WO2011008922A3 - Endoscopic robotic catheter system - Google Patents

Endoscopic robotic catheter system Download PDF

Info

Publication number
WO2011008922A3
WO2011008922A3 PCT/US2010/042080 US2010042080W WO2011008922A3 WO 2011008922 A3 WO2011008922 A3 WO 2011008922A3 US 2010042080 W US2010042080 W US 2010042080W WO 2011008922 A3 WO2011008922 A3 WO 2011008922A3
Authority
WO
WIPO (PCT)
Prior art keywords
instrument
catheter system
controller
operatively coupled
robotic catheter
Prior art date
Application number
PCT/US2010/042080
Other languages
French (fr)
Other versions
WO2011008922A2 (en
Inventor
Jeffery B. Alvarez
Federico Barbagli
Christopher R. Carlson
Christopher M. Sewell
Gregory J. Stahler
Neal A. Tanner
Original Assignee
Hansen Medical, Inc.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority to US12/504,569 priority Critical
Priority to US12/504,564 priority patent/US20110015483A1/en
Priority to US12/504,569 priority patent/US20110015484A1/en
Priority to US12/504,559 priority
Priority to US12/504,564 priority
Priority to US12/504,559 priority patent/US20110015648A1/en
Application filed by Hansen Medical, Inc. filed Critical Hansen Medical, Inc.
Publication of WO2011008922A2 publication Critical patent/WO2011008922A2/en
Publication of WO2011008922A3 publication Critical patent/WO2011008922A3/en

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131Accessories for endoscopes
    • A61B1/00133Drive units, e.g. for endoscopic tools
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147Holding or positioning arrangements
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147Holding or positioning arrangements
    • A61B1/00149Holding or positioning arrangements using articulated arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147Holding or positioning arrangements
    • A61B1/0016Holding or positioning arrangements using motor drive units
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005Flexible endoscopes
    • A61B1/0051Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052Constructional details of control elements, e.g. handles
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/307Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the urinary organs, e.g. urethroscopes, cystoscopes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B34/35Surgical robots for telesurgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B34/37Master-slave robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/71Manipulators operated by drive cable mechanisms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/50Supports for surgical instruments, e.g. articulated arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES 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
    • A61M25/00Catheters; Hollow probes
    • A61M25/01Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09Guide wires
    • A61M25/09041Mechanisms for insertion of guide wires
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00112Connection or coupling means
    • A61B1/00121Connectors, fasteners and adapters, e.g. on the endoscope handle
    • A61B1/00128Connectors, fasteners and adapters, e.g. on the endoscope handle mechanical, e.g. for tubes or pipes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00142Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with means for preventing contamination, e.g. by using a sanitary sheath
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/22Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
    • A61B17/221Gripping devices in the form of loops or baskets for gripping calculi or similar types of obstructions
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A61B18/22Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
    • A61B18/24Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor with a catheter
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681Aspects not otherwise provided for
    • A61B2017/00685Archimedes screw
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/22Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
    • A61B2017/22051Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with an inflatable part, e.g. balloon, for positioning, blocking, or immobilisation
    • A61B2017/22065Functions of balloons
    • A61B2017/22069Immobilising; Stabilising
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/301Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/50Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2217/00General characteristics of surgical instruments
    • A61B2217/002Auxiliary appliance
    • A61B2217/005Auxiliary appliance with suction drainage system
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES 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
    • A61M25/00Catheters; Hollow probes
    • A61M25/0021Catheters; Hollow probes characterised by the form of the tubing
    • A61M25/0023Catheters; Hollow probes characterised by the form of the tubing by the form of the lumen, e.g. cross-section, variable diameter
    • A61M25/0026Multi-lumen catheters with stationary elements
    • A61M2025/0036Multi-lumen catheters with stationary elements with more than four lumina
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES 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
    • A61M25/00Catheters; Hollow probes
    • A61M25/0021Catheters; Hollow probes characterised by the form of the tubing
    • A61M25/0023Catheters; Hollow probes characterised by the form of the tubing by the form of the lumen, e.g. cross-section, variable diameter
    • A61M25/0026Multi-lumen catheters with stationary elements
    • A61M2025/004Multi-lumen catheters with stationary elements characterized by lumina being arranged circumferentially

Abstract

A robotic catheter system includes an instrument driver in communication with a controller and having an elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by user input through a master input device operatively coupled to the controller, and an elongate instrument having a guide instrument base operatively coupled to the guide instrument interface. The elongate instrument comprises additional lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions.
PCT/US2010/042080 2009-07-16 2010-07-15 Endoscopic robotic catheter system WO2011008922A2 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
US12/504,564 US20110015483A1 (en) 2009-07-16 2009-07-16 Endoscopic robotic catheter system
US12/504,569 US20110015484A1 (en) 2009-07-16 2009-07-16 Endoscopic robotic catheter system
US12/504,559 2009-07-16
US12/504,564 2009-07-16
US12/504,559 US20110015648A1 (en) 2009-07-16 2009-07-16 Endoscopic robotic catheter system
US12/504,569 2009-07-16

Publications (2)

Publication Number Publication Date
WO2011008922A2 WO2011008922A2 (en) 2011-01-20
WO2011008922A3 true WO2011008922A3 (en) 2011-06-03

Family

ID=42988476

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2010/042080 WO2011008922A2 (en) 2009-07-16 2010-07-15 Endoscopic robotic catheter system

