US20140058321A1 - Wheel for robotic catheter system drive mechanism - Google Patents
Wheel for robotic catheter system drive mechanism Download PDFInfo
- Publication number
- US20140058321A1 US20140058321A1 US13/838,780 US201313838780A US2014058321A1 US 20140058321 A1 US20140058321 A1 US 20140058321A1 US 201313838780 A US201313838780 A US 201313838780A US 2014058321 A1 US2014058321 A1 US 2014058321A1
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- United States
- Prior art keywords
- guide wire
- wheel
- engagement surface
- drive mechanism
- drive
- 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.)
- Abandoned
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
- A61B2090/3764—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT] with a rotating C-arm having a cone beam emitting source
Definitions
- the present invention relates generally to the field of catheter systems for performing diagnostic and/or intervention procedures.
- the present invention relates specifically to catheter systems and methods including a roller wheel based drive mechanism.
- vascular disease may be treated in a variety of ways.
- Surgery such as cardiac bypass surgery, is one method for treating cardiovascular disease.
- vascular disease may be treated with a catheter based intervention procedure, such as angioplasty.
- Catheter based intervention procedures are generally considered less invasive than surgery.
- an image of the patient's heart may be taken to aid in the diagnosis of the patient's disease and to determine an appropriate course of treatment.
- the image of the patient's heart may show a lesion that is blocking one or more coronary arteries.
- the patient may undergo a catheter based intervention procedure.
- a catheter is inserted into the patient's femoral artery and moved through the patient's arterial system until the catheter reaches the site of the lesion.
- the catheter is equipped with a balloon or a stent that when deployed at the site of a lesion allows for increased blood flow through the portion of the coronary artery that is affected by the lesion.
- other diseases e.g., hypertension, etc.
- One embodiment of the invention relates to a drive mechanism for a robotic catheter system including a first engagement surface and a second engagement surface.
- the first engagement surface and second engagement surface are configured to engage a catheter device to allow the drive mechanism to impart motion to the catheter device.
- the first engagement surface is textured to facilitate gripping between the first engagement surface and the catheter device.
- the cassette includes a housing and a first actuating mechanism supported by the housing and configured to engage and to impart axial movement to a guide wire.
- the first actuating mechanism includes a drive shaft and a drive wheel having a first engagement surface.
- the drive wheel is coupled to the drive shaft, and the drive wheel includes a plurality of slits formed in the first engagement surface.
- the first actuating mechanism also includes a roller wheel having a second engagement surface.
- the guide wire is engaged between the drive wheel and the roller wheel, and rotation of the drive wheel imparts axial motion to the guide wire.
- the cassette further includes a second actuating mechanism configured to engage and to impart rotational movement to the guide wire.
- the cassette for use with a robotic catheter system configured to couple to a base.
- the cassette includes a housing and an actuating mechanism supported by the housing and configured to engage and to impart movement to a catheter device.
- the actuating mechanism includes a first engagement surface and a second engagement surface.
- the first engagement surface is moveable between a first position and a second position such that the distance between the first and second engagement surfaces decreases as the first engagement surface is moved from the first position to the second position.
- the first and second engagement surfaces are configured to engage the catheter device in the second position.
- the cassette further includes a structure coupled to the actuating mechanism, and the structure holds the first engagement structure in the first position.
- FIG. 1 is a perspective view of a catheter procedure system according to an exemplary embodiment
- FIG. 2 is a block diagram of a catheter procedure system according to an exemplary embodiment
- FIG. 3 is a perspective view of a bedside system showing an embodiment of a cassette prior to being attached to a motor drive base;
- FIG. 4 is a perspective view of a bedside system showing the cassette of FIG. 3 following attachment to the motor drive base;
- FIG. 5 is a perspective view of a cassette in the “loading” configuration
- FIG. 6 is a perspective view of a cassette in the “loaded” or “use” configuration
- FIG. 7 is an exploded perspective view of an axial drive assembly of a cassette
- FIG. 8 is a bottom perspective view of a cassette showing the base plate removed
- FIG. 9 is a top view showing the axial drive assembly in the “disengaged” position
- FIG. 10 is a top view showing the axial drive assembly in the “engaged” position
- FIG. 11 is a top perspective view of a rotational drive assembly of a cassette showing the engagement structure in broken lines beneath the chassis;
- FIG. 12 is a top perspective view of a rotational drive assembly with the chassis shown in broken lines;
- FIG. 13 is a top view of the rotational drive assembly in the “engaged” position
- FIG. 14 is a top view of the rotational drive assembly in the “disengaged” position
- FIG. 15 is a sectional view of the rotational drive assembly taken generally along line 15 - 15 in FIG. 6 ;
- FIG. 16 is a sectional view of the axial drive assembly taken generally along line 16 - 16 in FIG. 6 ;
- FIG. 17A shows a rotational drive assembly coupled to a base plate of a cassette
- FIG. 17B shows depression of a release button to disconnect the rotational drive assembly from the base plate of the cassette
- FIG. 17C shows removal of the rotational drive assembly from the base plate of the cassette leaving the guide wire in place
- FIG. 18 shows a side view of a roller wheel according to an exemplary embodiment
- FIG. 19A shows a top view of the roller wheel of FIG. 18 ;
- FIG. 19B shows an enlarged view of a portion of the roller wheel of FIG. 19B ;
- FIG. 20 is an exploded view showing a wheel separator structure according to an exemplary embodiment
- FIG. 21 is a rear perspective view of the structure of FIG. 20 ;
- FIG. 22 is a front perspective view of the structure of FIG. 20 engaged with a rotational drive assembly according to an exemplary embodiment
- FIG. 23 is a perspective view from below of the structure of FIG. 20 engaged with a rotational drive assembly according to an exemplary embodiment.
- Catheter procedure system 10 may be used to perform catheter based medical procedures (e.g., percutaneous intervention procedures).
- Percutaneous intervention procedures may include diagnostic catheterization procedures during which one or more catheters are used to aid in the diagnosis of a patient's disease. For example, during one embodiment of a catheter based diagnostic procedure, a contrast media is injected into one or more coronary arteries through a catheter and an image of the patient's heart is taken.
- Percutaneous intervention procedures may also include catheter based therapeutic procedures (e.g., balloon angioplasty, stent placement, treatment of peripheral vascular disease, etc.) during which a catheter is used to treat a disease.
- catheter procedure system 10 is capable of performing any number of catheter based medical procedures with minor adjustments to accommodate the specific percutaneous devices to be used in the procedure.
- catheter procedure system 10 may be used to diagnose and/or treat any type of disease or condition amenable to diagnosis and/or treatment via a catheter based procedure.
- Catheter procedure system 10 includes lab unit 11 and workstation 14 .
- Catheter procedure system 10 includes a robotic catheter system, such as bedside system 12 , located within lab unit 11 adjacent patient 21 .
- bedside system 12 may be equipped with the appropriate percutaneous devices (e.g., guide wires, guide catheters, working catheters, catheter balloons, stents, diagnostic catheters, etc.) or other components (e.g., contrast media, medicine, etc.) to allow the user to perform a catheter based medical procedure.
- a robotic catheter system, such as bedside system 12 may be any system configured to allow a user to perform a catheter based medical procedure via a robotic system by operating various controls such as the controls located at workstation 14 .
- Bedside system 12 may include any number and/or combination of components to provide bedside system 12 with the functionality described herein.
- Bedside system 12 may include a cassette 56 coupled to a base 19 , and cassette 56 may include a housing 22 that supports the various components of the cassette.
- cassette 300 One particular embodiment of a cassette (shown as cassette 300 ) is described below in relation to FIGS. 3-23 .
- bedside system 12 may be equipped to perform a catheter based diagnostic procedure.
- bedside system 12 may be equipped with one or more of a variety of catheters for the delivery of contrast media to the coronary arteries.
- bedside system 12 may be equipped with a first catheter shaped to deliver contrast media to the coronary arteries on the left side of the heart, a second catheter shaped to deliver contrast media to the coronary arteries on the right side of the heart, and a third catheter shaped to deliver contrast media into the chambers of the heart.
- bedside system 12 may be equipped to perform a catheter based therapeutic procedure.
- bedside system 12 may be equipped with a guide catheter, a guide wire, and a working catheter (e.g., a balloon catheter, a stent delivery catheter, ablation catheter, etc.).
- the working catheter may be an over-the-wire working catheter that includes a central lumen that is threaded over the guide wire during a procedure.
- the working catheter includes a secondary lumen that is separate from the central lumen of the working catheter, and the secondary lumen is threaded over the guide wire during a procedure.
- bedside system 12 may be equipped with an intravascular ultrasound (IVUS) catheter.
- IVUS intravascular ultrasound
- any of the percutaneous devices of bedside system 12 may be equipped with positional sensors that indicate the position of the component within the body.
- Bedside system 12 is in communication with workstation 14 , allowing signals generated by the user inputs and control system of workstation 14 to be transmitted to bedside system 12 to control the various functions of beside system 12 .
- Bedside system 12 also may provide feedback signals (e.g., operating conditions, warning signals, error codes, etc.) to workstation 14 .
- Bedside system 12 may be connected to workstation 14 via a communication link 38 that may be a wireless connection, cable connectors, or any other means capable of allowing communication to occur between workstation 14 and beside system 12 .
- Workstation 14 includes a user interface 30 configured to receive user inputs to operate various components or systems of catheter procedure system 10 .
- User interface 30 includes controls 16 .
- Controls 16 allow the user to control bedside system 12 to perform a catheter based medical procedure.
- controls 16 may be configured to cause bedside system 12 to perform various tasks using the various percutaneous devices with which bedside system 12 may be equipped (e.g., to advance, retract, or rotate a guide wire, advance, retract, or rotate a working catheter, advance, retract, or rotate a guide catheter, inflate or deflate a balloon located on a catheter, position and/or deploy a stent, inject contrast media into a catheter, inject medicine into a catheter, or to perform any other function that may be performed as part of a catheter based medical procedure, etc.).
- one or more of the percutaneous intervention devices may be steerable, and controls 16 may be configured to allow a user to steer one or more steerable percutaneous device.
- bedside system 12 may be equipped with a steerable guide catheter, and controls 16 may also be configured to allow the user located at remote workstation 14 to control the bending of the distal tip of a steerable guide catheter.
- controls 16 include a touch screen 18 , a dedicated guide catheter control 29 , a dedicated guide wire control 23 , and a dedicated working catheter control 25 .
- guide wire control 23 is a joystick configured to advance, retract, or rotate a guide wire
- working catheter control 25 is a joystick configured to advance, retract, or rotate a working catheter
- guide catheter control 29 is a joystick configured to advance, retract, or rotate a guide catheter.
- touch screen 18 may display one or more icons (such as icons 162 , 164 , and 166 ) that control movement of one or more percutaneous devices via bedside system 12 .
- Controls 16 may also include a balloon or stent control that is configured to inflate or deflate a balloon and/or a stent.
- Each of the controls may include one or more buttons, joysticks, touch screens, etc., that may be desirable to control the particular component to which the control is dedicated.
- Controls 16 may include an emergency stop button 31 and a multiplier button 33 .
- emergency stop button 31 When emergency stop button 31 is pushed a relay is triggered to cut the power supply to bedside system 12 .
- Multiplier button 33 acts to increase or decrease the speed at which the associated component is moved in response to a manipulation of guide catheter control 29 , guide wire control 23 , and working catheter control 25 . For example, if operation of guide wire control 23 advances the guide wire at a rate of 1 mm/sec, pushing multiplier button 33 may cause the operation of guide wire control 23 to advance the guide wire at a rate of 2 mm/sec.
- Multiplier button 33 may be a toggle allowing the multiplier effect to be toggled on and off. In another embodiment, multiplier button 33 must be held down by the user to increase the speed of a component during operation of controls 16 .
- User interface 30 may include a first monitor 26 and a second monitor 28 .
- First monitor 26 and second monitor 28 may be configured to display information or patient-specific data to the user located at workstation 14 .
- first monitor 26 and second monitor 28 may be configured to display image data (e.g., x-ray images, MRI images, CT images, ultrasound images, etc.), hemodynamic data (e.g., blood pressure, heart rate, etc.), patient record information (e.g., medical history, age, weight, etc.).
- monitors 26 and/or 28 may be configured to display an image of a portion of the patient (e.g., the patient's heart) at one or more magnification levels.
- first monitor 26 and second monitor 28 may be configured to display procedure specific information (e.g., duration of procedure, catheter or guide wire position, volume of medicine or contrast agent delivered, etc.). Monitor 26 and monitor 28 may be configured to display information regarding the position and/or bend of the distal tip of a steerable guide catheter. Further, monitor 26 and monitor 28 may be configured to display information to provide the functionalities associated with the various modules of controller 40 discussed below.
- user interface 30 includes a single screen of sufficient size to display one or more of the display components and/or touch screen components discussed herein.
- Catheter procedure system 10 also includes an imaging system 32 located within lab unit 11 .
- Imaging system 32 may be any medical imaging system that may be used in conjunction with a catheter based medical procedure (e.g., non-digital x-ray, digital x-ray, CT, MRI, ultrasound, etc.).
- imaging system 32 is a digital x-ray imaging device that is in communication with workstation 14 .
- imaging system 32 may include a C-arm that allows imaging system 32 to partially or completely rotate around patient 21 in order to obtain images at different angular positions relative to patient 21 (e.g., sagital views, caudal views, cranio-caudal views, etc.).
- Imaging system 32 is configured to take x-ray images of the appropriate area of patient 21 during a particular procedure.
- imaging system 32 may be configured to take one or more x-ray images of the heart to diagnose a heart condition.
- Imaging system 32 may also be configured to take one or more x-ray images during a catheter based medical procedure (e.g., real-time images) to assist the user of workstation 14 to properly position a guide wire, guide catheter, working catheter, stent, etc. during the procedure.
- the image or images may be displayed on first monitor 26 and/or second monitor 28 .
- imaging system 32 may be any 3D imaging modality of the past, present, or future, such as an x-ray based computed tomography (CT) imaging device, a magnetic resonance imaging device, a 3D ultrasound imaging device, etc.
- CT computed tomography
- the image of the patient's heart that is displayed during a procedure may be a 3D image.
- controls 16 may also be configured to allow the user positioned at workstation 14 to control various functions of imaging system 32 (e.g., image capture, magnification, collimation, c-arm positioning, etc.).
- Catheter procedure system 10 may include a control system, such as controller 40 .
- Controller 40 may be part of workstation 14 .
- Controller 40 may generally be an electronic control unit suitable to provide catheter procedure system 10 with the various functionalities described herein.
- controller 40 may be an embedded system, a dedicated circuit, a general purpose system programmed with the functionality described herein, etc.
- Controller 40 is in communication with one or more bedside systems 12 , controls 16 , monitors 26 and 28 , imaging system 32 , and patient sensors 35 (e.g., electrocardiogram (“ECG”) devices, electroencephalogram (“EEG”) devices, blood pressure monitors, temperature monitors, heart rate monitors, respiratory monitors, etc.).
- controller 40 is configured to generate control signals based on the user's interaction with controls 16 and/or based upon information accessible to controller 40 such that a medical procedure may be preformed using catheter procedure system 10 .
- controller 40 may be in communication with a hospital data management system or hospital network 34 , and one or more additional output devices 36 (e.g., printer, disk drive, cd/dvd writer, etc.).
- Communication between the various components of catheter procedure system 10 may be accomplished via communication links 38 .
- Communication links 38 may be dedicated wires or wireless connections.
- Communication links 38 may also represent communication over a network.
- Catheter procedure system 10 may be connected or configured to include any other systems and/or devices not explicitly shown.
- catheter procedure system 10 may include IVUS systems, image processing engines, data storage and archive systems, automatic balloon and/or stent inflation systems, medicine tracking and/or logging systems, user logs, encryption systems, systems to restrict access or use of catheter procedure system 10 , robotic catheter systems of the past, present, or future, etc.
- Cassette 300 may be equipped with a guide wire 301 and a working catheter 303 to allow a user to perform a catheterization procedure utilizing cassette 300 .
- bedside system 12 includes a cassette 300 configured to be mounted to a motor drive base 302 .
- FIG. 3 shows a bottom perspective view of cassette 300 prior to mounting to motor drive base 302 .
- Motor drive base 302 includes a first capstan 304 , a second capstan 306 , and a third capstan 308
- cassette 300 includes a first capstan socket 310 , a second capstan socket 312 , and a third capstan socket 314 .
- Cassette 300 includes a housing 316 , and housing 316 includes a base plate 318 .
- Each of the capstan sockets is configured to receive one of the capstans of motor drive base 302 .
- base plate 318 includes a hole or aperture aligned with each of the capstan sockets 310 , 312 , and 314 to allow each capstan to engage with the appropriate capstan socket.
- the engagement between the capstans and capstan sockets allows the transfer of energy (e.g., rotational movement) generated by one or more actuators (e.g., motors) located within motor drive base 302 to each of the drive mechanisms (discussed below) within cassette 300 .
- a single actuator provides energy to each of the drive mechanisms.
- an actuator that drives capstan 304 there is an actuator that drives capstan 304 , an actuator that drives capstan 306 , and an actuator that drives capstan 308 .
- the positioning of the capstans and capstan sockets helps the user to align cassette 300 relative to motor drive base 302 by allowing cassette 300 to be mounted to motor drive base 302 only when all three capstan sockets are aligned with the proper capstan.
- the motors that drive capstans 304 , 306 , and 308 are located within motor drive base 302 .
- the motors that drive capstans 304 , 306 , and 308 may be located outside of base 302 connected to cassette 300 via an appropriate transmission device (e.g., shaft, cable, etc.).
- cassette 300 includes motors located within the housing of cassette 300 .
- cassette 300 does not include capstan sockets 310 , 312 , and 314 , but includes an alternative mechanism for transferring energy (e.g., rotational motion) from an actuator external to the cassette to each of the cassette drive mechanisms.
- rotational movement may be transferred to the drive mechanisms of cassette 300 via alternating or rotating magnets or magnetic fields located within motor drive base 302 .
- cassette 300 also includes a guide catheter support 311 that supports guide catheter 317 at a position spaced from cassette 300 .
- guide catheter support 311 is attached to cassette 300 by a rod 313 .
- Rod 313 and guide catheter support 311 are strong enough to support guide catheter 317 without buckling.
- Guide catheter support 311 supports guide catheter 317 at a position spaced from the cassette, between the patient and the cassette to prevent buckling, bending, etc. of the portion of guide catheter 317 between the cassette and the patient.
- cassette 300 is shown mounted to motor drive base 302 .
