WO2013141011A1 - Manche de commande de tube médical et dispositif de tube médical - Google Patents

Manche de commande de tube médical et dispositif de tube médical Download PDF

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Publication number
WO2013141011A1
WO2013141011A1 PCT/JP2013/055947 JP2013055947W WO2013141011A1 WO 2013141011 A1 WO2013141011 A1 WO 2013141011A1 JP 2013055947 W JP2013055947 W JP 2013055947W WO 2013141011 A1 WO2013141011 A1 WO 2013141011A1
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WO
WIPO (PCT)
Prior art keywords
control handle
tube
handle
distal end
grip
Prior art date
Application number
PCT/JP2013/055947
Other languages
English (en)
Japanese (ja)
Inventor
小林　洋平
Original Assignee
日本ライフライン株式会社
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
Application filed by 日本ライフライン株式会社 filed Critical 日本ライフライン株式会社
Publication of WO2013141011A1 publication Critical patent/WO2013141011A1/fr

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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
    • A61M25/0133—Tip steering devices
    • A61M25/0136—Handles therefor

Definitions

  • the present invention relates to a medical tube control handle and a medical tube device including the same.
  • a sheath tube (steerable sheath) is first introduced into the body to secure an insertion path for the medical device. ing.
  • Patent Document 1 discloses a shaft (sheath tube) having a deflectable portion and a lumen, and a control handle having a deflection assembly (rotation operation unit).
  • a sheath guiding device is disclosed that includes a deflectable portion and a tension member extending between the control handle.
  • FIG. 6 is a plan view showing a conventionally known sheath device.
  • the sheath apparatus shown in the figure includes a sheath tube 60 having a distal end flexible portion 60A, and a control handle 70 in which a proximal end portion of the sheath tube 60 is inserted (connected to the proximal end side of the sheath tube 60).
  • a branch pipe (side arm) 75 connected to the control handle 70 and having an inner hole communicating with the inner hole of the sheath tube 60, and a three-way stopcock 76 attached to the branch pipe 75.
  • the control handle 70 constituting the sheath device is provided on a handle main body 71 (grip part), a rotary plate 72 (rotation operation part) positioned on the distal end side of the handle main body 71, and a proximal end side of the handle main body 71.
  • a hemostasis valve 73 and a strain relief 74 located on the distal end side of the rotating plate 72 are provided.
  • the proximal end portion of the sheath tube 60 is inserted into the inside of the control handle 70 (handle body 71), and the proximal end of the sheath tube 60 is connected to the hemostasis valve 73.
  • the sheath tube 60 As a method of introducing the sheath tube 60 into the body using the sheath device as shown in FIG. 6, the sheath tube 60 is inserted into a patient's blood vessel together with a dilator (not shown), and the guide wire inserted in advance is used. And move it toward the target site (affected area).
  • the introduction operation of the sheath tube 60 is performed while appropriately operating the rotating plate 72 of the control handle 70 (while appropriately deflecting the distal end of the sheath tube 60).
  • a guide wire and a dilator are extracted. Thereby, the front-end
  • the distal end of the catheter shaft 80 is connected to the proximal end (the hemostatic valve 73) of the control handle 70 as shown in FIG. ) Is inserted into the inner hole of the sheath tube 60, the catheter shaft 80 is moved along the inner hole, and the distal end flexible portion 80A of the catheter shaft 80 is extended from the distal end opening of the sheath tube 60.
  • the insertion operation of the catheter shaft 80 is performed while appropriately operating the rotation plate 92 (rotation operation portion) of the control handle 90 connected to the proximal end of the catheter shaft 80 (while appropriately deflecting the distal end of the catheter shaft 80). ) Done.
  • the distal end portion of the catheter shaft 80 (for example, the electrode in the electrode catheter) is positioned at the target site (affected site).
  • the operation of the rotating plate 92 (the tip deflection operation of the catheter shaft 80) is performed, for example, with the thumb and index finger of the right hand while holding the handle body 91 of the control handle 90 with the right hand (dominant hand) as shown in FIG. Is called.
  • the catheter shaft 80 inserted from the proximal end (the hemostasis valve 73) of the handle body 71 into the inner hole of the sheath tube 60 in which the proximal end portion is inserted into the handle body 71.
  • the catheter 90 is operated by operating the rotary plate 92 of the control handle 90 in order to position the distal end portion of the catheter shaft 80 at the target site.
  • the position of the distal end opening of the sheath tube 60 is changed by operating the rotating plate 72 of the control handle 70 to bend the distal end flexible portion 60A of the sheath tube 60. (Fine adjustment) may be desired.
  • the handle main body 71 related to the sheath tube 60 is changed to the right hand (the handle main body 91 related to the catheter shaft 80 is changed to the left hand), and the right hand thumb and index finger are changed.
  • the handle main body 91 related to the catheter shaft 80 is changed to the left hand
  • the right hand thumb and index finger are changed.
  • the operation of changing the control handle is complicated, and when the control handle is changed, the distal end portion of the catheter shaft 80 may be displaced. Further, it is required by a skilled operator that the distal end deflection operation of the catheter shaft 80 and the distal end deflection operation of the sheath tube 60 can be performed simultaneously (or alternately), but the sheath as shown in FIGS.
  • the tip deflection operation of the catheter shaft 80 by the rotating plate 92 of the control handle 90 and the rotation of the control handle 70 are performed.
