JP2011519286A - ロボットカテーテルシステム - Google Patents
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- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00345—Vascular system
- A61B2018/00351—Heart
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- A61B2018/00577—Ablation
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Abstract
【選択図】 図1
Description
本発明は、2008年3月27日出願の米国特許仮出願番号第61/040,143号(’143号出願)、及び2008年9月24日出願の米国特許仮出願第6
1/099,904(’904号出願)に基づく優先権を主張する。本発明は、係属中の2008年12月31日出願の米国特許出願番号第12/347,811号(’811出願)に基づく優先権を主張する。’143出願、’904号出願及び
’811号出願は、本明細書においてその全てが開示されるものとして、参照によりここに組み入れられる。
a. 発明の分野
本発明はロボットカテーテルシステム、及びカテーテル及び関連構成要素の自動化された制御方法に関する。より詳細には、本発明は、カテーテル及び関連する構成要素を操作するための、例えば、診断処置、治療処置、マッピング処置、及びアブレーション処置などのための、ロボットカテーテルシステムに関する。
電気生理学的カテーテルは、例えば、異所性心房性頻脈、心房性細動、及び心房粗動などの心房性不整脈のような状態を正常化するための様々な診断及び/又は治療的医療処置に使用されている。不整脈は、異常な心拍、同期収縮の喪失、及び血流のうっ血を含む、様々な疾患や死にも至り得る様々な危険な状態をもたらし得る。
図面を参照すると、同様の符号は、異なる図面における同一の構成要素を識別するのに使用されており、ロボットカテーテルシステム10(以下で詳細に説明する)の実施形態は、“システム”とも称すが、カテーテルシステムにおける動力操舵装置に例えることができる。システムは、例えば、心室中又はその他の身体の中空部中でカテーテル及びシースの位置及び向きを操作するのに使用することができる。図1に示し、以下で詳細に説明するように、ロボットカテーテルシステム10は、一般的に、ヒトの入力デバイス及び制御システム100(“入力制御システム”と称する)、例えば、例えば、電気生理学者(EP)などの使用者が相互作用することができるジョイスティック及び関連する制御器(以下で、そして本願と同一出願人による同時係属中の”ロボットカテーテルシステムインプットデバイス(Robotic Catheter System Input Device)”及び“触覚フィードバックを含むロボットカテーテルシステム(Robotic Catheter System Including Haptic Feedback)”という発明の名称の出願において詳細に説明される)、使用者の動きを、入力デバイスで結果として得られるカテーテルチップの移動に変換することができる電子制御システム200(本願と同一出願人による同時係属中の、発明の名称“動的応答を有するロボットカテーテルシステム(Robotic Catheter System with Dynamic Response)”)の出願において詳細に説明される)、及び使用者にリアルタイム又は近リアルタイムのカテーテルチップに関する位置情報を与えることができる視覚化システム12で、を組み込むことができる。システムは、さらにEnSite NavX system14及び/又は光学力トランスデューサーを用いる閉ループフィードバック、ロボットカテーテルデバイスカートリッジ400(本願と同一出願人による同時係属中の、発明の名称“ロボットカテーテルデバイスカートリッジ(Robotic Catheter Device Cartridge)”の出願において詳細に説明される)を操作するためのロボットカテーテルマニピュレーターアセンブリ300(本願と同一出願人による同時係属中の、発明の名称“ロボットカテーテルマニピュレーターアセンブリ(Robotic Catheter Manipulator Assembly)”の出願において詳細に説明される)、及びマニピュレーター支持構造500(以下で詳細に説明される。)を含み得る。該システムは使用者に、従来の手動システムによって与えられるのと同様の制御能力を与えるが、繰り返し可能で、正確で、かつ機能的な動きを可能にする。上述の、及び本明細書において説明したその他本願と同一出願人によるかつ同時係属中の出願それぞれの開示は、参照としてここに組み入れられる。
Claims (51)