Country Status (1)

Country Link
WO (1) WO2011008922A2 (en)

Families Citing this family (25)

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Publication number Priority date Publication date Assignee Title
US9706903B2 (en) 2009-06-18 2017-07-18 Endochoice, Inc. Multiple viewing elements endoscope system with modular imaging units
US9993142B2 (en) 2013-03-28 2018-06-12 Endochoice, Inc. Fluid distribution device for a multiple viewing elements endoscope
US9713417B2 (en) 2009-06-18 2017-07-25 Endochoice, Inc. Image capture assembly for use in a multi-viewing elements endoscope
US10165929B2 (en) 2009-06-18 2019-01-01 Endochoice, Inc. Compact multi-viewing element endoscope system
US9872609B2 (en) 2009-06-18 2018-01-23 Endochoice Innovation Center Ltd. Multi-camera endoscope
US9642513B2 (en) 2009-06-18 2017-05-09 Endochoice Inc. Compact multi-viewing element endoscope system
US9101268B2 (en) 2009-06-18 2015-08-11 Endochoice Innovation Center Ltd. Multi-camera endoscope
CA2765559C (en) 2009-06-18 2017-09-05 Peer Medical Ltd. Multi-camera endoscope
US9986899B2 (en) 2013-03-28 2018-06-05 Endochoice, Inc. Manifold for a multiple viewing elements endoscope
US9492063B2 (en) 2009-06-18 2016-11-15 Endochoice Innovation Center Ltd. Multi-viewing element endoscope
US9901244B2 (en) 2009-06-18 2018-02-27 Endochoice, Inc. Circuit board assembly of a multiple viewing elements endoscope
US9560953B2 (en) 2010-09-20 2017-02-07 Endochoice, Inc. Operational interface in a multi-viewing element endoscope
CA2812097A1 (en) 2010-09-20 2012-03-29 Peermedical Ltd. Multi-camera endoscope having fluid channels
CN103403605A (en) 2010-10-28 2013-11-20 恩多巧爱思创新中心有限公司 Optical systems for multi-sensor endoscopes
EP2648602B1 (en) 2010-12-09 2018-07-18 EndoChoice Innovation Center Ltd. Flexible electronic circuit board multi-camera endoscope
CN107361721A (en) 2010-12-09 2017-11-21 恩多巧爱思创新中心有限公司 Flexible electronic circuit board for a multi-camera endoscope
EP2672878B1 (en) 2011-02-07 2017-11-22 Endochoice Innovation Center Ltd. Multi-element cover for a multi-camera endoscope
US9402533B2 (en) 2011-03-07 2016-08-02 Endochoice Innovation Center Ltd. Endoscope circuit board assembly
US9101287B2 (en) 2011-03-07 2015-08-11 Endochoice Innovation Center Ltd. Multi camera endoscope assembly having multiple working channels
US8926502B2 (en) 2011-03-07 2015-01-06 Endochoice, Inc. Multi camera endoscope having a side service channel
FR2979532B1 (en) 2011-09-07 2015-02-20 Robocath Module and method of medical flexible elongate drive members and associated ROBOTIC SYSTEM
CA2798729A1 (en) 2011-12-13 2013-06-13 Peermedical Ltd. Rotatable connector for an endoscope
EP2604175A1 (en) 2011-12-13 2013-06-19 Peer Medical Ltd. Removable tip endoscope
US9560954B2 (en) 2012-07-24 2017-02-07 Endochoice, Inc. Connector for use with endoscope
KR20150084837A (en) * 2012-11-14 2015-07-22 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Systems and methods for a dual-control surgical instrument

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US20050222554A1 (en) * 2004-03-05 2005-10-06 Wallace Daniel T Robotic catheter system
US20060041245A1 (en) * 2001-05-06 2006-02-23 Ferry Steven J Systems and methods for medical device a dvancement and rotation
WO2006050574A1 (en) * 2004-11-11 2006-05-18 Daltray Pty Ltd Sigmoidoscope with optical coupling element
WO2007005976A1 (en) * 2005-07-01 2007-01-11 Hansen Medical, Inc. Robotic catheter system
EP1779801A2 (en) * 2005-10-27 2007-05-02 Olympus Medical Systems Corp. Apparatus for commanding and assisting operations of a medical endoscopic instrument
US20090112229A1 (en) * 2007-10-31 2009-04-30 Terumo Kabushiki Kaisha Manipulator for medical use

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US20020087048A1 (en) * 1998-02-24 2002-07-04 Brock David L. Flexible instrument
US20060041245A1 (en) * 2001-05-06 2006-02-23 Ferry Steven J Systems and methods for medical device a dvancement and rotation
US20050222554A1 (en) * 2004-03-05 2005-10-06 Wallace Daniel T Robotic catheter system
WO2006050574A1 (en) * 2004-11-11 2006-05-18 Daltray Pty Ltd Sigmoidoscope with optical coupling element
WO2007005976A1 (en) * 2005-07-01 2007-01-11 Hansen Medical, Inc. Robotic catheter system
EP1779801A2 (en) * 2005-10-27 2007-05-02 Olympus Medical Systems Corp. Apparatus for commanding and assisting operations of a medical endoscopic instrument
US20090112229A1 (en) * 2007-10-31 2009-04-30 Terumo Kabushiki Kaisha Manipulator for medical use

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