- cassette 300 includes an outer cassette cover 320 that may be attached to housing 316 .
- outer cassette cover 320 When attached to housing 316 , outer cassette cover 320 is positioned over and covers each of the drive mechanisms of cassette 300 .
- outer cassette cover 320 acts to prevent accidental contact with the drive mechanisms of cassette 300 while in use.
- cassette 300 is shown in the “loading” configuration with outer cassette cover 320 removed.
- Cassette 300 includes a y-connector support assembly 322 , an axial drive assembly 324 , and a rotational drive assembly 326 .
- the various portions of cassette 300 are placed in the loading configuration to allow the user to load or install a guide wire and/or working catheter into cassette 300 .
- y-connector support assembly 322 is located in front of axial drive assembly 324
- axial drive assembly 324 is located in front of rotational drive assembly 326 within cassette 300 .
- Y-connector support assembly 322 includes a chassis 328 and a y-connector restraint 330 .
- Base plate 318 includes a support arm 332 that supports y-connector support assembly 322 .
- Chassis 328 is coupled to the front of support arm 332 via pin connection 334 .
- a central groove or depression 336 extends the length of chassis 328 .
- Y-connector 338 rests within central groove 336 of chassis 328 .
- Y-connector 338 includes a first leg 340 , a second leg 342 , and a third leg 344 .
- First leg 340 is configured to attach to a guide catheter such that the central lumen of the y-connector is in fluid communication with the central lumen of the guide catheter.
- Second leg 342 is angled away from the longitudinal axis of y-connector 338 .
- Second leg 342 of y-connector 338 allows introduction of a contrast agent or medicine into the lumen of the guide catheter.
- a one way valve prohibits bodily fluid from exiting second leg 342 .
- Third leg 344 extends away from the guide catheter toward axial drive assembly 324 .
- guide wire 301 and working catheter 303 are inserted into third leg 344 of y-connector 338 via opening 346 and may be advanced through y-connector 338 into the lumen of the guide catheter.
- the third leg also includes a one way valve that permits insertion and removal of the working catheter and guide wire but prohibits bodily fluids from exiting third leg 344 .
- Chassis 328 is rotatable about an axis defined by pin connection 334 to allow chassis 328 to be placed in the “loading position” shown in FIG. 5 .
- chassis 328 In the loading position, chassis 328 is positioned at about a 45 degree angle, shown by angle line 315 , relative to support arm 332 .
- Chassis 328 is moved to the “loading position” to provide easier access to opening 346 of the third leg 344 allowing the user to feed guide wire 301 and working catheter 303 into y-connector 338 .
- Y-connector support assembly 322 includes y-connector restraint 330 .
- Y-connector restraint 330 is configured to releasably engage y-connector 338 .
- engagement arm 348 of y-connector restraint 330 engages or presses y-connector 338 into central groove 336 to securely hold y-connector 338 .
- Y-connector restraint 330 may be moved to a disengaged position to release y-connector 338 from chassis 328 .
- Cassette 300 also includes an axial drive assembly 324 .
- Axial drive assembly 324 includes a first axial drive mechanism, shown as guide wire axial drive mechanism 350 , and a second axial drive mechanism, shown as working catheter axial drive mechanism 352 .
- Axial drive assembly 324 also includes a top deck 354 , a cover 356 , and a latch or handle 358 .
- guide wire axial drive mechanism 350 is configured to releasably engage and drive (e.g., to impart motion to) guide wire 301 along its longitudinal axis. In this manner, guide wire axial drive mechanism 350 provides for advancement and/or retraction of guide wire 301 .
- Working catheter axial drive mechanism 352 is configured to releasably engage and drive (e.g., to impart motion to) working catheter 303 along its longitudinal axis. In this manner, working catheter axial drive mechanism 352 provides for advancement and/or retraction of working catheter 303 .
- Top deck 354 is mounted to a central portion 360 of base plate 318 .
- Top deck 354 includes a guide wire channel 364 and a working catheter channel 366 .
- Guide wire channel 364 is positioned generally perpendicular to the top surface of top deck 354 and runs the length of top deck 354 in the longitudinal direction.
- Working catheter channel 366 is positioned generally perpendicular to the top surface of top deck 354 and is located at an angle relative to guide wire channel 364 .
- a plurality of tabs 368 extend vertically from the top surface of top deck 354 along guide wire channel 364 .
- cover 356 is shown in the open position. Handle 358 is moved to a position generally parallel to the longitudinal axis of cassette 300 to allow cover 356 to move to the open position. Cover 356 is mounted to top deck 354 via hinges 370 .
- Cassette 300 includes a restraint structure that acts to restrain movement of the guide wire when cover 356 is in the closed position. As shown, the restraint structure includes a plurality of tabs 372 extending from the lower surface of cover 356 .
- Tabs 372 are positioned such that when cover 356 is closed, tabs 372 are positioned within a portion of guide wire channel 364 between tabs 368 such that tabs 372 restrain movement of guide wire 301 in a vertical direction (i.e., restrains movement of the guide wire in a direction perpendicular to the top surface of top deck 354 ).
- both guide wire axial drive mechanism 350 and working catheter axial drive mechanism 352 are exposed allowing the user to load cassette 300 with a guide wire and working catheter.
- guide wire 301 is loaded into axial drive assembly 324 by placing the guide wire into guide wire channel 364 .
- Tabs 368 facilitate the placement of guide wire 301 by aiding the user in aligning the guide wire with guide wire channel 364 .
- working catheter 303 is loaded into axial drive assembly 324 by placing the working catheter into working catheter channel 366 .
- Both top deck 354 and central portion 360 of base plate 318 are shaped to define a recess 374 .
- Working catheter channel 366 includes an opening 376 located within recess 374 .
- Recess 374 allows opening 376 to be closer to y-connector 338 and also closer to the entry incision in the patient allowing working catheter 303 to be advanced farther into the patient's vascular system than if opening 376 were located further away from y-connector 338 or the entry incision.
- working catheter 303 includes a hub 305 at its proximal end that is too large to fit through opening 376 . Thus, the closer that opening 376 is to y-connector 338 and to the entry incision the further working catheter 303 can be advanced into the patient's vascular system.
- Cassette 300 also includes a rotational drive assembly 326 .
- Rotational drive assembly 326 includes a rotational drive mechanism, shown as guide wire rotational drive mechanism 380 , a cover 384 , and a journal 388 .
- Guide wire rotational drive mechanism 380 includes a chassis 382 and an engagement structure 386 .
- Rotational drive assembly 326 is configured to cause guide wire 301 to rotate about its longitudinal axis.
- Engagement structure 386 is configured to releasably engage guide wire 301 and to apply sufficient force to guide wire 301 such that guide wire 301 is allowed to rotate about its longitudinal axis while permitting guide wire 301 to be moved axially by guide wire axial drive mechanism 350 .
- rotational drive assembly 326 is supported within housing 316 such that rotation drive assembly 326 is permitted to rotate within housing 316 .
- Engagement structure 386 applies sufficient force to guide wire 301 that the rotation of rotation drive assembly 326 causes guide wire 301 to rotate about its longitudinal axis as rotational drive assembly 326 rotates.
- Chassis 382 includes a guide wire channel 390 .
- Guide wire channel 390 is positioned generally perpendicular to the top surface of chassis 382 and runs the length of chassis 382 in the longitudinal direction.
- a plurality of tabs 392 extend vertically from the top surface of chassis 382 along guide wire channel 390 .
- cover 384 is shown in the open position. Cover 384 is mounted to chassis 382 via hinge 394 .
- Cassette 300 includes a restraint structure that acts to restrain movement of the guide wire when cover 384 is in the closed position. As shown, the restraint structure includes a plurality of tabs 396 extending from the lower surface of cover 384 .
- the top surface of chassis 382 includes a plurality of recesses 398 configured to receive tabs 396 when cover 384 is in the closed position.
- Tabs 396 are positioned such that when cover 384 is closed, tabs 396 are positioned over guide wire channel 390 such that tabs 396 prevent guide wire 301 from falling out of guide wire channel 390 (i.e., restrains movement of the guide wire in a direction perpendicular to the top surface of chassis 382 ).
- the sidewalls of guide wire channel 390 and the engagement surfaces of wheels 522 and 524 prevent or restrain movement of guide wire 301 in other directions perpendicular to the longitudinal axis of guide wire 301 .
- tabs 392 and guide wire channel 390 hold guide wire 301 within channel 390 during rotation of rotational drive assembly 326 .
- guide wire channel 390 When cover 384 is in the open position, guide wire channel 390 is exposed allowing the user to load cassette 300 with a guide wire. With cover 384 open, guide wire 301 is loaded into rotational drive assembly 326 by placing the guide wire into guide wire channel 390 . Tabs 392 facilitate the placement of guide wire 301 by aiding the user in aligning the guide wire with guide wire channel 390 . As will be described in more detail below, once guide wire 301 is positioned within guide wire channel 390 engagement surfaces of engagement structure 386 are brought into engagement with the guide wire.
- rotational drive assembly 326 is automatically rotated such that guide wire channel 390 is facing generally upward to allow for easy loading or removal of guide wire 301 .
- cassette 300 is a modular cassette that allows various components of cassette 300 to be removed and/or switched out with other components.
- a user may wish to control the guide wire using bedside system 12 and to control the working catheter manually.
- a user may mount only guide wire axial drive mechanism 350 and rotational drive assembly 326 within housing 316 of cassette 300 .
- a user may wish to control the working catheter using bedside system 12 and to control the guide wire manually.
- a user may mount only working catheter drive mechanism 352 within housing 316 of cassette 300 .
- cassette 300 may include additional locations for mounting drive mechanisms for any type of additional catheter devices that may be used during a procedure. For example, a user may be able to couple drive mechanisms to cassette 300 to control the movement and/or control of an intravascular ultrasound catheter.
- cassette 300 is shown in the “loaded” or “use” position.
- y-connector support assembly 322 is rotated downward such that y-connector 338 is aligned with guide wire channel 364 of axial drive assembly 324 .
- the axial alignment allows guide wire 301 and working catheter 303 to be moved into and/or out of y-connector 338 via operation of guide wire axial drive mechanism 350 and working catheter axial drive mechanism 352 .
- Cover 356 is shown in the closed position overlying both the guide wire axial drive mechanism 350 and the working catheter axial drive mechanism 352 .
- cover 356 also covers guide wire channel 364 and working catheter channel 366 . As such, cover 356 acts to prevent interference with the various components of axial drive assembly 324 during use.
- handle 358 is rotated approximately 90 degrees such that a portion of handle 358 is positioned over cover 356 .
- rotation of handle 358 to the closed position shown in FIG. 6 causes the engagement surface of the guide wire axial drive mechanism 350 and of the working catheter axial drive mechanism 352 to move together engaging the guide wire and working catheter, respectively.
- cover 384 when cassette 300 is moved to the “loaded” position, cover 384 is moved to the closed position overlying rotational drive mechanism 380 and guide wire channel 390 as shown in FIG. 6 . Like cover 356 , cover 384 acts to prevent interference with the various components of rotational drive assembly 326 during use.
- a user may activate controls (e.g., controls located at workstation 14 ) to cause the various components of cassette 300 to move between the “loading” and “loaded” positions.
- cassette 300 may also be configured to allow the user to move the various components of cassette 300 between the “loading” and “loaded” positions manually.
- the longitudinal axis (and the internal lumen) of y-connector 338 is aligned with guide wire channel 364 of axial drive assembly and with guide wire channel 390 of rotational drive assembly 326 .
- This alignment provides a path extending from the rear of cassette 300 through y-connector 338 into the guide catheter through which the guide wire is advanced or retracted during axial movement of the guide wire.
- components of cassette 300 including top deck 354 , chassis 382 , cover 356 , and cover 384 , may be made from a transparent or translucent plastic.
- FIG. 7 an exploded perspective view from above of axial drive assembly 324 is shown.
- FIG. 7 generally depicts the components of axial drive assembly 324 .
- Guide wire axial drive mechanism 350 and working catheter axial drive mechanism 352 are positioned above base plate 318 , and top deck 354 is fastened to central portion 360 of base plate 318 above guide wire axial drive mechanism 350 and working catheter axial drive mechanism 352 .
- guide wire axial drive mechanism 350 and working catheter axial drive mechanism 352 are generally enclosed within a chamber defined by top deck 354 and central portion 360 of base plate 318 when axial drive assembly 324 is assembled.
- Top deck 354 includes a plurality of apertures 362 to receive various portions of both axial drive mechanism 350 and working catheter axial drive mechanism 352 .
- Axial drive mechanism 350 includes a drive element 400 , a first roller assembly 402 , a second roller assembly 404 , and a guide wire axial motion sensor assembly, shown as encoder assembly 406 .
- First roller assembly 402 and second roller assembly 404 are both mounted within a housing 416 .
- Drive element 400 includes a drive shaft 408 , a drive wheel 410 , a bearing 412 , and a screw 414 .
- Drive shaft 408 is configured to engage second capstan 306 of motor drive base 302 such that drive shaft 408 and drive wheel 410 rotate in response to rotation of second capstan 306 .
- First roller assembly 402 includes an idler wheel or roller 418 , a wheel housing 420 , a bearing 422 , and a spring 424 .
- Drive wheel 410 includes an outer or engagement surface 426
- roller 418 includes an outer or engagement surface 428 .
- guide wire 301 is positioned between drive wheel 410 and roller 418 such that engagement surface 426 of drive wheel 410 and engagement surface 428 of roller 418 are able to engage the guide wire.
- engagement surface 426 and engagement surface 428 define a pair of engagement surfaces. The force applied to guide wire 301 by engagement surface 426 and engagement surface 428 is such that drive wheel 410 is able to impart axial motion to guide wire 301 in response to the rotation of drive shaft 408 caused by rotation of second capstan 306 .
- roller 418 is rotatably mounted within wheel housing 420 and rotates freely as drive wheel 410 rotates to drive guide wire 301 .
- Spring 424 is biased to exert a force onto wheel housing 420 causing roller 418 to engage the guide wire against drive wheel 410 .
- Spring 424 is selected, tuned, and/or adjusted such that the proper amount of force is applied to guide wire 301 by engagement surface 426 and engagement surface 428 in the “engaged” position. In other embodiments, additional drive elements may be added as necessary to impart axial motion to the guide wire.
- Second roller assembly 404 includes an idler wheel or roller 430 , a wheel housing 432 , a bearing 434 , and a spring 436 .
- Encoder assembly 406 includes shaft 438 , magnetic coupling 440 , idler wheel or roller 442 , bearing 444 , and a screw 446 .
- Roller 430 includes an outer or engagement surface 448 and roller 442 includes an outer or engagement surface 450 .
- guide wire 301 is positioned between roller 430 and roller 442 such that engagement surface 448 of roller 430 and engagement surface 450 of roller 442 are able to engage the guide wire.
- engagement surface 448 and engagement surface 450 define a pair of engagement surfaces.
- the force applied to guide wire 301 by engagement surface 448 and engagement surface 450 is such that drive wheel 410 is able to pull guide wire 301 past roller 430 and 442 .
- the pair of non-active or idle rollers 430 and 442 help support guide wire 301 and maintain alignment of guide wire 301 along the longitudinal axis of cassette 300 .
- Roller 430 is rotatably mounted within wheel housing 432
- roller 442 is rotatably mounted to shaft 438 . Both rollers 430 and 442 are mounted to rotate freely as drive wheel 410 imparts axial motion to guide wire 301 .
- Spring 436 is biased to exert a force onto wheel housing 432 causing roller 430 to engage guide wire 301 against roller 442 .
- Spring 436 is selected, tuned, and/or adjusted such that the proper amount of force is applied to guide wire 301 by engagement surface 448 and engagement surface 450 in the “engaged” position to support the guide wire while still allowing the guide wire to be moved axially by drive wheel 410 .
- spring 424 and spring 436 are selected or adjusted such that the force applied to guide wire 301 by wheels 430 and 442 is approximately the same as the force applied to guide wire 301 by wheels 410 and 418 .
- engagement surface 426 of drive wheel 410 and engagement surface 428 of roller wheel 418 are configured to increase the ability of the wheel to grip and to impart axial motion to the guide wire.
- engagement surface 426 of drive wheel 410 and engagement surface 428 of roller wheel 418 may be textured (e.g., non-smooth, treaded, slotted, etc.) to increase friction between the wheels and the guide wire.
- FIGS. 18 , 19 A and 19 B A particular embodiment of a wheel for a robotic catheter system including a textured engagement surface is shown in FIGS. 18 , 19 A and 19 B, discussed in more detail below. While FIG. 7 , shows both wheels of the front pair in guide wire axial drive mechanism 350 as textured, any combination of wheels in guide wire axial drive mechanism may be textured. For example, in other embodiments, only drive wheel 410 may be textured, or all four wheels (wheels 410 , 418 , 430 , and 442 ) may be textured.
- the force applied to guide wire 301 by wheels 410 , 418 , 430 and 442 generated by springs 424 and 436 may be variable or controllable.
- the pinch force may be varied to accommodate the use of a variety of different types of guide wires. For example, if cassette 300 is equipped with a guide wire having a rough or textured outer surface, the pinch force generated by springs 424 and 436 may be decreased to ensure the proper amount of friction between the wheels and the guide wire. In contrast, if cassette 300 is equipped with a guide wire having a smooth surface outer surface, the pinch force generated by springs 424 and 436 may be increased to ensure the proper amount of friction between the wheels and the guide wire.
- the pinch force may be controlled to vary the performance of cassette 300 during a procedure.
- the pinch force may be increased to help ensure that the guide wire remains in place (i.e., no axial motion occurs) when the controls for guide wire axial motion are not be actuated by the user and/or when the user is actuating controls for a different percutaneous device.
- cassette 300 may include one or more actuator (e.g., a step motor) that receives a control signal from controller 40 to adjust the force generated by springs 424 and 436 .
- controls 16 may include a control (e.g., a button, dial, touch screen icon, etc.) that allows the user to alter the pinch force of guide wire axial drive mechanism 350 from workstation 14 .
- controller 40 may be configured to automatically adjust the pinch force generated by springs 424 and 436 based upon the type of guide wire that cassette 300 is equipped with.
- Controller 40 may prompt the user to identify the type of guide wire via controls 16 (e.g., via a drop down menu, reading a bar code, etc.).
- catheter procedure system 10 may be configured to automatically identify the type of guide wire that cassette 300 is equipped with (e.g., via reading of an RFID tag associated with the guide wire), and controller 40 may be configured to automatically control the pinch force based on the automatically determined guide wire type.