- マニピュレーター支持構造体に支持される少なくとも1つのロボットカテーテルマニピュレーターアセンブリであって、該ロボットカテーテルマニピュレーターアセンブリは、少なくとも1つの取り外し可能なロボットカテーテルデバイスカートリッジ及びロボットシースデバイスカートリッジを備え、各カートリッジは、一般的に、該ロボットカテーテルマニピュレーターアセンブリに対して直線的に移動可能である、上記ロボットカテーテルマニピュレーターアセンブリ、
前記ロボットカテーテルマニピュレーターアセンブリの作動を制御するための入力制御システム、及び
前記ロボットカテーテルデバイスカートリッジ及びロボットシースデバイスカートリッジにそれぞれ取り付けられたカテーテル及びシースの少なくとも1つの位置を表示するための少なくとも1つのディスプレイモニターを備える視覚化システム、
を含む、ロボットカテーテルシステム。 - 前記マニピュレーター支持構造体が、前記ロボットカテーテルマニピュレーターアセンブリを手術台に取り付けるための取り付けアセンブリを含む、請求項1に記載のロボットカテーテルシステム。
- 前記マニピュレーター支持構造体が、前記ロボットカテーテルマニピュレーターアセンブリの輸送を容易にするための少なくとも1つの格納可能なホイールを含む、請求項1に記載のロボットカテーテルシステム。
- 前記マニピュレーター支持構造体が、前記ロボットカテーテルマニピュレーターアセンブリを調節可能に支持するための少なくとも1つのアームを含む、請求項1に記載のロボットカテーテルシステム。
- 前記支持アームが、概して水平に配置された手術台に対して鋭角に配置された平面において前記カテーテルマニピュレーターアセンブリを調節可能に配置する、請求項4に記載のロボットカテーテルシステム。
- 前記支持アームが、概して水平に配置された手術台に対して概して直角に配置された平面において前記カテーテルマニピュレーターアセンブリを調節可能に配置する、請求項4に記載のロボットカテーテルシステム。
- 前記支持アームが、概して水平に配置された手術台に対して概して鋭角に配置された平面における移動のために前記ロボットカテーテルデバイスカートリッジ及びロボットシースデバイスカートリッジを調節可能に配置する、請求項4に記載のロボットカテーテルシステム。
- 前記支持アームが、概して水平に配置された手術台に対して概して直角に配置された平面における移動のために前記ロボットカテーテルデバイスカートリッジ及びロボットシースデバイスカートリッジを調節可能に配置する、請求項4に記載のロボットカテーテルシステム。
- 前記ロボットカテーテルマニピュレーターアセンブリ支持構造体が、手術台に対して実質的に固定されて配置される、請求項1に記載のロボットカテーテルシステム。
- さらに、前記ロボットカテーテルマニピュレーターアセンブリの輸送及び滅菌に使用するためのケースを含む、請求項1に記載のロボットカテーテルシステム。
- さらに、前記ロボットカテーテルマニピュレーターアセンブリの汚染を防ぐための滅菌シールドを含む、請求項1に記載のロボットカテーテルシステム。
- 前記ロボットカテーテルシステムが、持ち上げることなく移動可能である、請求項1に記載のロボットカテーテルシステム。
- 前記カテーテルカートリッジ及びシースカートリッジの少なくとも1つが、前記ロボットカテーテルマニピュレーターアセンブリに対して回転可能である、請求項1に記載のロボットカテーテルシステム。
- 前記ロボットカテーテルマニピュレーターアセンブリが、相対的に移動可能な少なくとも1つのカテーテル操作ベース及び少なくとも1つのシース操作ベースを含む支持部材を含み、各操作ベースはそれぞれ前記カテーテルデバイスカートリッジ及びシースデバイスカートリッジに対して解放可能に接続可能である、請求項1に記載のロボットカテーテルシステム。
- 前記カテーテル操作ベース及びカテーテルデバイスカートリッジの一方が、前記カテーテル操作ベース及びカテーテルデバイスカートリッジの他方に摺動可能に係合される少なくとも1つの相補的第二の要素と係合可能である、少なくとも一つの第1の要素を、前記カテーテル及び前記第一及び第二の要素の一方に取り付けられた操舵ワイヤーを牽引することによって前記カテーテルの動きを制御するために含む、請求項14に記載のロボットカテーテルシステム。
- 前記シース操作ベース及び前記シースデバイスカートリッジの一方が、前記シース操作ベース及び前記シースデバイスカートリッジの他方に摺動可能に係合される少なくとも1つの相補的第二の要素と係合可能な、少なくとも1つの第一の要素を、前記シース及び前記第一及び第二の要素の一方に取り付けられた操舵ワイヤーを牽引することによって前記シースの動きを制御するために含む、請求項14に記載のロボットカテーテルシステム。
- 前記カテーテル操作ベース及びシース操作ベースが、相互に対して及び前記支持部材に対して直線的に移動可能である、請求項14に記載のロボットカテーテルシステム。
- 前記カテーテル操作ベースが、前記カテーテルの前記シース中への挿入を可能にするように前記シース操作ベースの概して背後に配置される、請求項14に記載のロボットカテーテルシステム。
