc. | Apparatus and method for thermal ablation |
| DE29519651U1 (de) | 1995-12-14 | 1996-02-01 | Muntermann, Axel, 35583 Wetzlar | Vorrichtung zur linienförmigen Radiofrequenz-Katheterablation endomyokardialen Gewebes |
| US6066139A (en) * | 1996-05-14 | 2000-05-23 | Sherwood Services Ag | Apparatus and method for sterilization and embolization |
| US5704908A (en) * | 1996-10-10 | 1998-01-06 | Genetronics, Inc. | Electroporation and iontophoresis catheter with porous balloon |
-
1998
- 1998-04-01 EP EP98928114A patent/EP0971636B1/de not_active Expired - Lifetime
- 1998-04-01 AU AU80088/98A patent/AU740503B2/en not_active Ceased
- 1998-04-01 US US09/402,222 patent/US6304776B1/en not_active Expired - Lifetime
- 1998-04-01 JP JP54106898A patent/JP4105238B2/ja not_active Expired - Fee Related
- 1998-04-01 DE DE59813142T patent/DE59813142D1/de not_active Expired - Lifetime
- 1998-04-01 CA CA002285342A patent/CA2285342C/en not_active Expired - Fee Related
- 1998-04-01 WO PCT/DE1998/000932 patent/WO1998043547A2/de not_active Ceased
- 1998-04-01 AT AT98928114T patent/ATE307536T1/de not_active IP Right Cessation
- 1998-04-01 ES ES98928114T patent/ES2249832T3/es not_active Expired - Lifetime
- 1998-04-01 DK DK98928114T patent/DK0971636T3/da active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8394054B2 (en) | 2004-03-05 | 2013-03-12 | Hansen Medical, Inc. | Robotic catheter system |
| US8409136B2 (en) | 2004-03-05 | 2013-04-02 | Hansen Medical, Inc. | Robotic catheter system |
| US8974408B2 (en) | 2004-03-05 | 2015-03-10 | Hansen Medical, Inc. | Robotic catheter system |
| US9457168B2 (en) | 2005-07-01 | 2016-10-04 | Hansen Medical, Inc. | Robotic catheter system and methods |
| US12502229B2 (en) | 2023-10-11 | 2025-12-23 | Auris Health, Inc. | Systems and methods for positioning an elongate member inside a body |
Also Published As
| Publication number | Publication date |
|---|---|
| ES2249832T3 (es) | 2006-04-01 |
| US6304776B1 (en) | 2001-10-16 |
| ATE307536T1 (de) | 2005-11-15 |
| JP2001522265A (ja) | 2001-11-13 |
| AU8008898A (en) | 1998-10-22 |
| DE59813142D1 (de) | 2005-12-01 |
| EP0971636B1 (de) | 2005-10-26 |
| WO1998043547A2 (de) | 1998-10-08 |
| DK0971636T3 (da) | 2006-03-20 |
| AU740503B2 (en) | 2001-11-08 |
| EP0971636A2 (de) | 2000-01-19 |
| WO1998043547A3 (de) | 1999-01-21 |
| JP4105238B2 (ja) | 2008-06-25 |
| CA2285342A1 (en) | 1998-10-08 |
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