- Encoder assembly 406 includes magnetic coupling 440 that engages a magnetic encoder located within motor drive base 302 .
- the magnetic encoder is configured to measure an aspect (e.g., speed, position, acceleration, etc.) of axial movement of the guide wire.
- shaft 438 rotates causing magnetic coupling 440 to rotate.
- the rotation of magnetic coupling 440 causes rotation of the magnetic encoder within motor drive base 302 .
- the magnetic encoder within motor drive base 302 is able to provide a measurement of the amount of axial movement experienced by guide wire 301 during a procedure.
- This information may be used for a variety of purposes. For example, this information may be displayed to a user at workstation 14 , may be used in a calculation of or estimated position of the guide wire within the vascular system of a patient, may trigger an alert or alarm indicating a problem with guide wire advancement, etc.
- first roller assembly 402 and second roller assembly 404 are both mounted within a housing 416 .
- Housing 416 provides a common support for first roller assembly 402 and second roller assembly 404 .
- first roller assembly 402 and second roller assembly 404 are moved away from drive wheel 410 and roller 442 , respectively, when axial drive assembly 324 is placed in the “loading” configuration.
- Housing 416 allows first roller assembly 402 and second roller assembly 404 to be moved together (e.g., in sync) away from drive wheel 410 and roller 442 , respectively, when axial drive assembly 324 is placed in the “load” configuration.
- Axial drive assembly 324 also includes working catheter axial drive mechanism 352 .
- Working catheter axial drive mechanism 352 includes a drive element 452 and a working catheter axial motion sensor assembly, shown as working catheter encoder assembly 454 .
- Drive element 452 includes a drive shaft 456 , a drive wheel 458 , a bearing 460 , and a screw 462 .
- Drive shaft 456 is configured to engage first capstan 304 of motor drive base 302 such that drive shaft 456 and drive wheel 458 rotate in response to rotation of first capstan 304 .
- Encoder assembly 454 includes shaft 464 , a roller 466 , an encoder linkage 468 , a spring 470 , and a magnetic coupling 480 .
- Drive wheel 458 includes an outer or engagement surface 472 and roller 466 includes an outer or engagement surface 474 .
- a working catheter is positioned between drive wheel 458 and roller 466 , such that engagement surface 472 and engagement surface 474 are able to engage working catheter 303 .
- engagement surfaces 472 and 474 define a pair of engagement surfaces.
- the force applied to working catheter 303 by engagement surfaces 472 and 474 is such that drive wheel 458 is able to impart axial motion to the working catheter in response to the rotation of drive shaft 456 caused by rotation of first capstan 304 .
- This axial motion allows a user to advance and/or retract a working catheter via manipulation of controls located at workstation 14 .
- Roller 466 is rotatably mounted to shaft 464 and rotates freely as drive wheel 458 rotates to drive the working catheter.
- engagement surface 472 of drive wheel 458 is configured to increase the ability of the wheel to grip and to impart axial motion to the working catheter.
- engagement surface 472 of drive wheel 458 may be textured (e.g., non-smooth, treaded, slotted, etc.) to increase friction between the wheel and the working catheter.
- FIGS. 18 , 19 A and 19 B A particular embodiment of a wheel including a textured engagement surface is shown in FIGS. 18 , 19 A and 19 B, discussed in more detail below. While FIG. 7 shows drive wheel 458 with a textured outer surface and roller 466 with a non-textured engagement surface 474 , in other embodiments, both drive wheel 458 and roller 466 may include textured outer surfaces.
- Spring 470 is coupled to a first end of linkage 468 .
- the second end of linkage 468 includes an aperture 476 that is pivotally coupled to a post 478 extending from the inner surface of top deck 354 .
- Spring 470 is biased to exert a force on to linkage 468 causing linkage 468 to pivot about post 478 to force roller 466 to engage working catheter 303 against drive wheel 458 .
- Spring 470 is selected, tuned, and/or adjusted such that the proper amount of force is applied to working catheter 303 by engagement surfaces 472 and 474 in the “engaged” position to allow drive wheel 458 to impart axial movement to the working catheter.
- Encoder assembly 454 includes magnetic coupling 480 that engages a magnetic encoder located within motor drive base 302 .
- the magnetic encoder is configured to measure an aspect (e.g., speed, position, acceleration, etc.) of axial movement of the working catheter.
- shaft 464 rotates causing magnetic coupling 480 to rotate.
- the rotation of magnetic coupling 480 causes rotation of the magnetic encoder within motor drive base 302 .
- the magnetic encoder within motor drive base 302 is able to provide a measurement of the amount of axial movement experienced by the working catheter during a procedure.
- This information may be used for a variety of purposes. For example, this information may be displayed to a user at workstation 14 , may be used in a calculation of or estimated position of the working catheter within the vascular system of a patient, may trigger an alert or alarm indicating a problem with working catheter advancement, etc.
- roller 466 is moved away from drive wheel 458 when axial drive assembly 324 is placed in the “loading” configuration. This facilitates placement of the working catheter between the opposing pairs of engagement surfaces of working catheter axial drive mechanism 352 .
- cassette 300 and/or motor drive base 302 includes a locking mechanism that is configured to lock the position of guide wire 301 during manipulation of the working catheter 303 and to lock the position of working catheter 303 during manipulation of guide wire 301 .
- the locking mechanism acts to increase the force applied to the guide wire by the engagement surfaces when the working catheter is being advanced and to increase the force applied to the working catheter by the engagement surfaces when the guide wire is being advanced.
- top deck 354 includes a plurality of cylindrical sleeves, first sleeve 482 , second sleeve 484 , and third sleeve 486 , extending from the inner or lower surface of top deck 354 .
- Top deck 354 also includes a plurality of cylindrical collars, first collar 488 , second collar 490 , and third collar 492 , extending from the upper surface of top deck 354 .
- Collar 488 is in axial alignment with sleeve 482 .
- Collar 490 is in axial alignment with sleeve 484 .
- Collar 492 is in axial alignment with sleeve 486 .
- Each of the collars 488 , 490 , and 492 define an aperture 362 .
- sleeve 482 and collar 488 are configured to receive working catheter drive element 452
- sleeve 484 and collar 490 are configured to receive guide wire drive element 400
- sleeve 486 and collar 492 are configured to receive guide wire encoder assembly 406 .
- Apertures 362 provide access to screws 414 , 446 , and 462 once top deck 354 is mounted over axial drive assembly 324 .
- Top deck 354 includes a collar 494 aligned with and located at the back end of guide wire channel 364 .
- Collar 494 is configured to receive front shaft 512 that extends from chassis 382 of rotational drive assembly 326 .
- Collar 494 is configured to allow front shaft 512 (and consequently the rest of rotational drive assembly 326 ) to rotate about the longitudinal axis of guide wire channel 390 relative to axial drive assembly 324 .
- rotational drive assembly 326 is able to rotate relative to housing 316 of cassette 300 while axial drive assembly 324 does not rotate relative to housing 316 .
- both rotational drive assembly 326 and axial drive assembly 324 rotate relative to housing 316 of cassette 300 .
- FIG. 8 is a bottom perspective view of cassette 300 showing top deck 354 mounted above guide wire axial drive mechanism 350 and working catheter axial drive mechanism 352 .
- FIG. 8 shows working catheter drive element 452 , guide wire drive element 400 , and guide wire encoder assembly 406 received within sleeves 482 , 484 , and 486 .
- a support structure 496 extends from the lower surface of top deck 354 .
- Spring 470 is coupled at one end to support structure 496 allowing spring 470 to compress and expanded between linkage 468 and support structure 496 .
- the lower end of drive shaft 408 includes a keyed recess 498
- the lower end of drive shaft 456 includes a keyed recess 500
- Keyed recess 500 is one embodiment of first capstan socket 310
- keyed recess 498 is one embodiment of second capstan socket 312
- Keyed recess 500 is configured to receive a capstan, such as first capstan 304
- keyed recess 498 is configured to receive a capstan, such as second capstan 306 .
- First capstan 304 and second capstan 306 are keyed to fit within keyed recess 500 and 498 and to engage and turn drive shafts 456 and 408 upon rotation of the capstans.
- magnetic coupling 440 of guide wire encoder assembly 406 includes a circular array of magnets 504 .
- Magnetic coupling 480 of working catheter encoder assembly 454 includes a circular array of magnets 506 .
- Magnetic couplings 440 and 480 engage with magnetic encoders positioned within motor drive base 302 .
- the magnetic encoders of motor drive base 302 are coupled to appropriate electronics to detect and measure rotation of rollers 442 and 466 and to calculate axial motion of guide wire 301 and working catheter 303 based on the measured rotations. While this embodiment discloses the use of magnetic encoders to detect the axial motion of the guide wire and working catheter, other sensors may be used.
- axial motion of the guide wire may be detected by an optical sensor that detects movement of the guide wire and/or working catheter by scanning the surface of the guide wire and/or working catheter as it passes the optical sensor.
- the optical sensor includes an LED light source and a detector (e.g., a complimentary metal oxide semiconductor, other light detecting circuitry, etc.) that detects light reflected off the surface of the guide wire and/or working catheter, and the light detected by the detector is analyzed (e.g., by a digital signal processor) to determine movement of the guide wire and/or working catheter.
- the surface of the guide wire and/or working catheter may include indicia that are detected to determine axial movement of the guide wire.
- other types of sensors e.g., resolvers, sychros, potentiometers, etc.
- Cassette 300 also includes a series of magnets 508 positioned below guide wire channel 364 . Because, in at least some embodiments, the guide wire is made from a magnetic material, magnets 508 are able to interact with the guide wire. In this embodiment, the magnetic attraction created by magnets 508 helps the user position guide wire 301 during loading by drawing guide wire 301 into guide wire channel 364 . The magnetic attraction created by magnets 508 also tends to hold guide wire 301 within guide wire channel 364 during advancement and/or retraction of the guide wire. Further, magnets 508 help to hold guide wire 301 straight (i.e., parallel to the longitudinal axis of guide wire channel 364 ) to aid in the axial movement caused by guide wire axial drive mechanism 350 .
- FIG. 9 shows a top view of axial drive assembly 324 in the “loading” configuration with handle 358 (shown in broken lines) rotated such that handle 358 is generally parallel to guide wire channel 364 .
- FIG. 10 shows a top view of axial drive assembly 324 in the “loaded” or “use” configuration with handle 358 rotated such that it is generally perpendicular to guide wire channel 364 .
- the engagement surfaces of both guide wire axial drive mechanism 350 and working catheter axial drive mechanism 352 are moved away from each other increasing the space between the pairs of wheels in the drive mechanisms.
- handle 358 is coupled to a shaft 357 .
- Shaft 357 includes a cam section 359 and housing 416 includes a cam surface 417 .
- cam section 359 of shaft 357 moves along cam surface 417 causing housing 416 to move toward guide wire 301 .
- This motion engages guide wire 301 between drive wheel 410 and roller 418 and between roller 430 and roller 442 .
- springs 424 and 436 are compressed to the proper tension to allow drive wheel 410 to move guide wire 301 axial along its longitudinal axis.
- housing 416 includes a tab 419 that is coupled to linkage 468 .
- linkage 468 rotates about post 478 when housing 416 is moved to the position shown in FIG. 9 .
- This movement draws roller 466 away from working catheter drive wheel 458 .
- roller 466 is moved toward catheter drive wheel 458 such that the engagement surfaces of roller 466 and drive wheel 458 engage working catheter 303 .
- cassette 300 is configured to allow the user to move the axial drive assembly 324 between the “use” and “loading” positions via manipulation of controls at workstation 14 .
- Cassette 300 may also be configured to allow the user to move the axial drive assembly 324 between the “use” and “loading” position manually.
- FIGS. 11 and 12 show a perspective view of rotational drive assembly 326 showing cover 384 in the open position.
- Rotational drive assembly 326 includes rotational drive mechanism 380 , chassis 382 , an engagement structure 386 , and a disengagement assembly 510 .
- Chassis 382 fits over engagement structure 386 and provides mounting for various components of rotational drive assembly 326 .
- Chassis 382 includes a front shaft 512 and a rear shaft 514 . As discussed above, front shaft 512 is rotatably received within collar 494 of top deck 354 , and rear shaft 514 is rotatably received within collar 516 such that rotational drive mechanism 380 is able to rotate relative to journal 388 .
- collar 516 extends through and is supported by journal 388 such that rear shaft 514 rotates within collar 516 as rotational drive mechanism 380 is rotated.
- Collar 516 rests within a recess or slot formed within journal 388 .
- rear shaft 514 may be in direct contact with journal 388 such that rear shaft 514 rotates within the recess or slot of journal 388 as rotational drive mechanism 380 is rotated.
- Guide wire channel 390 extends the length of chassis 382 through both front shaft 512 and rear shaft 514 .
- Rotational drive mechanism 380 includes rotation bevel gear 518 that engages a drive gear 520 .
- Bevel gear 518 is rigidly coupled to front shaft 512 of chassis 382 such that rotation of bevel gear 518 rotates chassis 382 .
- Drive gear 520 is coupled to a rotational actuator positioned in motor drive base 302 and engages bevel gear 518 .
- Rotation of the rotational actuator in motor drive base 302 causes drive gear 520 to rotate which causes bevel gear 518 to rotate which in turn causes rotational drive mechanism 380 to rotate.
- Rotational drive mechanism 380 is allowed to rotate about the longitudinal axis of guide wire channel 390 via the rotatable connections between front shaft 512 and top deck 354 and between rear shaft 514 and journal 388 .
- Bevel gear 518 further includes a slot 519 in axial alignment with guide wire channel 390 .
- Slot 519 allows the user to place guide wire 301 into guide wire channel 390 by dropping it in vertically as opposed to threading it through bevel gear 518 .
- rotational drive assembly 326 is equipped with one or more sensors that are configured to measure an aspect (e.g., speed, position, acceleration, etc.) of rotation of the guide wire and/or any other structure of rotational drive assembly 326 .
- the sensors that measure rotation of the guide wire may include magnetic encoders and/or optical sensors as discussed above regarding the sensors that measure axial motion of the guide wire and/or working catheter. However, any suitable sensor (e.g., resolvers, sychros, potentiometers, etc.) may be used to detect rotation of the guide wire.
- engagement structure 386 is shown according to an exemplary embodiment.
- engagement structure 386 includes four pairs of idler wheels or rollers. Each pair of rollers includes a fixed wheel 522 and an engagement wheel 524 .
- Fixed wheels 522 are rotatably coupled to chassis 382 via fixation posts 530 .
- Each engagement wheel 524 is part of an engagement wheel assembly 523 .
- Each engagement wheel assembly 523 includes a pivoting body, shown as pivot yoke 532 , and a spring 536 .
- Each engagement wheel is mounted to pivot yoke 532 via a mounting post 538 .
- Each pivot yoke 532 is pivotally coupled to chassis 382 via fixation posts 534 .
- Each fixed wheel 522 includes an outer or engagement surface 526 and each engagement wheel 524 includes an outer or engagement surface 528 .
- FIG. 12 shows engagement structure 386 in the “use” or “engaged” position.
- guide wire 301 is positioned between fixed wheels 522 and engagement wheels 524 such that engagement surfaces 526 and 528 are able to engage guide wire 301 .
- engagement surface 526 and engagement surface 528 of each pair of rollers define a pair of engagement surfaces. The force applied to guide wire 301 by engagement surfaces 526 and 528 is sufficient to cause the guide wire to rotate about its longitudinal axis as rotational drive assembly 326 is rotated.
- wheels 522 and 524 may include a textured engagement surface as shown in FIGS. 18 , 19 A and 19 B, discussed in more detail below.
- Springs 536 are biased to exert a force onto pivot yokes 532 causing each engagement wheel 524 to engage the opposite fixed wheel 522 .
- the generally L-shape of pivot yoke 532 allows springs 536 to be aligned with the longitudinal axis of guide wire 301 and still cause engagement between engagement wheels 524 , fixed wheels 522 , and the guide wire. This allows the lateral dimension of rotational drive assembly 326 to be less than if springs 536 were positioned perpendicular to the longitudinal axis of the guide wire.
- Springs 536 are selected, tuned, and/or adjusted such that the proper amount of force is applied to the guide wire by engagement surfaces 526 and 528 in the “engaged” position.
- Cassette 300 also includes a series of magnets 540 located beneath guide wire channel 390 . Because, in at least some embodiments the guide wire is made from a magnetic material, magnets 540 are able to interact with the guide wire. In this embodiment, the magnetic attraction created by magnets 540 helps the user position guide wire 301 during loading by drawing guide wire 301 into guide wire channel 390 . The magnetic attraction created by magnets 540 also tends to hold guide wire 301 within guide wire channel 390 during advancement and/or retraction of the guide wire. Further, magnets 540 help to hold guide wire 301 straight (i.e., parallel to the longitudinal axis of guide wire channel 390 ) to aid in the axial movement caused by guide wire axial drive mechanism 350 .
- Rotational drive assembly also includes a disengagement assembly 510 .
- Disengagement assembly 510 includes a stepped collar 542 , a base plate 544 , and a spring 546 .
- Stepped collar 542 is coupled to base plate 544
- spring 546 is coupled at one end to chassis 382 and at the other end to base plate 544 .
- Stepped collar 542 includes a slot 548 in axial alignment with guide wire channel 390 . Like slot 519 , slot 548 allows the user to place guide wire 301 into guide wire channel 390 by dropping it in vertically as opposed to threading it through stepped collar 542 .
- Base plate 544 includes a plurality of engagement arms 550 that extend generally perpendicular to the plane defined by base plate 544 .
- disengagement assembly 510 allows engagement wheels 524 to be moved away from fixed wheels 522 .
- FIG. 14 shows a top view of rotational drive assembly 326 in the “loading” configuration
- FIG. 13 shows a top view of rotational drive assembly 326 in the “loaded” or “use” configuration.
- an axially directed force (depicted by the arrow in FIG. 14 ) is applied to stepped collar 542 . This causes base plate 544 to move toward the front of cassette 300 in the direction of the arrow. As base plate 544 moves forward, spring 546 is compressed, and engagement arms 550 are brought into contact with pivot yokes 532 .
- engagement arms 550 and pivot yokes 532 causes springs 536 to be compressed, and pivot yokes 532 pivot about fixation posts 534 .
- engagement wheels 524 are drawn away from fixed wheels 522 . As shown in FIG. 14 , this provides sufficient space between engagement wheels 524 and fixed wheels 522 to allow the user to place guide wire 301 into guide wire channel 390 .
- engagement wheels 524 move from the position shown in FIG. 14 to the “engaged” position shown in FIG. 13 .