- 前記入力制御システムが、ジョイスティック、機器を装備したグローブ、マウス、スペースボール及び3D入力デバイスの少なくとも1つを含む、請求項1に記載のロボットカテーテルシステム。
- 前記入力制御システムが、遠位カテーテルチップに対する実際に検知された力、及び前記遠位カテーテルチップから測定されたインピーダンスのいずれか一方に基づく触覚フィードバックを含む、請求項1に記載のロボットカテーテルシステム。
- 前記入力制御システムが、仮想心臓生体構造に近位の仮想カテーテルチップに基づく触覚フィードバックを含む、請求項1に記載のロボットカテーテルシステム。
- 前記視覚化システムが、前記入力制御システムのためのサムスイッチ偏向の方向を示す方位ベクトルディスプレイを含む、請求項1に記載のロボットカテーテルシステム。
- 前記入力制御システムが、前記カテーテル及びシースに取り付けられた操舵ワイヤーの能動的緊張を含む、請求項1に記載のロボットカテーテルシステム。
- 前記入力制御システムが、患者の生体構造中の所定の区域における前記カテーテル及びシースの動きの速度を変更するための予め画定された速度区域を含む、請求項1に記載のロボットカテーテルシステム。
- マニピュレーター支持構造体に支持される少なくとも1つのロボットマニピュレーターアセンブリであって、少なくとも1つの、取り外し可能に取り付けられた第一のロボット外科計器装置デバイスカートリッジ及び第二のロボット外科計器装置デバイスカートリッジを含み、各カートリッジは、概して、前記ロボットマニピュレーターアセンブリに対して直線的に移動可能な、上記ロボットマニピュレーターアセンブリ、
前記ロボットマニピュレーターアセンブリの作動を制御するための入力制御システム、及び
前記第一のロボット外科計器装置デバイスカートリッジ及び第二のロボット外科計器装置デバイスカートリッジにそれぞれ取り付けられた第一及び第二の外科計器装置の少なくとも一方の位置を表示するための少なくとも1つのディスプレイを含む視覚化システム、
を含む、ロボットカテーテルシステム。 - 前記マニピュレーター支持構造体が、前記ロボットマニピュレーターアセンブリを手術台に取り付けるための取り付けアセンブリを含む、請求項25に記載のロボットカテーテルシステム。
- 前記マニピュレーター支持構造体が、前記ロボットカテーテルマニピュレーターアセンブリの輸送を容易にするための少なくとも1つの格納可能なホイールを含む、請求項25に記載のロボットカテーテルシステム。
- 前記マニピュレーター支持構造体が、前記ロボットカテーテルマニピュレーターアセンブリを調節可能に支持するための少なくとも1つのアームを含む、請求項25に記載のロボットカテーテルシステム。
- 前記支持アームが、概して水平に配置された手術台に対して鋭角に配置された平面において前記カテーテルマニピュレーターアセンブリを調節可能に配置する、請求項28に記載のロボットカテーテルシステム。
- 前記支持アームが、概して水平に配置された手術台に対して概して直角に配置された平面において前記カテーテルマニピュレーターアセンブリを調節可能に配置する、請求項28に記載のロボットカテーテルシステム。
- 前記支持アームが、概して水平に配置された手術台に対して概して鋭角に配置された平面における移動のために前記第一及び第二のロボット外科計器装置デバイスカートリッジを調節可能に配置する、請求項28に記載のロボットカテーテルシステム。
- 前記支持アームが、概して水平に配置された手術台に対して概して直角に配置された平面における移動のために前記第一及び第二のロボット外科計器装置デバイスカートリッジを調節可能に配置する、請求項28に記載のロボットカテーテルシステム。
- 前記ロボットマニピュレーターアセンブリ支持構造体が、手術台に対して実質的に固定されて配置される、請求項25に記載のロボットカテーテルシステム。
- さらに、前記ロボットマニピュレーターアセンブリの輸送及び滅菌使用のためのケースを含む、請求項25に記載のロボットカテーテルシステム。
- さらに、前記ロボットマニピュレーターアセンブリの汚染を防ぐための滅菌シールドを含む、請求項25に記載のロボットカテーテルシステム。
- 前記ロボットカテーテルシステムが、持ち上げることなく移動可能である、請求項25に記載のロボットカテーテルシステム。
- 前記第一及び第二のロボット外科計器装置デバイスカートリッジの少なくとも1つが、前記ロボットマニピュレーターアセンブリに対して回転可能である、請求項25に記載のロボットカテーテルシステム。
- 前記ロボットマニピュレーターアセンブリが支持部材を含む、該支持部材が、相対的に及び該支持部材に対して移動可能な少なくとも1つの第一の外科計器装置操作ベース及び少なくとも1つの第二の外科計器装置操作ベースを含み、各操作ベースは前記第一及び第二の外科計器装置デバイスカートリッジに対して解放可能に接続可能である、請求項25に記載のロボットカテーテルシステム。