- spring 546 and springs 536 are allowed to expand causing engagement arms 550 to disengage from pivot yokes 532 .
- Pivot yokes 532 pivot counter-clockwise about fixation posts 534 , bringing engagement wheels 524 back toward guide wire channel 390 causing engagement surfaces 526 of fixed wheels 522 and engagement surfaces 528 of engagement wheels 524 to engage guide wire 301 .
- a user may activate controls located at workstation 14 to cause rotational drive assembly 326 to move between the “use” position and the “loading” position.
- rotational drive assembly 326 is automatically rotated such that guide wire channel 390 is facing generally upward to allow for easy loading or removal of the guide wire.
- chassis 382 rotates relative to stepped collar 542 .
- a path defined by the engagement surfaces of engagement structure 386 and guide wire channel 390 align with slot 548 of stepped collar 542 .
- Motor drive base 302 may also include a structure (e.g., two rods, etc.) that applies the axial force to stepped collar 542 in response to a user's activation of controls located at workstation 14 .
- the structure applies the axial force to the stepped collar 542 to cause engagement structure 386 to disengage from the guide wire.
- cover 384 is moved from the closed position to the open position allowing the user to access guide wire channel 390 to either remove or install the guide wire.
- cassette 300 and/or motor drive base 302 includes motors or other actuators that cause the covers of cassette 300 to open in response to a user's activation of controls at workstation 14 .
- FIG. 15 shows a cross-sectional view of rotational drive assembly 326 as indicated by the corresponding sectional line in FIG. 6 .
- FIG. 15 depicts guide wire 301 within guide wire channel 390 .
- tab 396 rests over guide wire channel 390 .
- tab 396 helps hold guide wire 301 in guide wire channel 390 by restricting movement of guide wire 301 in a direction perpendicular to the plane defined by base plate 544 (this direction of restriction is the vertical direction in the orientation of FIG. 15 ).
- Guide wire 301 is engaged on one side by engagement surface 526 of fixed wheel 522 and on the other side by engagement surface 528 of engagement wheel 524 .
- FIG. 16 shows a cross-sectional view of axial drive assembly 324 as indicated by the corresponding sectional line in FIG. 6 .
- FIG. 16 depicts guide wire 301 within channel 364 .
- Guide wire 301 is engaged on one side by engagement surface 426 of drive wheel 410 and on the other side by engagement surface 428 of roller 418 .
- cassette 300 may be configured to allow rotational drive assembly 326 (shown schematically by broken lines in FIGS. 17A-17C ) to be disconnected from cassette 300 .
- cassette 300 includes journal 388 , and rotational drive mechanism 380 is rotatably coupled to journal 388 .
- journal 388 is releasably coupled to housing 316 such that both journal 388 and rotational drive mechanism 380 may be removed from housing 316 without removing the guide wire from the patient and/or without removing cassette 300 from base 302 .
- the user may remove (e.g., pull, slide, etc.) both journal 388 and rotational drive mechanism 380 over the proximal end of the guide wire.
- journal 388 includes a slot 552
- base plate 318 includes a release button 554
- Release button 554 is coupled to ramp 556
- ramp 556 includes wedge-shaped end 558 .
- wedge-shaped end 558 passes through slot 552 to couple journal 388 to base plate 318 .
- wedge-shaped end 558 is allowed to disengage from slot 552 allowing rotational drive assembly 326 and journal 388 to disconnect from base plate 318 .
- rotational drive assembly 326 is disengaged from guide wire 301 .
- engagement structure 386 disengages from the guide wire.
- the rotational drive assembly 326 may be moved over the proximal end of the guide wire while the guide wire slides freely though guide wire channel 390 . Removal of rotational drive assembly 326 from cassette 300 may be necessary if, for example, bedside system 12 loses power preventing motor drive base 302 from placing rotational drive assembly into the “loading” configuration. In this case, removal of rotational drive assembly 326 allows the user to either remove the guide wire and working catheter from the patient manually or to complete the procedure manually.
- a wheel for a drive mechanism of a robotic catheter system is shown according to an exemplary embodiment.
- engagement surface 426 of drive wheel 410 is configured to increase the ability of the wheel to grip and to impart axial motion to the guide wire.
- Engagement surface 426 of drive wheel 410 is textured (e.g., non-smooth, treaded, slotted, slitted, etc.) to increase friction between the wheel and the guide wire.
- drive wheel 410 includes a plurality of slits 600 formed in the outer layer of the material of drive wheel 410 .
- Slits 600 act to provide better grip between the wheel and the guide wire which provides for improved transmission of motion from the wheel to the guide wire and also decreases the chance that slippage will occur between the drive wheel and the guide wire. While the description of FIGS. 18-19B relates to drive wheel 410 , it should be understood that any wheel of cassette 300 can be configured as discussed in relation to drive wheel 410 . Accordingly, wheels 522 and 524 of rotational drive assembly 326 may have an engagement surface that is textured as described with wheels 410 and 418 . Such that only one or both of wheels 522 and 524 may textured, or that only certain of wheels 522 are textured and/or only certain of wheels 524 are textured or only some combination of some but not all of wheels 522 and 524 are textured.
- wheels 522 and 524 may be textured but with different tread configurations or with a different engagement surface material than other wheels 522 and 524 . Applying a different engagement surface characteristic to different wheels may provide greater overall gripping, drive and rotational performance for the system under certain operating conditions. Further as noted, the texture of certain wheels 522 and 524 may be the same or different than the texture wheels 410 and 418 depending on the gripping, rotational and drive performance desired. The specific desired arrangement of engagement surfaces of the wheels may depend on the type of guide wire or working catheter or catheter that is being manipulated by the system as well as the type of procedure being employed on the patient.
- each slit 600 has substantially the same size, shape, etc., as the other slits 600 .
- slits 600 may having varying sizes, shapes, etc.
- slits 600 are substantially linear and are positioned substantially parallel to the central axis (e.g., the axis of rotation) of drive wheel 410 .
- Slits 600 extend the entire axial dimension of engagement surface 426 , and, in this arrangement, slits 600 are substantially parallel to each other.
- slits 600 may be other shapes or positioned in other configurations relative to engagement surface 426 .
- slits 600 may be curved having a component that extends in the circumferential direction along engagement surface 426 .
- slits 600 may have multiple segments positioned at angles relative to each other (e.g., a zigzag pattern).
- FIGS. 19A and 19B a top view of drive wheel 410 is shown.
- Slits 600 of drive wheel 410 are spaced at even intervals around drive wheel 410 and are substantially symmetric about the radial centerline of the slit.
- the angle A between the radial centerlines of adjacent slits 600 may be selected to vary the gripping characteristic of the wheel.
- the angle A between radial centerlines of adjacent slits 600 may be between about 5 degrees and about 20 degrees, specifically between about 10 degrees and about 15 degrees, and more specifically between about 11 degrees and 13 degrees.
- drive wheel 410 includes 30 slits 600 evenly spaced such that angle A is about 12 degrees.
- the depth of slits 600 below the outer surface 426 may be selected to vary the gripping characteristics of wheel 410 .
- the depth of slits 600 may be selected to be between about 1 percent and about 10 percent of the diameter of wheel 410 , specifically between about 1 percent and about 7 percent of the diameter of wheel 410 , and more specifically between about 1.5 percent and about 6.4 percent of the diameter of wheel 410 .
- the diameter of wheel 410 is about 0.63 inches
- the depth D of slits 600 is between about 0.01 inches and about 0.04 inches.
- the circumferential dimension of slits 600 may be selected to vary the gripping characteristics of wheel 410 .
- the circumferential dimension W of slits 600 may be selected to be between about 0 percent and about 10 percent of the circumference of wheel 410 , specifically between about 0 percent and about 3 percent of the circumference of wheel 410 , and more specifically between about 0 percent and about 1 percent of the circumference of wheel 410 .
- drive wheel 410 may be selected to vary the gripping characteristics of wheel 410 .
- drive wheel 410 may be made from a polymer material.
- drive wheel 410 may be made from a thermoplastic polyurethane elastomer.
- drive wheel 410 may be made from Texin RxT85A manufactured by Bayer MaterialScience.
- the hardness of the material of drive wheel 410 may be selected to vary the gripping characteristics of wheel 410 .
- the shore hardness of the material of drive wheel 410 is between about 10 A and about 100 A, specifically between about 50 A and about 100 A, and more specifically between about 75 A and about 95 A.
- drive wheel 410 is made from a material having a shore hardness of about 85 A.
- drive wheel 410 may be formed from a molded piece of polymer material having a smooth outer surface. Drive wheel 410 may then be coupled to a hub 602 of a cylindrical pin or shaft. Following attachment to hub 602 , slits 600 are created in the outer surface of drive wheel 410 using a cutting or slitting tool to produce slits 600 of the desired size, shape and positioning.
- Drive wheel 410 may be attached to the hub in a variety of ways.
- drive wheel 410 is coupled to hub 602 such that rotation of the shaft is transmitted to drive wheel 410 without slippage occurring between drive wheel 410 and hub 602 .
- drive wheel 410 is shaped as a ring having a central opening, and drive wheel 410 is mounted to hub 602 by stretching the material of drive wheel 410 and placing drive wheel 410 over hub 602 such that hub 602 is received in the central opening of drive wheel 410 .
- the elasticity of the material of drive wheel 410 is sufficient to firmly attach drive wheel 410 to hub 602 and to prevent movement of drive wheel 410 relative to hub 602 during rotation.
- drive wheel 410 may be attached to hub 602 by other means.
- drive wheel 410 may be welded or bonded to hub 602 , and, in another embodiment, drive wheel 410 may be attached to hub 602 using an adhesive.
- drive wheel 410 may be coupled to hub 602 using mechanical attachment elements.
- the outer circumferential surface of hub 602 may be formed with a series of posts, and the inner surface of drive wheel 410 may be formed with a series of recesses that receive the posts of hub 602 .
- FIGS. 20-23 a structure or clip, shown as wheel separator clip 610 , is depicted according to an exemplary embodiment.
- Separator clip 610 is configured to engage rotational drive assembly 326 in a manner that causes each pair of wheels 522 and 524 to be held in the disengaged, “loading” position shown in FIG. 14 .
- wheels 522 and 524 of rotational drive assembly 326 may be made from a deformable, polymer material.
- springs 536 act to bias wheels 522 and 524 to the engaged position shown in FIG. 13 , when cassette 300 is not in use, wheels 522 and 524 will tend to assume the engaged position in which the outer surfaces of each wheel are in contact with each other.
- cassette 300 is not used for a substantial period of time (e.g., during storage following manufacture, during storage between procedures, etc.), the constant contact between wheels 522 and 524 under the influence of springs 536 may cause deformation of wheels 522 and 524 .
- flattened sections may be formed along the outer surface of wheels 522 and 524 at the location of the contact between the wheels.
- Separator clip 610 may be used to engage rotational drive assembly 326 to resist the biasing force of springs 536 in order to hold wheels 522 and 524 in the “disengaged” position when cassette 300 is not in use. In this manner, separator clip 610 acts to prevent the deformation that wheels 522 and 524 may be susceptible to if the they are allowed to remain in the engaged position for an extended period of time.
- Separator clip 610 includes a body 612 , a pair of upper walls 614 positioned substantially perpendicular to and extending from body 612 , a pair of gripping surfaces 616 , and a handle tab 618 .
- Separator clip 610 also includes at least one arm 620 positioned to and extending from body 612 .
- separator clip 610 includes one arm 620 for each pair of wheels 522 and 524 in rotational drive assembly 326 , and in the particular embodiment shown in FIG. 21 , separator clip 610 includes four arms 620 corresponding to the four pairs of wheels 522 and 524 of rotational drive assembly 326 .
- Separator clip 610 is shown engaged to rotational drive assembly 326 in FIG. 22 , and the dotted lines 622 in FIG. 20 indicate the position of engagement between arms 620 of separator clip 610 and rotational drive assembly 326 when separator clip 610 is coupled to the rotational drive assembly. As indicated in FIG. 20 , arms 620 of separator clip 610 are positioned between engagement arms 550 of base plate 544 and pivot yokes 532 of each wheel assembly 523 of rotational drive assembly 326 . When separator clip 610 is engaged with rotational drive assembly 326 , upper walls 614 are positioned in contact with the upper outer surface of cover 384 of rotational drive assembly 326 . To hold and manipulate separator clip 610 , the user may grasp gripping surfaces 616 and/or handle tab 618 .
- each arm 620 of separator clip 610 is positioned between one engagement arm 550 of base plate 544 and the opposing pivot yoke 532 .
- each arm 620 includes a first surface, shown as the right-facing surface in FIG. 23 , that is in contact with engagement arm 550 and a second surface, shows as the left-facing surface in FIG. 23 , that is in contact with pivot yoke 532 .
- the contact of the opposing surfaces of each arm 620 with engagement arms 500 and pivot yokes 532 causes each spring 536 to be compressed.
- each pivot yoke 532 moves each wheel 524 away from the opposing wheel 522 .
- rotational drive assembly 326 With separator clip 610 engaged between engagement arms 550 and pivot yokes 532 , rotational drive assembly 326 is held in the disengaged position such that wheels 522 and 524 are not in contact with each other. In this manner, separator clip 610 acts to prevent deformation of wheels 522 and 524 that may otherwise be caused by constant, long-term contact between wheels 522 and 524 .
- separator clip 610 Prior to use of cassette 300 , separator clip 610 is disengaged from rotational drive assembly 326 allowing wheels 522 and 524 to move into engagement under the force of springs 536 .
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Abstract
A drive mechanism for a robotic catheter system including a first engagement surface and a second engagement surface is provided. The first engagement surface and second engagement surface are configured to engage a catheter device to allow the drive mechanism to impart motion to the catheter device. The first engagement surface is textured to facilitate gripping between the first engagement surface and the catheter device.
Description
- This patent application is a continuation by-pass to Application No. PCT/US11/51542, filed Sep. 14, 2011, which claims the benefit of U.S. Provisional Application No. 61/384,174, filed Sep. 17, 2010, both of which are incorporated herein by reference in their entireties.
- The present invention relates generally to the field of catheter systems for performing diagnostic and/or intervention procedures. The present invention relates specifically to catheter systems and methods including a roller wheel based drive mechanism.
- Vascular disease, and in particular cardiovascular disease, may be treated in a variety of ways. Surgery, such as cardiac bypass surgery, is one method for treating cardiovascular disease. However, under certain circumstances, vascular disease may be treated with a catheter based intervention procedure, such as angioplasty. Catheter based intervention procedures are generally considered less invasive than surgery. If a patient shows symptoms indicative of cardiovascular disease, an image of the patient's heart may be taken to aid in the diagnosis of the patient's disease and to determine an appropriate course of treatment. For certain disease types, such as atherosclerosis, the image of the patient's heart may show a lesion that is blocking one or more coronary arteries. Following the diagnostic procedure, the patient may undergo a catheter based intervention procedure. During one type of intervention procedure, a catheter is inserted into the patient's femoral artery and moved through the patient's arterial system until the catheter reaches the site of the lesion. In some procedures, the catheter is equipped with a balloon or a stent that when deployed at the site of a lesion allows for increased blood flow through the portion of the coronary artery that is affected by the lesion. In addition to cardiovascular disease, other diseases (e.g., hypertension, etc.) may be treated using catheterization procedures.
- One embodiment of the invention relates to a drive mechanism for a robotic catheter system including a first engagement surface and a second engagement surface. The first engagement surface and second engagement surface are configured to engage a catheter device to allow the drive mechanism to impart motion to the catheter device. The first engagement surface is textured to facilitate gripping between the first engagement surface and the catheter device.
- Another embodiment of the invention relates to a cassette for use with a robotic catheter system configured to couple to a base. The cassette includes a housing and a first actuating mechanism supported by the housing and configured to engage and to impart axial movement to a guide wire. The first actuating mechanism includes a drive shaft and a drive wheel having a first engagement surface. The drive wheel is coupled to the drive shaft, and the drive wheel includes a plurality of slits formed in the first engagement surface. The first actuating mechanism also includes a roller wheel having a second engagement surface. The guide wire is engaged between the drive wheel and the roller wheel, and rotation of the drive wheel imparts axial motion to the guide wire. The cassette further includes a second actuating mechanism configured to engage and to impart rotational movement to the guide wire.
- Another embodiment of the invention relates to a cassette for use with a robotic catheter system configured to couple to a base. The cassette includes a housing and an actuating mechanism supported by the housing and configured to engage and to impart movement to a catheter device. The actuating mechanism includes a first engagement surface and a second engagement surface. The first engagement surface is moveable between a first position and a second position such that the distance between the first and second engagement surfaces decreases as the first engagement surface is moved from the first position to the second position. The first and second engagement surfaces are configured to engage the catheter device in the second position. The cassette further includes a structure coupled to the actuating mechanism, and the structure holds the first engagement structure in the first position.
- Alternative exemplary embodiments relate to other features and combinations of features as may be generally recited in the claims.
- This application will become more fully understood from the following detailed description, taken in conjunction with the accompanying figures, wherein like reference numerals refer to like elements in which:
-
FIG. 1 is a perspective view of a catheter procedure system according to an exemplary embodiment; -
FIG. 2 is a block diagram of a catheter procedure system according to an exemplary embodiment; -
FIG. 3 is a perspective view of a bedside system showing an embodiment of a cassette prior to being attached to a motor drive base; -
FIG. 4 is a perspective view of a bedside system showing the cassette ofFIG. 3 following attachment to the motor drive base; -
FIG. 5 is a perspective view of a cassette in the “loading” configuration; -
FIG. 6 is a perspective view of a cassette in the “loaded” or “use” configuration; -
FIG. 7 is an exploded perspective view of an axial drive assembly of a cassette; -
FIG. 8 is a bottom perspective view of a cassette showing the base plate removed; -
FIG. 9 is a top view showing the axial drive assembly in the “disengaged” position; -
FIG. 10 is a top view showing the axial drive assembly in the “engaged” position; -
FIG. 11 is a top perspective view of a rotational drive assembly of a cassette showing the engagement structure in broken lines beneath the chassis; -
FIG. 12 is a top perspective view of a rotational drive assembly with the chassis shown in broken lines; -
FIG. 13 is a top view of the rotational drive assembly in the “engaged” position; -
FIG. 14 is a top view of the rotational drive assembly in the “disengaged” position; -
FIG. 15 is a sectional view of the rotational drive assembly taken generally along line 15-15 inFIG. 6 ; -
FIG. 16 is a sectional view of the axial drive assembly taken generally along line 16-16 inFIG. 6 ; -
FIG. 17A shows a rotational drive assembly coupled to a base plate of a cassette; -
FIG. 17B shows depression of a release button to disconnect the rotational drive assembly from the base plate of the cassette; -
FIG. 17C shows removal of the rotational drive assembly from the base plate of the cassette leaving the guide wire in place; -
FIG. 18 shows a side view of a roller wheel according to an exemplary embodiment; -
FIG. 19A shows a top view of the roller wheel ofFIG. 18 ; -
FIG. 19B shows an enlarged view of a portion of the roller wheel ofFIG. 19B ; -
FIG. 20 is an exploded view showing a wheel separator structure according to an exemplary embodiment; -
FIG. 21 is a rear perspective view of the structure ofFIG. 20 ; -
FIG. 22 is a front perspective view of the structure ofFIG. 20 engaged with a rotational drive assembly according to an exemplary embodiment; and -
FIG. 23 is a perspective view from below of the structure ofFIG. 20 engaged with a rotational drive assembly according to an exemplary embodiment. - Before turning to the figures, which illustrate the exemplary embodiments in detail, it should be understood that the present application is not limited to the details or methodology set forth in the description or illustrated in the figures. It should also be understood that the terminology is for the purpose of description only and should not be regarded as limiting.
- Referring to
FIG. 1 , acatheter procedure system 10 is shown.Catheter procedure system 10 may be used to perform catheter based medical procedures (e.g., percutaneous intervention procedures). Percutaneous intervention procedures may include diagnostic catheterization procedures during which one or more catheters are used to aid in the diagnosis of a patient's disease. For example, during one embodiment of a catheter based diagnostic procedure, a contrast media is injected into one or more coronary arteries through a catheter and an image of the patient's heart is taken. Percutaneous intervention procedures may also include catheter based therapeutic procedures (e.g., balloon angioplasty, stent placement, treatment of peripheral vascular disease, etc.) during which a catheter is used to treat a disease. It should be noted, however, that one skilled in the art would recognize that certain specific percutaneous intervention devices or components (e.g., type of guide wire, type of catheter, etc.) will be selected based on the type of procedure that is to be preformed.Catheter procedure system 10 is capable of performing any number of catheter based medical procedures with minor adjustments to accommodate the specific percutaneous devices to be used in the procedure. In particular, while the embodiments ofcatheter procedure system 10 described herein are explained primarily in relation to the diagnosis and/or treatment of coronary disease,catheter procedure system 10 may be used to diagnose and/or treat any type of disease or condition amenable to diagnosis and/or treatment via a catheter based procedure. -
Catheter procedure system 10 includeslab unit 11 andworkstation 14.Catheter procedure system 10 includes a robotic catheter system, such asbedside system 12, located withinlab unit 11adjacent patient 21. Generally,bedside system 12 may be equipped with the appropriate percutaneous devices (e.g., guide wires, guide catheters, working catheters, catheter balloons, stents, diagnostic catheters, etc.) or other components (e.g., contrast media, medicine, etc.) to allow the user to perform a catheter based medical procedure. A robotic catheter system, such asbedside system 12, may be any system configured to allow a user to perform a catheter based medical procedure via a robotic system by operating various controls such as the controls located atworkstation 14.Bedside system 12 may include any number and/or combination of components to providebedside system 12 with the functionality described herein.Bedside system 12 may include acassette 56 coupled to abase 19, andcassette 56 may include ahousing 22 that supports the various components of the cassette. One particular embodiment of a cassette (shown as cassette 300) is described below in relation toFIGS. 3-23 . - In one embodiment,
bedside system 12 may be equipped to perform a catheter based diagnostic procedure. In this embodiment,bedside system 12 may be equipped with one or more of a variety of catheters for the delivery of contrast media to the coronary arteries. In one embodiment,bedside system 12 may be equipped with a first catheter shaped to deliver contrast media to the coronary arteries on the left side of the heart, a second catheter shaped to deliver contrast media to the coronary arteries on the right side of the heart, and a third catheter shaped to deliver contrast media into the chambers of the heart. - In another embodiment,
bedside system 12 may be equipped to perform a catheter based therapeutic procedure. In this embodiment,bedside system 12 may be equipped with a guide catheter, a guide wire, and a working catheter (e.g., a balloon catheter, a stent delivery catheter, ablation catheter, etc.). In one embodiment, the working catheter may be an over-the-wire working catheter that includes a central lumen that is threaded over the guide wire during a procedure. In another embodiment, the working catheter includes a secondary lumen that is separate from the central lumen of the working catheter, and the secondary lumen is threaded over the guide wire during a procedure. In another embodiment,bedside system 12 may be equipped with an intravascular ultrasound (IVUS) catheter. In another embodiment, any of the percutaneous devices ofbedside system 12 may be equipped with positional sensors that indicate the position of the component within the body. -
Bedside system 12 is in communication withworkstation 14, allowing signals generated by the user inputs and control system ofworkstation 14 to be transmitted tobedside system 12 to control the various functions of besidesystem 12.Bedside system 12 also may provide feedback signals (e.g., operating conditions, warning signals, error codes, etc.) toworkstation 14.Bedside system 12 may be connected toworkstation 14 via acommunication link 38 that may be a wireless connection, cable connectors, or any other means capable of allowing communication to occur betweenworkstation 14 and besidesystem 12. -
Workstation 14 includes auser interface 30 configured to receive user inputs to operate various components or systems ofcatheter procedure system 10.User interface 30 includescontrols 16.Controls 16 allow the user to controlbedside system 12 to perform a catheter based medical procedure. For example, controls 16 may be configured to causebedside system 12 to perform various tasks using the various percutaneous devices with whichbedside system 12 may be equipped (e.g., to advance, retract, or rotate a guide wire, advance, retract, or rotate a working catheter, advance, retract, or rotate a guide catheter, inflate or deflate a balloon located on a catheter, position and/or deploy a stent, inject contrast media into a catheter, inject medicine into a catheter, or to perform any other function that may be performed as part of a catheter based medical procedure, etc.). In some embodiments, one or more of the percutaneous intervention devices may be steerable, and controls 16 may be configured to allow a user to steer one or more steerable percutaneous device. In one such embodiment,bedside system 12 may be equipped with a steerable guide catheter, and controls 16 may also be configured to allow the user located atremote workstation 14 to control the bending of the distal tip of a steerable guide catheter. - In one embodiment, controls 16 include a
touch screen 18, a dedicatedguide catheter control 29, a dedicatedguide wire control 23, and a dedicated working catheter control 25. In this embodiment,guide wire control 23 is a joystick configured to advance, retract, or rotate a guide wire, working catheter control 25 is a joystick configured to advance, retract, or rotate a working catheter, and guidecatheter control 29 is a joystick configured to advance, retract, or rotate a guide catheter. In addition,touch screen 18 may display one or more icons (such asicons bedside system 12.Controls 16 may also include a balloon or stent control that is configured to inflate or deflate a balloon and/or a stent. Each of the controls may include one or more buttons, joysticks, touch screens, etc., that may be desirable to control the particular component to which the control is dedicated. -
Controls 16 may include anemergency stop button 31 and a multiplier button 33. Whenemergency stop button 31 is pushed a relay is triggered to cut the power supply tobedside system 12. Multiplier button 33 acts to increase or decrease the speed at which the associated component is moved in response to a manipulation ofguide catheter control 29,guide wire control 23, and working catheter control 25. For example, if operation ofguide wire control 23 advances the guide wire at a rate of 1 mm/sec, pushing multiplier button 33 may cause the operation ofguide wire control 23 to advance the guide wire at a rate of 2 mm/sec. Multiplier button 33 may be a toggle allowing the multiplier effect to be toggled on and off. In another embodiment, multiplier button 33 must be held down by the user to increase the speed of a component during operation ofcontrols 16. -
User interface 30 may include afirst monitor 26 and asecond monitor 28. First monitor 26 andsecond monitor 28 may be configured to display information or patient-specific data to the user located atworkstation 14. For example,first monitor 26 andsecond monitor 28 may be configured to display image data (e.g., x-ray images, MRI images, CT images, ultrasound images, etc.), hemodynamic data (e.g., blood pressure, heart rate, etc.), patient record information (e.g., medical history, age, weight, etc.). In one embodiment, monitors 26 and/or 28 may be configured to display an image of a portion of the patient (e.g., the patient's heart) at one or more magnification levels. In addition,first monitor 26 andsecond monitor 28 may be configured to display procedure specific information (e.g., duration of procedure, catheter or guide wire position, volume of medicine or contrast agent delivered, etc.).Monitor 26 and monitor 28 may be configured to display information regarding the position and/or bend of the distal tip of a steerable guide catheter. Further, monitor 26 and monitor 28 may be configured to display information to provide the functionalities associated with the various modules ofcontroller 40 discussed below. In another embodiment,user interface 30 includes a single screen of sufficient size to display one or more of the display components and/or touch screen components discussed herein. -
Catheter procedure system 10 also includes animaging system 32 located withinlab unit 11.Imaging system 32 may be any medical imaging system that may be used in conjunction with a catheter based medical procedure (e.g., non-digital x-ray, digital x-ray, CT, MRI, ultrasound, etc.). In an exemplary embodiment,imaging system 32 is a digital x-ray imaging device that is in communication withworkstation 14. Referring toFIG. 1 ,imaging system 32 may include a C-arm that allowsimaging system 32 to partially or completely rotate aroundpatient 21 in order to obtain images at different angular positions relative to patient 21 (e.g., sagital views, caudal views, cranio-caudal views, etc.). -
Imaging system 32 is configured to take x-ray images of the appropriate area ofpatient 21 during a particular procedure. For example,imaging system 32 may be configured to take one or more x-ray images of the heart to diagnose a heart condition.Imaging system 32 may also be configured to take one or more x-ray images during a catheter based medical procedure (e.g., real-time images) to assist the user ofworkstation 14 to properly position a guide wire, guide catheter, working catheter, stent, etc. during the procedure. The image or images may be displayed onfirst monitor 26 and/orsecond monitor 28. - In addition, the user of
workstation 14 may be able to control the angular position ofimaging system 32 relative to the patient to obtain and display various views of the patient's heart onfirst monitor 26 and/orsecond monitor 28. Displaying different views at different portions of the procedure may aid the user ofworkstation 14 to properly move and position the percutaneous devices within the 3D geometry of the patient's heart. In an exemplary embodiment,imaging system 32 may be any 3D imaging modality of the past, present, or future, such as an x-ray based computed tomography (CT) imaging device, a magnetic resonance imaging device, a 3D ultrasound imaging device, etc. In this embodiment, the image of the patient's heart that is displayed during a procedure may be a 3D image. In addition, controls 16 may also be configured to allow the user positioned atworkstation 14 to control various functions of imaging system 32 (e.g., image capture, magnification, collimation, c-arm positioning, etc.). - Referring to
FIG. 2 , a block diagram ofcatheter procedure system 10 is shown according to an exemplary embodiment.Catheter procedure system 10 may include a control system, such ascontroller 40.Controller 40 may be part ofworkstation 14.Controller 40 may generally be an electronic control unit suitable to providecatheter procedure system 10 with the various functionalities described herein. For example,controller 40 may be an embedded system, a dedicated circuit, a general purpose system programmed with the functionality described herein, etc.Controller 40 is in communication with one ormore bedside systems 12, controls 16, monitors 26 and 28,imaging system 32, and patient sensors 35 (e.g., electrocardiogram (“ECG”) devices, electroencephalogram (“EEG”) devices, blood pressure monitors, temperature monitors, heart rate monitors, respiratory monitors, etc.). In various embodiments,controller 40 is configured to generate control signals based on the user's interaction withcontrols 16 and/or based upon information accessible tocontroller 40 such that a medical procedure may be preformed usingcatheter procedure system 10. In addition,controller 40 may be in communication with a hospital data management system orhospital network 34, and one or more additional output devices 36 (e.g., printer, disk drive, cd/dvd writer, etc.). - Communication between the various components of
catheter procedure system 10 may be accomplished via communication links 38. Communication links 38 may be dedicated wires or wireless connections. Communication links 38 may also represent communication over a network.Catheter procedure system 10 may be connected or configured to include any other systems and/or devices not explicitly shown. For example,catheter procedure system 10 may include IVUS systems, image processing engines, data storage and archive systems, automatic balloon and/or stent inflation systems, medicine tracking and/or logging systems, user logs, encryption systems, systems to restrict access or use ofcatheter procedure system 10, robotic catheter systems of the past, present, or future, etc. - Referring now to
FIGS. 3 through 17C , an exemplary embodiment of a cassette for use with a robotic catheter system is shown.Cassette 300 may be equipped with aguide wire 301 and a workingcatheter 303 to allow a user to perform a catheterizationprocedure utilizing cassette 300. In this embodiment,bedside system 12 includes acassette 300 configured to be mounted to amotor drive base 302.FIG. 3 shows a bottom perspective view ofcassette 300 prior to mounting tomotor drive base 302.Motor drive base 302 includes afirst capstan 304, asecond capstan 306, and athird capstan 308, andcassette 300 includes afirst capstan socket 310, asecond capstan socket 312, and athird capstan socket 314.Cassette 300 includes ahousing 316, andhousing 316 includes abase plate 318. - Each of the capstan sockets is configured to receive one of the capstans of
motor drive base 302. In the embodiment shown,base plate 318 includes a hole or aperture aligned with each of thecapstan sockets motor drive base 302 to each of the drive mechanisms (discussed below) withincassette 300. In one embodiment, a single actuator provides energy to each of the drive mechanisms. In another embodiment, there is an actuator that drivescapstan 304, an actuator that drivescapstan 306, and an actuator that drivescapstan 308. Further, the positioning of the capstans and capstan sockets helps the user to aligncassette 300 relative tomotor drive base 302 by allowingcassette 300 to be mounted tomotor drive base 302 only when all three capstan sockets are aligned with the proper capstan. - In one embodiment, the motors that drive
capstans motor drive base 302. In another embodiment, the motors that drivecapstans base 302 connected tocassette 300 via an appropriate transmission device (e.g., shaft, cable, etc.). In yet another embodiment,cassette 300 includes motors located within the housing ofcassette 300. In another embodiment,cassette 300 does not includecapstan sockets cassette 300 via alternating or rotating magnets or magnetic fields located withinmotor drive base 302. - In the embodiment shown,
cassette 300 also includes aguide catheter support 311 that supportsguide catheter 317 at a position spaced fromcassette 300. As shown, guidecatheter support 311 is attached tocassette 300 by arod 313.Rod 313 and guidecatheter support 311 are strong enough to supportguide catheter 317 without buckling.Guide catheter support 311 supports guidecatheter 317 at a position spaced from the cassette, between the patient and the cassette to prevent buckling, bending, etc. of the portion ofguide catheter 317 between the cassette and the patient. - Referring to
FIG. 4 ,cassette 300 is shown mounted tomotor drive base 302. As shown inFIG. 4 ,cassette 300 includes anouter cassette cover 320 that may be attached tohousing 316. When attached tohousing 316,outer cassette cover 320 is positioned over and covers each of the drive mechanisms ofcassette 300. By covering the drive assemblies ofcassette 300,outer cassette cover 320 acts to prevent accidental contact with the drive mechanisms ofcassette 300 while in use. - Referring to
FIG. 5 ,cassette 300 is shown in the “loading” configuration withouter cassette cover 320 removed.Cassette 300 includes a y-connector support assembly 322, anaxial drive assembly 324, and arotational drive assembly 326. Generally, the various portions ofcassette 300 are placed in the loading configuration to allow the user to load or install a guide wire and/or working catheter intocassette 300. Further, in the exemplary embodiment shown, y-connector support assembly 322 is located in front ofaxial drive assembly 324, andaxial drive assembly 324 is located in front ofrotational drive assembly 326 withincassette 300. - Y-
connector support assembly 322 includes achassis 328 and a y-connector restraint 330.Base plate 318 includes asupport arm 332 that supports y-connector support assembly 322.Chassis 328 is coupled to the front ofsupport arm 332 viapin connection 334. - A central groove or
depression 336 extends the length ofchassis 328. Y-connector 338 rests withincentral groove 336 ofchassis 328. Y-connector 338 includes afirst leg 340, asecond leg 342, and athird leg 344.First leg 340 is configured to attach to a guide catheter such that the central lumen of the y-connector is in fluid communication with the central lumen of the guide catheter.Second leg 342 is angled away from the longitudinal axis of y-connector 338.Second leg 342 of y-connector 338 allows introduction of a contrast agent or medicine into the lumen of the guide catheter. A one way valve prohibits bodily fluid from exitingsecond leg 342.Third leg 344 extends away from the guide catheter towardaxial drive assembly 324. In use,guide wire 301 and workingcatheter 303 are inserted intothird leg 344 of y-connector 338 viaopening 346 and may be advanced through y-connector 338 into the lumen of the guide catheter. The third leg also includes a one way valve that permits insertion and removal of the working catheter and guide wire but prohibits bodily fluids from exitingthird leg 344. -
Chassis 328 is rotatable about an axis defined bypin connection 334 to allowchassis 328 to be placed in the “loading position” shown inFIG. 5 . In the loading position,chassis 328 is positioned at about a 45 degree angle, shown byangle line 315, relative to supportarm 332.Chassis 328 is moved to the “loading position” to provide easier access to opening 346 of thethird leg 344 allowing the user to feedguide wire 301 and workingcatheter 303 into y-connector 338. - Y-
connector support assembly 322 includes y-connector restraint 330. Y-connector restraint 330 is configured to releasably engage y-connector 338. In the engaged position shown inFIG. 5 ,engagement arm 348 of y-connector restraint 330 engages or presses y-connector 338 intocentral groove 336 to securely hold y-connector 338. Y-connector restraint 330 may be moved to a disengaged position to release y-connector 338 fromchassis 328. -
Cassette 300 also includes anaxial drive assembly 324.Axial drive assembly 324 includes a first axial drive mechanism, shown as guide wireaxial drive mechanism 350, and a second axial drive mechanism, shown as working catheteraxial drive mechanism 352.Axial drive assembly 324 also includes atop deck 354, acover 356, and a latch or handle 358. - Generally, guide wire
axial drive mechanism 350 is configured to releasably engage and drive (e.g., to impart motion to)guide wire 301 along its longitudinal axis. In this manner, guide wireaxial drive mechanism 350 provides for advancement and/or retraction ofguide wire 301. Working catheteraxial drive mechanism 352 is configured to releasably engage and drive (e.g., to impart motion to) workingcatheter 303 along its longitudinal axis. In this manner, working catheteraxial drive mechanism 352 provides for advancement and/or retraction of workingcatheter 303. -