- 前記第一の外科計器装置操作ベース及び前記第一の外科計器装置デバイスカートリッジの一方が、前記第一の外科計器装置操作ベース及び前記第一の外科計器装置デバイスカートリッジの他方に摺動可能に係合される少なくとも1つの相補的第二の要素と係合可能な、少なくとも1つの第一の要素を、前記第一の外科計器装置及び前記第一及び第二の要素の一方に取り付けられた操舵ワイヤーを牽引することによって前記第一の外科計器装置の動きを制御するために含む、請求項38に記載のロボットカテーテルシステム。
- 前記第二の外科計器装置操作ベース及び前記第二の外科計器装置デバイスカートリッジの一方が、前記第二の外科計器装置操作ベース及び前記第二の外科計器装置デバイスカートリッジの他方に摺動可能に係合される少なくとも1つの相補的第二の要素と係合可能な、少なくとも1つの第一の要素を、前記第二の外科計器装置及び前記第一及び第二の要素の一方に取り付けられた操舵ワイヤーを牽引することによって前記第二の外科計器装置の動きを制御するために含む、請求項38に記載のロボットカテーテルシステム。
- 前記第一及び第二の外科計器装置操作ベースが、相互に対して及び前記支持部材に対して直線的に移動可能である、請求項38に記載のロボットカテーテルシステム。
- 前記第一の外科計器装置操作ベースが、前記第一の外科計器装置の前記第二の外科計器装置中への挿入を可能にするように前記第二の外科計器装置操作ベースの概して背後に配置される、請求項38に記載のロボットカテーテルシステム。
- 前記入力制御システムが、ジョイスティック、機器を装備したグローブ、マウス、スペースボール及び3D入力デバイスの少なくとも1つを含む、請求項25に記載のロボットカテーテルシステム。
- 前記入力制御システムが、遠位第一の外科計器装置チップに対する実際に検知された力、及び前記遠位第一の外科計器装置チップから測定されたインピーダンスのいずれか一方に基づく触覚フィードバックを含む、請求項25に記載のロボットカテーテルシステム。
- 前記入力制御システムが、仮想心臓生体構造に近位の仮想第一の外科計器装置チップに基づく触覚フィードバックを含む、請求項25に記載のロボットカテーテルシステム。
- 前記視覚化システムが、前記入力制御システムのためのサムスイッチ偏向の方向を示す方位ベクトルディスプレイを含む、請求項25に記載のロボットカテーテルシステム。
- 前記入力制御システムが、前記第一及び第二の外科計器装置に取り付けられた操舵ワイヤーの能動的緊張を含む、請求項25に記載のロボットカテーテルシステム。
- 前記入力制御システムが、患者の生体構造中の所定の区域における前記第一及び第二の外科計器装置の動きの速度を変更するための予め画定された速度区域を含む、請求項25に記載のロボットカテーテルシステム。
- 前記第一及び第二の外科計器装置が、中隔ニードル、カテーテル及びシースの1つである、請求項25に記載のロボットカテーテルシステム。
- 前記マニピュレーター支持構造体が、RFジェネレーター、生理食塩水ポンプ及び生理食塩水バッグを含む総合システムである、請求項25に記載のロボットカテーテルシステム。
- 前記ロボットカテーテルマニピュレーターアセンブリが、前記カートリッジの動きを妨げること及び停止させることの少なくとも一方のためのカートリッジオーバーライドを含む、請求項25に記載のロボットカテーテルシステム。
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US20160310220A1 (en) | 2016-10-27 |
EP3378390A1 (en) | 2018-09-26 |
CN102046081A (zh) | 2011-05-04 |
WO2009120940A2 (en) | 2009-10-01 |
EP2187806B1 (en) | 2018-02-28 |
CN102046081B (zh) | 2013-10-09 |
JP6055434B2 (ja) | 2016-12-27 |
US9301810B2 (en) | 2016-04-05 |
US20090247993A1 (en) | 2009-10-01 |
EP2187806A4 (en) | 2012-08-08 |
EP2187806A2 (en) | 2010-05-26 |
US20200038122A1 (en) | 2020-02-06 |
US10426557B2 (en) | 2019-10-01 |
US8343096B2 (en) | 2013-01-01 |
JP2014158942A (ja) | 2014-09-04 |
WO2009120940A3 (en) | 2009-12-30 |
US11717356B2 (en) | 2023-08-08 |
US20110178532A1 (en) | 2011-07-21 |
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