Top deck 354 is mounted to acentral portion 360 ofbase plate 318.Top deck 354 includes aguide wire channel 364 and a workingcatheter channel 366.Guide wire channel 364 is positioned generally perpendicular to the top surface oftop deck 354 and runs the length oftop deck 354 in the longitudinal direction. Workingcatheter channel 366 is positioned generally perpendicular to the top surface oftop deck 354 and is located at an angle relative to guidewire channel 364. A plurality oftabs 368 extend vertically from the top surface oftop deck 354 alongguide wire channel 364. - In
FIG. 5 , cover 356 is shown in the open position. Handle 358 is moved to a position generally parallel to the longitudinal axis ofcassette 300 to allowcover 356 to move to the open position. Cover 356 is mounted totop deck 354 via hinges 370.Cassette 300 includes a restraint structure that acts to restrain movement of the guide wire whencover 356 is in the closed position. As shown, the restraint structure includes a plurality oftabs 372 extending from the lower surface ofcover 356.Tabs 372 are positioned such that whencover 356 is closed,tabs 372 are positioned within a portion ofguide wire channel 364 betweentabs 368 such thattabs 372 restrain movement ofguide wire 301 in a vertical direction (i.e., restrains movement of the guide wire in a direction perpendicular to the top surface of top deck 354). - When
cover 356 is in the open position, both guide wireaxial drive mechanism 350 and working catheteraxial drive mechanism 352 are exposed allowing the user to loadcassette 300 with a guide wire and working catheter. Withcover 356 open,guide wire 301 is loaded intoaxial drive assembly 324 by placing the guide wire intoguide wire channel 364.Tabs 368 facilitate the placement ofguide wire 301 by aiding the user in aligning the guide wire withguide wire channel 364. In addition, workingcatheter 303 is loaded intoaxial drive assembly 324 by placing the working catheter into workingcatheter channel 366. As will be described in more detail below, once the guide wire and working catheter are positioned withinguide wire channel 364 and workingcatheter channel 366, respectively, engagement surfaces of guide wireaxial drive mechanism 350 and working catheteraxial drive mechanism 352 are brought into engagement with the guide wire and working catheter respectively. - Both
top deck 354 andcentral portion 360 ofbase plate 318 are shaped to define arecess 374. Workingcatheter channel 366 includes anopening 376 located withinrecess 374.Recess 374 allows opening 376 to be closer to y-connector 338 and also closer to the entry incision in the patient allowing workingcatheter 303 to be advanced farther into the patient's vascular system than if opening 376 were located further away from y-connector 338 or the entry incision. As can be seen inFIG. 4 , workingcatheter 303 includes ahub 305 at its proximal end that is too large to fit throughopening 376. Thus, the closer that opening 376 is to y-connector 338 and to the entry incision the further workingcatheter 303 can be advanced into the patient's vascular system. -
Cassette 300 also includes arotational drive assembly 326.Rotational drive assembly 326 includes a rotational drive mechanism, shown as guide wirerotational drive mechanism 380, acover 384, and ajournal 388. Guide wirerotational drive mechanism 380 includes achassis 382 and anengagement structure 386.Rotational drive assembly 326 is configured to causeguide wire 301 to rotate about its longitudinal axis.Engagement structure 386 is configured to releasably engageguide wire 301 and to apply sufficient force to guidewire 301 such thatguide wire 301 is allowed to rotate about its longitudinal axis while permittingguide wire 301 to be moved axially by guide wireaxial drive mechanism 350. - In the embodiment shown,
rotational drive assembly 326 is supported withinhousing 316 such thatrotation drive assembly 326 is permitted to rotate withinhousing 316.Engagement structure 386 applies sufficient force to guidewire 301 that the rotation ofrotation drive assembly 326 causes guidewire 301 to rotate about its longitudinal axis asrotational drive assembly 326 rotates. -
Chassis 382 includes aguide wire channel 390.Guide wire channel 390 is positioned generally perpendicular to the top surface ofchassis 382 and runs the length ofchassis 382 in the longitudinal direction. A plurality oftabs 392 extend vertically from the top surface ofchassis 382 alongguide wire channel 390. InFIG. 5 , cover 384 is shown in the open position. Cover 384 is mounted tochassis 382 viahinge 394.Cassette 300 includes a restraint structure that acts to restrain movement of the guide wire whencover 384 is in the closed position. As shown, the restraint structure includes a plurality oftabs 396 extending from the lower surface ofcover 384. The top surface ofchassis 382 includes a plurality ofrecesses 398 configured to receivetabs 396 whencover 384 is in the closed position.Tabs 396 are positioned such that whencover 384 is closed,tabs 396 are positioned overguide wire channel 390 such thattabs 396 preventguide wire 301 from falling out of guide wire channel 390 (i.e., restrains movement of the guide wire in a direction perpendicular to the top surface of chassis 382). In addition, the sidewalls ofguide wire channel 390 and the engagement surfaces ofwheels guide wire 301 in other directions perpendicular to the longitudinal axis ofguide wire 301. Thus,tabs 392 and guidewire channel 390hold guide wire 301 withinchannel 390 during rotation ofrotational drive assembly 326. - When
cover 384 is in the open position,guide wire channel 390 is exposed allowing the user to loadcassette 300 with a guide wire. Withcover 384 open,guide wire 301 is loaded intorotational drive assembly 326 by placing the guide wire intoguide wire channel 390.Tabs 392 facilitate the placement ofguide wire 301 by aiding the user in aligning the guide wire withguide wire channel 390. As will be described in more detail below, onceguide wire 301 is positioned withinguide wire channel 390 engagement surfaces ofengagement structure 386 are brought into engagement with the guide wire. In one embodiment, when the user activates controls (e.g., controls 16 located at workstation 14) toopen cover 384,rotational drive assembly 326 is automatically rotated such thatguide wire channel 390 is facing generally upward to allow for easy loading or removal ofguide wire 301. - In one embodiment,
cassette 300 is a modular cassette that allows various components ofcassette 300 to be removed and/or switched out with other components. In an exemplary embodiment, a user may wish to control the guide wire usingbedside system 12 and to control the working catheter manually. In this embodiment, a user may mount only guide wireaxial drive mechanism 350 androtational drive assembly 326 withinhousing 316 ofcassette 300. In another exemplary embodiment, a user may wish to control the working catheter usingbedside system 12 and to control the guide wire manually. In this embodiment, a user may mount only workingcatheter drive mechanism 352 withinhousing 316 ofcassette 300. In another embodiment,cassette 300 may include additional locations for mounting drive mechanisms for any type of additional catheter devices that may be used during a procedure. For example, a user may be able to couple drive mechanisms tocassette 300 to control the movement and/or control of an intravascular ultrasound catheter. - Referring to
FIG. 6 ,cassette 300 is shown in the “loaded” or “use” position. In the “loaded” position, y-connector support assembly 322 is rotated downward such that y-connector 338 is aligned withguide wire channel 364 ofaxial drive assembly 324. The axial alignment allowsguide wire 301 and workingcatheter 303 to be moved into and/or out of y-connector 338 via operation of guide wireaxial drive mechanism 350 and working catheteraxial drive mechanism 352. Cover 356 is shown in the closed position overlying both the guide wireaxial drive mechanism 350 and the working catheteraxial drive mechanism 352. As shown, cover 356 also coversguide wire channel 364 and workingcatheter channel 366. As such, cover 356 acts to prevent interference with the various components ofaxial drive assembly 324 during use. - After
cover 356 is moved to the closed position, handle 358 is rotated approximately 90 degrees such that a portion ofhandle 358 is positioned overcover 356. As will be discussed in greater detail below, rotation ofhandle 358 to the closed position shown inFIG. 6 causes the engagement surface of the guide wireaxial drive mechanism 350 and of the working catheteraxial drive mechanism 352 to move together engaging the guide wire and working catheter, respectively. - In addition, when
cassette 300 is moved to the “loaded” position, cover 384 is moved to the closed position overlyingrotational drive mechanism 380 and guidewire channel 390 as shown inFIG. 6 . Likecover 356, cover 384 acts to prevent interference with the various components ofrotational drive assembly 326 during use. In one embodiment, a user may activate controls (e.g., controls located at workstation 14) to cause the various components ofcassette 300 to move between the “loading” and “loaded” positions. In addition,cassette 300 may also be configured to allow the user to move the various components ofcassette 300 between the “loading” and “loaded” positions manually. - Referring to
FIG. 6 , in the “loaded” or “use” configuration, the longitudinal axis (and the internal lumen) of y-connector 338 is aligned withguide wire channel 364 of axial drive assembly and withguide wire channel 390 ofrotational drive assembly 326. This alignment provides a path extending from the rear ofcassette 300 through y-connector 338 into the guide catheter through which the guide wire is advanced or retracted during axial movement of the guide wire. In various embodiments, components ofcassette 300, includingtop deck 354,chassis 382,cover 356, and cover 384, may be made from a transparent or translucent plastic. - Referring to
FIG. 7 , an exploded perspective view from above ofaxial drive assembly 324 is shown.FIG. 7 generally depicts the components ofaxial drive assembly 324. Guide wireaxial drive mechanism 350 and working catheteraxial drive mechanism 352 are positioned abovebase plate 318, andtop deck 354 is fastened tocentral portion 360 ofbase plate 318 above guide wireaxial drive mechanism 350 and working catheteraxial drive mechanism 352. Thus, guide wireaxial drive mechanism 350 and working catheteraxial drive mechanism 352 are generally enclosed within a chamber defined bytop deck 354 andcentral portion 360 ofbase plate 318 whenaxial drive assembly 324 is assembled.Top deck 354 includes a plurality ofapertures 362 to receive various portions of bothaxial drive mechanism 350 and working catheteraxial drive mechanism 352. -
Axial drive mechanism 350 includes adrive element 400, afirst roller assembly 402, asecond roller assembly 404, and a guide wire axial motion sensor assembly, shown asencoder assembly 406.First roller assembly 402 andsecond roller assembly 404 are both mounted within ahousing 416.Drive element 400 includes adrive shaft 408, adrive wheel 410, a bearing 412, and ascrew 414. Driveshaft 408 is configured to engagesecond capstan 306 ofmotor drive base 302 such that driveshaft 408 and drivewheel 410 rotate in response to rotation ofsecond capstan 306.First roller assembly 402 includes an idler wheel orroller 418, awheel housing 420, abearing 422, and aspring 424. -
Drive wheel 410 includes an outer orengagement surface 426, androller 418 includes an outer orengagement surface 428. Generally, when guide wireaxial drive mechanism 350 is placed in the “use” or “engaged” position (shown inFIG. 10 ),guide wire 301 is positioned betweendrive wheel 410 androller 418 such thatengagement surface 426 ofdrive wheel 410 andengagement surface 428 ofroller 418 are able to engage the guide wire. In this embodiment,engagement surface 426 andengagement surface 428 define a pair of engagement surfaces. The force applied to guidewire 301 byengagement surface 426 andengagement surface 428 is such thatdrive wheel 410 is able to impart axial motion to guidewire 301 in response to the rotation ofdrive shaft 408 caused by rotation ofsecond capstan 306. This axial motion allows a user to advance and/or retract a guide wire via manipulation ofcontrols 16 located atworkstation 14.Roller 418 is rotatably mounted withinwheel housing 420 and rotates freely asdrive wheel 410 rotates to driveguide wire 301.Spring 424 is biased to exert a force ontowheel housing 420 causingroller 418 to engage the guide wire againstdrive wheel 410.Spring 424 is selected, tuned, and/or adjusted such that the proper amount of force is applied to guidewire 301 byengagement surface 426 andengagement surface 428 in the “engaged” position. In other embodiments, additional drive elements may be added as necessary to impart axial motion to the guide wire. -
Second roller assembly 404 includes an idler wheel orroller 430, awheel housing 432, a bearing 434, and aspring 436.Encoder assembly 406 includesshaft 438,magnetic coupling 440, idler wheel orroller 442, bearing 444, and ascrew 446.Roller 430 includes an outer orengagement surface 448 androller 442 includes an outer orengagement surface 450. - In the “engaged” position,
guide wire 301 is positioned betweenroller 430 androller 442 such thatengagement surface 448 ofroller 430 andengagement surface 450 ofroller 442 are able to engage the guide wire. In this embodiment,engagement surface 448 andengagement surface 450 define a pair of engagement surfaces. The force applied to guidewire 301 byengagement surface 448 andengagement surface 450 is such thatdrive wheel 410 is able to pullguide wire 301past roller idle rollers support guide wire 301 and maintain alignment ofguide wire 301 along the longitudinal axis ofcassette 300. -
Roller 430 is rotatably mounted withinwheel housing 432, androller 442 is rotatably mounted toshaft 438. Bothrollers drive wheel 410 imparts axial motion to guidewire 301.Spring 436 is biased to exert a force ontowheel housing 432 causingroller 430 to engageguide wire 301 againstroller 442.Spring 436 is selected, tuned, and/or adjusted such that the proper amount of force is applied to guidewire 301 byengagement surface 448 andengagement surface 450 in the “engaged” position to support the guide wire while still allowing the guide wire to be moved axially bydrive wheel 410. In other embodiments, additional pairs of non-active or idler rollers may be added as needed to provide proper support and alignment for the guide wire. In one embodiment,spring 424 andspring 436 are selected or adjusted such that the force applied to guidewire 301 bywheels wire 301 bywheels - As shown in
FIG. 7 ,engagement surface 426 ofdrive wheel 410 andengagement surface 428 ofroller wheel 418 are configured to increase the ability of the wheel to grip and to impart axial motion to the guide wire. In particular,engagement surface 426 ofdrive wheel 410 andengagement surface 428 ofroller wheel 418 may be textured (e.g., non-smooth, treaded, slotted, etc.) to increase friction between the wheels and the guide wire. A particular embodiment of a wheel for a robotic catheter system including a textured engagement surface is shown inFIGS. 18 , 19A and 19B, discussed in more detail below. WhileFIG. 7 , shows both wheels of the front pair in guide wireaxial drive mechanism 350 as textured, any combination of wheels in guide wire axial drive mechanism may be textured. For example, in other embodiments, only drivewheel 410 may be textured, or all four wheels (wheels - In various embodiments, the force applied to guide
wire 301 bywheels springs 424 and 436 (e.g., the pinch force) may be variable or controllable. In various embodiments, the pinch force may be varied to accommodate the use of a variety of different types of guide wires. For example, ifcassette 300 is equipped with a guide wire having a rough or textured outer surface, the pinch force generated bysprings cassette 300 is equipped with a guide wire having a smooth surface outer surface, the pinch force generated bysprings cassette 300 during a procedure. For example, the pinch force may be increased to help ensure that the guide wire remains in place (i.e., no axial motion occurs) when the controls for guide wire axial motion are not be actuated by the user and/or when the user is actuating controls for a different percutaneous device. - The pinch force may be varied or controlled by the user in various ways. For example, in one embodiment,
cassette 300 may include one or more actuator (e.g., a step motor) that receives a control signal fromcontroller 40 to adjust the force generated bysprings axial drive mechanism 350 fromworkstation 14. In another embodiment,controller 40 may be configured to automatically adjust the pinch force generated bysprings cassette 300 is equipped with.Controller 40 may prompt the user to identify the type of guide wire via controls 16 (e.g., via a drop down menu, reading a bar code, etc.). In another embodiment,catheter procedure system 10 may be configured to automatically identify the type of guide wire thatcassette 300 is equipped with (e.g., via reading of an RFID tag associated with the guide wire), andcontroller 40 may be configured to automatically control the pinch force based on the automatically determined guide wire type. -
Encoder assembly 406 includesmagnetic coupling 440 that engages a magnetic encoder located withinmotor drive base 302. The magnetic encoder is configured to measure an aspect (e.g., speed, position, acceleration, etc.) of axial movement of the guide wire. Asroller 442 rotates,shaft 438 rotates causingmagnetic coupling 440 to rotate. The rotation ofmagnetic coupling 440 causes rotation of the magnetic encoder withinmotor drive base 302. Because rotation ofroller 442 is related to the axial movement ofguide wire 301, the magnetic encoder withinmotor drive base 302 is able to provide a measurement of the amount of axial movement experienced byguide wire 301 during a procedure. This information may be used for a variety of purposes. For example, this information may be displayed to a user atworkstation 14, may be used in a calculation of or estimated position of the guide wire within the vascular system of a patient, may trigger an alert or alarm indicating a problem with guide wire advancement, etc. - As shown in
FIG. 7 ,first roller assembly 402 andsecond roller assembly 404 are both mounted within ahousing 416.Housing 416 provides a common support forfirst roller assembly 402 andsecond roller assembly 404. As will be discussed in more detail below,first roller assembly 402 andsecond roller assembly 404 are moved away fromdrive wheel 410 androller 442, respectively, whenaxial drive assembly 324 is placed in the “loading” configuration. This facilitates placement ofguide wire 301 between the opposing pairs of engagement surfaces of guide wireaxial drive mechanism 350.Housing 416 allowsfirst roller assembly 402 andsecond roller assembly 404 to be moved together (e.g., in sync) away fromdrive wheel 410 androller 442, respectively, whenaxial drive assembly 324 is placed in the “load” configuration. -
Axial drive assembly 324 also includes working catheteraxial drive mechanism 352. Working catheteraxial drive mechanism 352 includes adrive element 452 and a working catheter axial motion sensor assembly, shown as workingcatheter encoder assembly 454.Drive element 452 includes adrive shaft 456, adrive wheel 458, abearing 460, and ascrew 462. Driveshaft 456 is configured to engagefirst capstan 304 ofmotor drive base 302 such that driveshaft 456 and drivewheel 458 rotate in response to rotation offirst capstan 304.Encoder assembly 454 includesshaft 464, aroller 466, anencoder linkage 468, aspring 470, and amagnetic coupling 480. -
Drive wheel 458 includes an outer orengagement surface 472 androller 466 includes an outer orengagement surface 474. When working catheteraxial drive mechanism 352 is in the “engaged” position, a working catheter is positioned betweendrive wheel 458 androller 466, such thatengagement surface 472 andengagement surface 474 are able to engage workingcatheter 303. In this embodiment, engagement surfaces 472 and 474 define a pair of engagement surfaces. The force applied to workingcatheter 303 byengagement surfaces drive wheel 458 is able to impart axial motion to the working catheter in response to the rotation ofdrive shaft 456 caused by rotation offirst capstan 304. This axial motion allows a user to advance and/or retract a working catheter via manipulation of controls located atworkstation 14.Roller 466 is rotatably mounted toshaft 464 and rotates freely asdrive wheel 458 rotates to drive the working catheter. - As shown in
FIG. 7 ,engagement surface 472 ofdrive wheel 458 is configured to increase the ability of the wheel to grip and to impart axial motion to the working catheter. In particular,engagement surface 472 ofdrive wheel 458 may be textured (e.g., non-smooth, treaded, slotted, etc.) to increase friction between the wheel and the working catheter. A particular embodiment of a wheel including a textured engagement surface is shown inFIGS. 18 , 19A and 19B, discussed in more detail below. WhileFIG. 7 shows drivewheel 458 with a textured outer surface androller 466 with anon-textured engagement surface 474, in other embodiments, bothdrive wheel 458 androller 466 may include textured outer surfaces. -
Spring 470 is coupled to a first end oflinkage 468. The second end oflinkage 468 includes anaperture 476 that is pivotally coupled to apost 478 extending from the inner surface oftop deck 354.Spring 470 is biased to exert a force on tolinkage 468 causinglinkage 468 to pivot aboutpost 478 to forceroller 466 to engage workingcatheter 303 againstdrive wheel 458.Spring 470 is selected, tuned, and/or adjusted such that the proper amount of force is applied to workingcatheter 303 byengagement surfaces drive wheel 458 to impart axial movement to the working catheter. -
Encoder assembly 454 includesmagnetic coupling 480 that engages a magnetic encoder located withinmotor drive base 302. The magnetic encoder is configured to measure an aspect (e.g., speed, position, acceleration, etc.) of axial movement of the working catheter. Asroller 466 rotates,shaft 464 rotates causingmagnetic coupling 480 to rotate. The rotation ofmagnetic coupling 480 causes rotation of the magnetic encoder withinmotor drive base 302. Because rotation ofroller 466 is related to the axial movement of workingcatheter 303, the magnetic encoder withinmotor drive base 302 is able to provide a measurement of the amount of axial movement experienced by the working catheter during a procedure. This information may be used for a variety of purposes. For example, this information may be displayed to a user atworkstation 14, may be used in a calculation of or estimated position of the working catheter within the vascular system of a patient, may trigger an alert or alarm indicating a problem with working catheter advancement, etc. - As will be discussed in more detail below,
roller 466 is moved away fromdrive wheel 458 whenaxial drive assembly 324 is placed in the “loading” configuration. This facilitates placement of the working catheter between the opposing pairs of engagement surfaces of working catheteraxial drive mechanism 352. - In one embodiment,
cassette 300 and/ormotor drive base 302 includes a locking mechanism that is configured to lock the position ofguide wire 301 during manipulation of the workingcatheter 303 and to lock the position of workingcatheter 303 during manipulation ofguide wire 301. In one embodiment, the locking mechanism acts to increase the force applied to the guide wire by the engagement surfaces when the working catheter is being advanced and to increase the force applied to the working catheter by the engagement surfaces when the guide wire is being advanced. - Referring to
FIGS. 7 and 8 ,top deck 354 includes a plurality of cylindrical sleeves,first sleeve 482,second sleeve 484, andthird sleeve 486, extending from the inner or lower surface oftop deck 354.Top deck 354 also includes a plurality of cylindrical collars,first collar 488,second collar 490, andthird collar 492, extending from the upper surface oftop deck 354.Collar 488 is in axial alignment withsleeve 482.Collar 490 is in axial alignment withsleeve 484.Collar 492 is in axial alignment withsleeve 486. Each of thecollars aperture 362. In the embodiment shown,sleeve 482 andcollar 488 are configured to receive workingcatheter drive element 452,sleeve 484 andcollar 490 are configured to receive guidewire drive element 400, andsleeve 486 andcollar 492 are configured to receive guidewire encoder assembly 406.Apertures 362 provide access toscrews top deck 354 is mounted overaxial drive assembly 324. -
Top deck 354 includes acollar 494 aligned with and located at the back end ofguide wire channel 364.Collar 494 is configured to receivefront shaft 512 that extends fromchassis 382 ofrotational drive assembly 326.Collar 494 is configured to allow front shaft 512 (and consequently the rest of rotational drive assembly 326) to rotate about the longitudinal axis ofguide wire channel 390 relative toaxial drive assembly 324. In one embodiment,rotational drive assembly 326 is able to rotate relative tohousing 316 ofcassette 300 whileaxial drive assembly 324 does not rotate relative tohousing 316. In another embodiment, bothrotational drive assembly 326 andaxial drive assembly 324 rotate relative tohousing 316 ofcassette 300. -
FIG. 8 is a bottom perspective view ofcassette 300 showingtop deck 354 mounted above guide wireaxial drive mechanism 350 and working catheteraxial drive mechanism 352.FIG. 8 shows workingcatheter drive element 452, guidewire drive element 400, and guidewire encoder assembly 406 received withinsleeves support structure 496 extends from the lower surface oftop deck 354.Spring 470 is coupled at one end to supportstructure 496 allowingspring 470 to compress and expanded betweenlinkage 468 andsupport structure 496. - As shown, the lower end of
drive shaft 408 includes akeyed recess 498, and the lower end ofdrive shaft 456 includes akeyed recess 500.Keyed recess 500 is one embodiment offirst capstan socket 310, and keyedrecess 498 is one embodiment ofsecond capstan socket 312.Keyed recess 500 is configured to receive a capstan, such asfirst capstan 304, and keyedrecess 498 is configured to receive a capstan, such assecond capstan 306.First capstan 304 andsecond capstan 306 are keyed to fit withinkeyed recess drive shafts - As shown,
magnetic coupling 440 of guidewire encoder assembly 406 includes a circular array ofmagnets 504.Magnetic coupling 480 of workingcatheter encoder assembly 454 includes a circular array ofmagnets 506.Magnetic couplings motor drive base 302. The magnetic encoders ofmotor drive base 302 are coupled to appropriate electronics to detect and measure rotation ofrollers guide wire 301 and workingcatheter 303 based on the measured rotations. While this embodiment discloses the use of magnetic encoders to detect the axial motion of the guide wire and working catheter, other sensors may be used. In one embodiment, axial motion of the guide wire may be detected by an optical sensor that detects movement of the guide wire and/or working catheter by scanning the surface of the guide wire and/or working catheter as it passes the optical sensor. In one such embodiment, the optical sensor includes an LED light source and a detector (e.g., a complimentary metal oxide semiconductor, other light detecting circuitry, etc.) that detects light reflected off the surface of the guide wire and/or working catheter, and the light detected by the detector is analyzed (e.g., by a digital signal processor) to determine movement of the guide wire and/or working catheter. In another embodiment, the surface of the guide wire and/or working catheter may include indicia that are detected to determine axial movement of the guide wire. In other embodiments, other types of sensors (e.g., resolvers, sychros, potentiometers, etc.), may be used to detect movement of the guide wire and/or working catheter. -
Cassette 300 also includes a series ofmagnets 508 positioned belowguide wire channel 364. Because, in at least some embodiments, the guide wire is made from a magnetic material,magnets 508 are able to interact with the guide wire. In this embodiment, the magnetic attraction created bymagnets 508 helps the userposition guide wire 301 during loading by drawingguide wire 301 intoguide wire channel 364. The magnetic attraction created bymagnets 508 also tends to holdguide wire 301 withinguide wire channel 364 during advancement and/or retraction of the guide wire. Further,magnets 508 help to holdguide wire 301 straight (i.e., parallel to the longitudinal axis of guide wire channel 364) to aid in the axial movement caused by guide wireaxial drive mechanism 350. -
FIG. 9 shows a top view ofaxial drive assembly 324 in the “loading” configuration with handle 358 (shown in broken lines) rotated such that handle 358 is generally parallel to guidewire channel 364.FIG. 10 shows a top view ofaxial drive assembly 324 in the “loaded” or “use” configuration withhandle 358 rotated such that it is generally perpendicular to guidewire channel 364. Generally, whenhandle 358 is moved from the position ofFIG. 10 to the position ofFIG. 9 , the engagement surfaces of both guide wireaxial drive mechanism 350 and working catheteraxial drive mechanism 352 are moved away from each other increasing the space between the pairs of wheels in the drive mechanisms. This provides sufficient space between the wheels of each drive mechanism to allow the user to placeguide wire 301 and workingcatheter 303 into the channels between the wheels. Generally, ashandle 358 is moved from the position ofFIG. 9 to the position ofFIG. 10 , the engagement surfaces of both guide wireaxial drive mechanism 350 and working catheteraxial drive mechanism 352 are moved toward each other bringing the engagement surfaces of each drive mechanism into engagement withguide wire 301 or working catheter, respectively. - In the embodiment shown, handle 358 is coupled to a
shaft 357.Shaft 357 includes acam section 359 andhousing 416 includes acam surface 417. Ashandle 358 rotates from the position shown inFIG. 9 to the position shown inFIG. 10 ,cam section 359 ofshaft 357 moves alongcam surface 417 causinghousing 416 to move towardguide wire 301. This motion engagesguide wire 301 betweendrive wheel 410 androller 418 and betweenroller 430 androller 442. When handle 358 is brought into the position ofFIG. 10 , springs 424 and 436 are compressed to the proper tension to allowdrive wheel 410 to moveguide wire 301 axial along its longitudinal axis. - In addition,
housing 416 includes atab 419 that is coupled tolinkage 468. Thus,linkage 468 rotates aboutpost 478 whenhousing 416 is moved to the position shown inFIG. 9 . This movement drawsroller 466 away from workingcatheter drive wheel 458. When,housing 416 is moved to the position shown inFIG. 10 ,roller 466 is moved towardcatheter drive wheel 458 such that the engagement surfaces ofroller 466 and drivewheel 458 engage workingcatheter 303. In one embodiment,cassette 300 is configured to allow the user to move theaxial drive assembly 324 between the “use” and “loading” positions via manipulation of controls atworkstation 14.Cassette 300 may also be configured to allow the user to move theaxial drive assembly 324 between the “use” and “loading” position manually. -
FIGS. 11 and 12 show a perspective view ofrotational drive assembly 326 showingcover 384 in the open position.Rotational drive assembly 326 includesrotational drive mechanism 380,chassis 382, anengagement structure 386, and adisengagement assembly 510.Chassis 382 fits overengagement structure 386 and provides mounting for various components ofrotational drive assembly 326.Chassis 382 includes afront shaft 512 and arear shaft 514. As discussed above,front shaft 512 is rotatably received withincollar 494 oftop deck 354, andrear shaft 514 is rotatably received withincollar 516 such thatrotational drive mechanism 380 is able to rotate relative tojournal 388. As shown,collar 516 extends through and is supported byjournal 388 such thatrear shaft 514 rotates withincollar 516 asrotational drive mechanism 380 is rotated.Collar 516 rests within a recess or slot formed withinjournal 388. In another embodiment,rear shaft 514 may be in direct contact withjournal 388 such thatrear shaft 514 rotates within the recess or slot ofjournal 388 asrotational drive mechanism 380 is rotated.Guide wire channel 390 extends the length ofchassis 382 through bothfront shaft 512 andrear shaft 514. -
Rotational drive mechanism 380 includesrotation bevel gear 518 that engages adrive gear 520.Bevel gear 518 is rigidly coupled tofront shaft 512 ofchassis 382 such that rotation ofbevel gear 518 rotateschassis 382.Drive gear 520 is coupled to a rotational actuator positioned inmotor drive base 302 and engagesbevel gear 518. Rotation of the rotational actuator inmotor drive base 302 causes drivegear 520 to rotate which causesbevel gear 518 to rotate which in turn causesrotational drive mechanism 380 to rotate.Rotational drive mechanism 380 is allowed to rotate about the longitudinal axis ofguide wire channel 390 via the rotatable connections betweenfront shaft 512 andtop deck 354 and betweenrear shaft 514 andjournal 388.Bevel gear 518 further includes aslot 519 in axial alignment withguide wire channel 390.Slot 519 allows the user to placeguide wire 301 intoguide wire channel 390 by dropping it in vertically as opposed to threading it throughbevel gear 518. In one embodiment,rotational drive assembly 326 is equipped with one or more sensors that are configured to measure an aspect (e.g., speed, position, acceleration, etc.) of rotation of the guide wire and/or any other structure ofrotational drive assembly 326. The sensors that measure rotation of the guide wire may include magnetic encoders and/or optical sensors as discussed above regarding the sensors that measure axial motion of the guide wire and/or working catheter. However, any suitable sensor (e.g., resolvers, sychros, potentiometers, etc.) may be used to detect rotation of the guide wire. - Referring to
FIG. 12 ,engagement structure 386 is shown according to an exemplary embodiment. As shown,engagement structure 386 includes four pairs of idler wheels or rollers. Each pair of rollers includes a fixedwheel 522 and anengagement wheel 524.Fixed wheels 522 are rotatably coupled tochassis 382 via fixation posts 530. Eachengagement wheel 524 is part of anengagement wheel assembly 523. Eachengagement wheel assembly 523 includes a pivoting body, shown aspivot yoke 532, and aspring 536. Each engagement wheel is mounted to pivotyoke 532 via a mountingpost 538. Eachpivot yoke 532 is pivotally coupled tochassis 382 via fixation posts 534. - Each fixed
wheel 522 includes an outer orengagement surface 526 and eachengagement wheel 524 includes an outer orengagement surface 528. Generally,FIG. 12 showsengagement structure 386 in the “use” or “engaged” position. In the “engaged” position,guide wire 301 is positioned between fixedwheels 522 andengagement wheels 524 such that engagement surfaces 526 and 528 are able to engageguide wire 301. In this embodiment,engagement surface 526 andengagement surface 528 of each pair of rollers define a pair of engagement surfaces. The force applied to guidewire 301 byengagement surfaces rotational drive assembly 326 is rotated. Further, the force applied to guidewire 301 byengagement surfaces axial drive mechanism 350. WhileFIG. 12 shows wheels wheels FIGS. 18 , 19A and 19B, discussed in more detail below. -
Springs 536 are biased to exert a force onto pivot yokes 532 causing eachengagement wheel 524 to engage the opposite fixedwheel 522. The generally L-shape ofpivot yoke 532 allowssprings 536 to be aligned with the longitudinal axis ofguide wire 301 and still cause engagement betweenengagement wheels 524, fixedwheels 522, and the guide wire. This allows the lateral dimension ofrotational drive assembly 326 to be less than ifsprings 536 were positioned perpendicular to the longitudinal axis of the guide wire.Springs 536 are selected, tuned, and/or adjusted such that the proper amount of force is applied to the guide wire byengagement surfaces -
Cassette 300 also includes a series ofmagnets 540 located beneathguide wire channel 390. Because, in at least some embodiments the guide wire is made from a magnetic material,magnets 540 are able to interact with the guide wire. In this embodiment, the magnetic attraction created bymagnets 540 helps the userposition guide wire 301 during loading by drawingguide wire 301 intoguide wire channel 390. The magnetic attraction created bymagnets 540 also tends to holdguide wire 301 withinguide wire channel 390 during advancement and/or retraction of the guide wire. Further,magnets 540 help to holdguide wire 301 straight (i.e., parallel to the longitudinal axis of guide wire channel 390) to aid in the axial movement caused by guide wireaxial drive mechanism 350. - Rotational drive assembly also includes a
disengagement assembly 510.Disengagement assembly 510 includes a steppedcollar 542, abase plate 544, and aspring 546. Steppedcollar 542 is coupled tobase plate 544, andspring 546 is coupled at one end tochassis 382 and at the other end tobase plate 544. Steppedcollar 542 includes aslot 548 in axial alignment withguide wire channel 390. Likeslot 519,slot 548 allows the user to placeguide wire 301 intoguide wire channel 390 by dropping it in vertically as opposed to threading it through steppedcollar 542.Base plate 544 includes a plurality ofengagement arms 550 that extend generally perpendicular to the plane defined bybase plate 544. - Generally,
disengagement assembly 510 allowsengagement wheels 524 to be moved away from fixedwheels 522. Referring toFIGS. 13 and 14 ,FIG. 14 shows a top view ofrotational drive assembly 326 in the “loading” configuration, andFIG. 13 shows a top view ofrotational drive assembly 326 in the “loaded” or “use” configuration. To causeengagement wheels 524 to disengage fromguide wire 301, an axially directed force (depicted by the arrow inFIG. 14 ) is applied to steppedcollar 542. This causesbase plate 544 to move toward the front ofcassette 300 in the direction of the arrow. Asbase plate 544 moves forward,spring 546 is compressed, andengagement arms 550 are brought into contact with pivot yokes 532. The contact betweenengagement arms 550 andpivot yokes 532 causessprings 536 to be compressed, and pivotyokes 532 pivot about fixation posts 534. As pivot yokes 532 pivot,engagement wheels 524 are drawn away from fixedwheels 522. As shown inFIG. 14 , this provides sufficient space betweenengagement wheels 524 and fixedwheels 522 to allow the user to placeguide wire 301 intoguide wire channel 390. - When the axial force is removed from stepped
collar 542,engagement wheels 524 move from the position shown inFIG. 14 to the “engaged” position shown inFIG. 13 . When the axial force is removed,spring 546 and springs 536 are allowed to expand causingengagement arms 550 to disengage from pivot yokes 532. Pivot yokes 532 pivot counter-clockwise aboutfixation posts 534, bringingengagement wheels 524 back towardguide wire channel 390 causing engagement surfaces 526 of fixedwheels 522 andengagement surfaces 528 ofengagement wheels 524 to engageguide wire 301. - In one embodiment, a user may activate controls located at
workstation 14 to causerotational drive assembly 326 to move between the “use” position and the “loading” position. In this embodiment,rotational drive assembly 326 is automatically rotated such thatguide wire channel 390 is facing generally upward to allow for easy loading or removal of the guide wire. In the embodiment shown,chassis 382 rotates relative to steppedcollar 542. In this embodiment, whenrotational drive assembly 326 is in the “loading” position, a path defined by the engagement surfaces ofengagement structure 386 and guidewire channel 390 align withslot 548 of steppedcollar 542.Motor drive base 302 may also include a structure (e.g., two rods, etc.) that applies the axial force to steppedcollar 542 in response to a user's activation of controls located atworkstation 14. The structure applies the axial force to the steppedcollar 542 to causeengagement structure 386 to disengage from the guide wire. Next,cover 384 is moved from the closed position to the open position allowing the user to accessguide wire channel 390 to either remove or install the guide wire. In one embodiment,cassette 300 and/ormotor drive base 302 includes motors or other actuators that cause the covers ofcassette 300 to open in response to a user's activation of controls atworkstation 14. -
FIG. 15 shows a cross-sectional view ofrotational drive assembly 326 as indicated by the corresponding sectional line inFIG. 6 .FIG. 15 depictsguide wire 301 withinguide wire channel 390. As shown inFIG. 15 , whencover 384 is in the closed position,tab 396 rests overguide wire channel 390. As shown inFIG. 15 ,tab 396 helps holdguide wire 301 inguide wire channel 390 by restricting movement ofguide wire 301 in a direction perpendicular to the plane defined by base plate 544 (this direction of restriction is the vertical direction in the orientation ofFIG. 15 ).Guide wire 301 is engaged on one side byengagement surface 526 of fixedwheel 522 and on the other side byengagement surface 528 ofengagement wheel 524. -
FIG. 16 shows a cross-sectional view ofaxial drive assembly 324 as indicated by the corresponding sectional line inFIG. 6 .FIG. 16 depictsguide wire 301 withinchannel 364.Guide wire 301 is engaged on one side byengagement surface 426 ofdrive wheel 410 and on the other side byengagement surface 428 ofroller 418. - Under certain circumstances, it may be desirable to disconnect
rotational drive assembly 326 fromcassette 300. Referring toFIGS. 17A-17C ,cassette 300 may be configured to allow rotational drive assembly 326 (shown schematically by broken lines inFIGS. 17A-17C ) to be disconnected fromcassette 300. In one such embodiment,cassette 300 includesjournal 388, androtational drive mechanism 380 is rotatably coupled tojournal 388. In this embodiment,journal 388 is releasably coupled tohousing 316 such that bothjournal 388 androtational drive mechanism 380 may be removed fromhousing 316 without removing the guide wire from the patient and/or without removingcassette 300 frombase 302. In one such embodiment, following release ofjournal 388 fromhousing 316, the user may remove (e.g., pull, slide, etc.) bothjournal 388 androtational drive mechanism 380 over the proximal end of the guide wire. - In one embodiment,
journal 388 includes aslot 552, andbase plate 318 includes arelease button 554.Release button 554 is coupled to ramp 556, and ramp 556 includes wedge-shapedend 558. As shown inFIG. 17A , wedge-shapedend 558 passes throughslot 552 tocouple journal 388 tobase plate 318. When a downward force is applied to releasebutton 554, wedge-shapedend 558 is allowed to disengage fromslot 552 allowingrotational drive assembly 326 andjournal 388 to disconnect frombase plate 318. - Next,
rotational drive assembly 326 is disengaged fromguide wire 301. As discussed above, regardingFIGS. 13 and 14 , by applying an axial force to steppedcollar 542,engagement structure 386 disengages from the guide wire. Onceengagement structure 386 is disengaged fromguide wire 301, therotational drive assembly 326 may be moved over the proximal end of the guide wire while the guide wire slides freely thoughguide wire channel 390. Removal ofrotational drive assembly 326 fromcassette 300 may be necessary if, for example,bedside system 12 loses power preventingmotor drive base 302 from placing rotational drive assembly into the “loading” configuration. In this case, removal ofrotational drive assembly 326 allows the user to either remove the guide wire and working catheter from the patient manually or to complete the procedure manually. - Referring to
FIGS. 18 , 19A and 19B, a wheel (e.g., drive wheel 410) for a drive mechanism of a robotic catheter system is shown according to an exemplary embodiment. As shown inFIGS. 18 , 19A and 19B,engagement surface 426 ofdrive wheel 410 is configured to increase the ability of the wheel to grip and to impart axial motion to the guide wire.Engagement surface 426 ofdrive wheel 410 is textured (e.g., non-smooth, treaded, slotted, slitted, etc.) to increase friction between the wheel and the guide wire. In particular, in the embodiment shown,drive wheel 410 includes a plurality ofslits 600 formed in the outer layer of the material ofdrive wheel 410.Slits 600 act to provide better grip between the wheel and the guide wire which provides for improved transmission of motion from the wheel to the guide wire and also decreases the chance that slippage will occur between the drive wheel and the guide wire. While the description ofFIGS. 18-19B relates to drivewheel 410, it should be understood that any wheel ofcassette 300 can be configured as discussed in relation to drivewheel 410. Accordingly,wheels rotational drive assembly 326 may have an engagement surface that is textured as described withwheels wheels wheels 522 are textured and/or only certain ofwheels 524 are textured or only some combination of some but not all ofwheels wheels other wheels certain wheels texture wheels - As shown in
FIG. 18 , each slit 600 has substantially the same size, shape, etc., as theother slits 600. However, in other embodiments, slits 600 may having varying sizes, shapes, etc. In the embodiment shown, slits 600 are substantially linear and are positioned substantially parallel to the central axis (e.g., the axis of rotation) ofdrive wheel 410.Slits 600 extend the entire axial dimension ofengagement surface 426, and, in this arrangement, slits 600 are substantially parallel to each other. In other embodiments, slits 600 may be other shapes or positioned in other configurations relative toengagement surface 426. For example, slits 600 may be curved having a component that extends in the circumferential direction alongengagement surface 426. In other embodiments, slits 600 may have multiple segments positioned at angles relative to each other (e.g., a zigzag pattern). - Referring to
FIGS. 19A and 19B , a top view ofdrive wheel 410 is shown.Slits 600 ofdrive wheel 410 are spaced at even intervals arounddrive wheel 410 and are substantially symmetric about the radial centerline of the slit. In various embodiments, the angle A between the radial centerlines ofadjacent slits 600 may be selected to vary the gripping characteristic of the wheel. In various exemplary embodiments, the angle A between radial centerlines ofadjacent slits 600 may be between about 5 degrees and about 20 degrees, specifically between about 10 degrees and about 15 degrees, and more specifically between about 11 degrees and 13 degrees. In the exemplary embodiment shown inFIGS. 18-19B ,drive wheel 410 includes 30slits 600 evenly spaced such that angle A is about 12 degrees. - The depth of
slits 600 below theouter surface 426, shown as dimension D inFIG. 19B , may be selected to vary the gripping characteristics ofwheel 410. In various embodiments, the depth ofslits 600 may be selected to be between about 1 percent and about 10 percent of the diameter ofwheel 410, specifically between about 1 percent and about 7 percent of the diameter ofwheel 410, and more specifically between about 1.5 percent and about 6.4 percent of the diameter ofwheel 410. In a specific embodiment, the diameter ofwheel 410 is about 0.63 inches, and the depth D ofslits 600 is between about 0.01 inches and about 0.04 inches. - The circumferential dimension of
slits 600, shown as dimension W inFIG. 19B , may be selected to vary the gripping characteristics ofwheel 410. In various embodiments, the circumferential dimension W ofslits 600 may be selected to be between about 0 percent and about 10 percent of the circumference ofwheel 410, specifically between about 0 percent and about 3 percent of the circumference ofwheel 410, and more specifically between about 0 percent and about 1 percent of the circumference ofwheel 410. - Further, the material of
drive wheel 410 may be selected to vary the gripping characteristics ofwheel 410. In one embodiment,drive wheel 410 may be made from a polymer material. In one embodiment,drive wheel 410 may be made from a thermoplastic polyurethane elastomer. In one specific embodiment,drive wheel 410 may be made from Texin RxT85A manufactured by Bayer MaterialScience. - In various embodiments, the hardness of the material of
drive wheel 410 may be selected to vary the gripping characteristics ofwheel 410. In various embodiments, the shore hardness of the material ofdrive wheel 410 is between about 10 A and about 100 A, specifically between about 50 A and about 100 A, and more specifically between about 75 A and about 95 A. In one specific embodiment,drive wheel 410 is made from a material having a shore hardness of about 85 A. - In one embodiment,
drive wheel 410 may be formed from a molded piece of polymer material having a smooth outer surface.Drive wheel 410 may then be coupled to ahub 602 of a cylindrical pin or shaft. Following attachment tohub 602,slits 600 are created in the outer surface ofdrive wheel 410 using a cutting or slitting tool to produceslits 600 of the desired size, shape and positioning. -
Drive wheel 410 may be attached to the hub in a variety of ways. In various embodiments,drive wheel 410 is coupled tohub 602 such that rotation of the shaft is transmitted to drivewheel 410 without slippage occurring betweendrive wheel 410 andhub 602. In one embodiment,drive wheel 410 is shaped as a ring having a central opening, and drivewheel 410 is mounted tohub 602 by stretching the material ofdrive wheel 410 and placingdrive wheel 410 overhub 602 such thathub 602 is received in the central opening ofdrive wheel 410. In this embodiment, the elasticity of the material ofdrive wheel 410 is sufficient to firmly attachdrive wheel 410 tohub 602 and to prevent movement ofdrive wheel 410 relative tohub 602 during rotation. - In other embodiments,
drive wheel 410 may be attached tohub 602 by other means. In one embodiment,drive wheel 410 may be welded or bonded tohub 602, and, in another embodiment,drive wheel 410 may be attached tohub 602 using an adhesive. In yet another embodiment,drive wheel 410 may be coupled tohub 602 using mechanical attachment elements. For example, the outer circumferential surface ofhub 602 may be formed with a series of posts, and the inner surface ofdrive wheel 410 may be formed with a series of recesses that receive the posts ofhub 602. - Referring to
FIGS. 20-23 , a structure or clip, shown aswheel separator clip 610, is depicted according to an exemplary embodiment.Separator clip 610 is configured to engagerotational drive assembly 326 in a manner that causes each pair ofwheels FIG. 14 . As noted above, in some embodiments,wheels rotational drive assembly 326 may be made from a deformable, polymer material. Further, becausesprings 536 act to biaswheels FIG. 13 , whencassette 300 is not in use,wheels cassette 300 is not used for a substantial period of time (e.g., during storage following manufacture, during storage between procedures, etc.), the constant contact betweenwheels springs 536 may cause deformation ofwheels wheels Separator clip 610 may be used to engagerotational drive assembly 326 to resist the biasing force ofsprings 536 in order to holdwheels cassette 300 is not in use. In this manner,separator clip 610 acts to prevent the deformation thatwheels - Referring to
FIG. 20 , an exploded view ofseparator clip 610 androtational drive assembly 326 is shown.Separator clip 610 includes abody 612, a pair ofupper walls 614 positioned substantially perpendicular to and extending frombody 612, a pair ofgripping surfaces 616, and ahandle tab 618.Separator clip 610 also includes at least onearm 620 positioned to and extending frombody 612. In an exemplary embodiment,separator clip 610 includes onearm 620 for each pair ofwheels rotational drive assembly 326, and in the particular embodiment shown inFIG. 21 ,separator clip 610 includes fourarms 620 corresponding to the four pairs ofwheels rotational drive assembly 326. -
Separator clip 610 is shown engaged torotational drive assembly 326 inFIG. 22 , and thedotted lines 622 inFIG. 20 indicate the position of engagement betweenarms 620 ofseparator clip 610 androtational drive assembly 326 whenseparator clip 610 is coupled to the rotational drive assembly. As indicated inFIG. 20 ,arms 620 ofseparator clip 610 are positioned betweenengagement arms 550 ofbase plate 544 andpivot yokes 532 of eachwheel assembly 523 ofrotational drive assembly 326. Whenseparator clip 610 is engaged withrotational drive assembly 326,upper walls 614 are positioned in contact with the upper outer surface ofcover 384 ofrotational drive assembly 326. To hold and manipulateseparator clip 610, the user may grasp grippingsurfaces 616 and/or handletab 618. - Referring to
FIG. 23 , a bottom view ofrotational drive assembly 326 is shown withseparator clip 610 coupled torotational drive assembly 326. Eacharm 620 ofseparator clip 610 is positioned between oneengagement arm 550 ofbase plate 544 and the opposingpivot yoke 532. In this position, eacharm 620 includes a first surface, shown as the right-facing surface inFIG. 23 , that is in contact withengagement arm 550 and a second surface, shows as the left-facing surface inFIG. 23 , that is in contact withpivot yoke 532. The contact of the opposing surfaces of eacharm 620 withengagement arms 500 andpivot yokes 532 causes eachspring 536 to be compressed. The compression ofsprings 536 in turn causes eachpivot yoke 532 to pivot aboutfixation post 534. As explained in detail above regardingFIGS. 13 and 14 , compression ofsprings 536 and the resulting pivoting of eachpivot yoke 532 moves eachwheel 524 away from the opposingwheel 522. Withseparator clip 610 engaged betweenengagement arms 550 andpivot yokes 532,rotational drive assembly 326 is held in the disengaged position such thatwheels separator clip 610 acts to prevent deformation ofwheels wheels cassette 300,separator clip 610 is disengaged fromrotational drive assembly 326 allowingwheels springs 536. - Further modifications and alternative embodiments of various aspects of the invention will be apparent to those skilled in the art in view of this description. Accordingly, this description is to be construed as illustrative only. The construction and arrangements, shown in the various exemplary embodiments, are illustrative only. Although only a few embodiments have been described in detail in this disclosure, many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter described herein. Some elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. The order or sequence of any process, logical algorithm, or method steps may be varied or re-sequenced according to alternative embodiments. Other substitutions, modifications, changes and omissions may also be made in the design, operating conditions and arrangement of the various exemplary embodiments without departing from the scope of the present invention.
Claims (23)
1. A drive mechanism for a robotic catheter system comprising:
a first engagement surface; and
a second engagement surface;
wherein the first engagement surface and second engagement surface are configured to engage a catheter device to allow the drive mechanism to impart motion to the catheter device;
wherein the first engagement surface is textured to facilitate gripping between the first engagement surface and the catheter device.
2. The drive mechanism of claim 1 , further comprising a plurality of slits in the first engagement surface, the plurality of slits providing the texture of the first engagement surface.
3. The drive mechanism of claim 2 , wherein the first engagement surface is the outer surface of a wheel, and further wherein the plurality of slits are located at even intervals around the circumference of the wheel.
4. The drive mechanism of claim 3 , wherein the angle between the radial centerline of adjacent slits is between about 5 degrees and 20 degrees.
5. The drive mechanism of claim 3 , wherein the slits are substantially linear and are positioned substantially parallel to the axis of rotation of the wheel.
6. The drive mechanism of claim 5 , wherein the slits extend along the entire axial dimension of the engagement surface.
7. The drive mechanism of claim 1 , wherein the first engagement surface is the outer surface of a wheel, and further wherein the wheel is made from a polymer material.
8. The drive mechanism of claim 7 , wherein the polymer material is a thermoplastic polyurethane elastomer.
9. The drive mechanism of claim 7 , wherein the polymer material has a shore hardness of between about 50 A and 100 A.
10. The drive mechanism of claim 1 , wherein the first engagement surface is a circumferential surface of a first wheel and the second engagement surface is a circumferential surface of a second wheel, and further wherein the first wheel is coupled to a drive shaft and the second wheel is a roller wheel.
11. The drive mechanism of claim 10 , wherein the catheter device is positioned between the first wheel and the second wheel, wherein the first and second wheels are configured to move toward each other such that first and second wheels apply a force to the outer surface of the catheter device, and further wherein the force may be controlled by the user of the drive mechanism.
12. The drive mechanism of claim 10 , wherein the catheter device is a guide wire and wherein the drive mechanism is an axial drive mechanism configured to impart axial motion to the guide wire via rotation of the first wheel.
13. The drive mechanism of claim 12 , wherein the second engagement surface is textured to facilitate gripping between the second engagement surface and the guide wire.
14. The drive mechanism of claim 10 , wherein the catheter device is a working catheter and wherein the drive mechanism is an axial drive mechanism configured to impart axial motion to the working catheter via rotation of the first wheel.
15. A cassette for use with a robotic catheter system configured to couple to a base, the cassette comprising:
a housing;
a first actuating mechanism supported by the housing and configured to engage and to impart axial movement to a guide wire, the first actuating mechanism comprising:
a drive shaft;
a drive wheel having a first engagement surface, the drive wheel coupled to the drive shaft, wherein the drive wheel includes a plurality of slits formed in the first engagement surface; and
a roller wheel having a second engagement surface;
wherein the guide wire is engaged between the drive wheel and the roller wheel, wherein rotation of the drive wheel imparts axial motion to the guide wire; and
a second actuating mechanism configured to engage and to impart rotational movement to the guide wire.
16. The cassette of claim 15 , wherein the plurality of slits are located at even intervals around the circumference of the drive wheel and further wherein the slits extend along the entire axial dimension of the first engagement surface.
17. The cassette of claim 15 , wherein the drive wheel is formed from a material having a shore hardness of between about 50 A and 100 A.
18. A cassette for use with a robotic catheter system configured to couple to a base, the cassette comprising:
a housing;
an actuating mechanism supported by the housing and configured to engage and to impart movement to a catheter device, the actuating mechanism comprising:
a first engagement surface; and
a second engagement surface;
wherein the first engagement surface is moveable between a first position and a second position, wherein the distance between the first and second engagement surfaces decreases as the first engagement surface is moved from the first position to the second position, and further wherein the first and second engagement surfaces are configured to engage the catheter device in the second position; and
a structure coupled to the actuating mechanism, the structure holding the first engagement structure in the first position.
19. The cassette of claim 18 , wherein the first engagement surface is coupled to a pivoting body, wherein the actuating mechanism comprises a spring engaged between the housing and the pivoting body, the spring biasing the first engagement surface to the second position, and further wherein the structure is engaged between the pivoting body and the housing to resist the biasing force of the spring.
20. The cassette of claim 18 , wherein catheter device is a guide wire, and the actuating mechanism is a rotational actuating mechanism configured to impart rotational motion to the guide wire, and further wherein the first engagement surface is the outer surface of a first roller wheel and the second engagement surface is the outer surface of a second roller wheel.
21. The drive mechanism of claim 12 , wherein the texture of the first engagement surface is different than a texture of the second engagement surface.
22. The drive mechanism of claim 15 , wherein the second actuating mechanism includes at least one roller wheel having an engagement surface with a texture that is different than the texture of the first engagement surface.
23. The drive mechanism of claim 15 , wherein the second actuating mechanism includes a plurality of roller wheels having engagement surfaces, at least some of the roller wheel engagement surfaces having a texture different from at least some of the other roller wheel engagement surfaces.
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US13/838,780 US20140058321A1 (en) | 2010-09-17 | 2013-03-15 | Wheel for robotic catheter system drive mechanism |
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Also Published As
Publication number | Publication date |
---|---|
US20160193445A1 (en) | 2016-07-07 |
EP2616126A4 (en) | 2017-05-24 |
US20130274657A1 (en) | 2013-10-17 |
EP2616126A1 (en) | 2013-07-24 |
US9782564B2 (en) | 2017-10-10 |
WO2012037213A1 (en) | 2012-03-22 |
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