  • the tip deflection operation of the sheath tube 60 by the plate 72 cannot be performed simultaneously (or alternately). Although it is possible to hold the handle body 71 with the left hand in the opposite hand and perform the tip deflection operation, the operation is difficult and the operation may be wrong.
  • a first object of the present invention is to provide a control handle capable of operating a rotation operation unit (operation for deflecting the tip of a tube) by holding it with either left or right hand.
  • the second object of the present invention is to control the tip deflection operation of a tube introduced into the body prior to the medical instrument even after the distal deflection operation of a long medical instrument such as a catheter is performed. It is an object of the present invention to provide a medical tube control handle that can be implemented without changing the handle.
  • a third object of the present invention is to simultaneously or alternately perform the tip deflection operation of a long medical instrument such as a catheter and the tip deflection operation of a tube introduced into the body prior to the medical instrument.
  • the fourth object of the present invention is to operate the rotary operation unit by grasping the control handle with either the left or right hand, and after performing the tip deflection operation of a long medical instrument such as a catheter.
  • Another object of the present invention is to provide a medical tube device that can perform the tip deflection operation of the tube without changing the control handle even when the tip deflection operation is being performed.
  • the medical tube control handle of the present invention is provided with a handle main body into which a proximal end portion of the tube having a distal end flexible portion is inserted, and is rotatable with respect to the handle main body.
  • a rotation operation unit that deflects the distal end of the tube by bending the distal end flexible portion of the tube,
  • the handle main body includes a first grip portion located on a proximal end side of the rotation operation portion and a second grip portion located on a distal end side of the rotation operation portion.
  • the rotary operation unit is operated with the thumb and index finger of one hand by grasping the first grip part of the handle body with either one of the left and right hands.
  • the tip deflection operation of the tube can be performed.
  • the rotation operation portion is operated with the thumb and index finger of the other hand to perform the tip deflection operation of the tube.
  • the proximal end portion of the sheath tube having the distal end flexible portion is provided therein, and is provided rotatably with respect to the handle body. Is provided at the proximal end of the handle body, and is provided at the proximal end of the handle body. It is preferable to comprise a hemostasis valve to which the proximal end is connected.
  • the handle body (grip part) of the control handle of a long medical instrument such as a catheter is gripped with one hand, and the rotary operation part located on the distal end side thereof
  • the handle body (second grip portion) of the control handle of the present invention is gripped with the other hand when the thumb is operated with the thumb and index finger of the one hand (the tip deflection operation of the medical device)
  • the rotation operation part located on the proximal end side can be operated (the distal end deflection operation of the sheath tube) with the thumb and index finger of the other hand.
  • the first grip and the second grip have the same shape.
  • “the same shape as each other” includes the case where both shapes (dimensions) are completely the same and the shapes are almost the same.
  • the first grip is cylindrical and the second grip is also cylindrical, or when the first grip is rectangular (prism) and the second grip is rectangular (prism), Even if the lengths of the two are slightly different, the two have the same shape. According to the control handle of the present invention having such a configuration, the same operational feeling can be obtained when either the first grip or the second grip is gripped.
  • the first grip and the second grip have a diameter reduced toward a center where the rotation operation unit is located. According to the control handle of the present invention having such a configuration, when the first grip or the second grip is gripped, the grip can be easily gripped, and the rotation operation unit can be operated smoothly.
  • the rotation operation unit is rotatable around an axis orthogonal to the longitudinal direction of the handle body.
  • the rotation operation unit may be rotatable around a longitudinal axis of the handle body.
  • a medical tube device includes the control handle according to any one of (1) to (6) above, And a tube having a distal end flexible portion and having a proximal end portion inserted into the inside of the handle main body of the control handle.
  • the rotation operation section (tube tip deflection operation) can be performed. Even after the tip deflection operation of a long medical instrument such as a catheter is performed, the tip deflection operation of the tube introduced into the body prior to the medical instrument is changed by changing the control handle of the tube. Can be implemented without. Furthermore, the tip deflection operation of a long medical instrument such as a catheter and the tip deflection operation of a tube introduced into the body prior to the medical instrument can be performed simultaneously or alternately.
  • the rotation operation unit can be operated by holding the control handle with either the left or right hand, and the tip deflection operation of a long medical instrument such as a catheter can be performed. After or after the operation, the tube tip deflection operation can be performed without changing the control handle.
  • FIG. 1 It is a top view which shows the medical tube apparatus (sheath apparatus) provided with the control handle which concerns on one Embodiment of this invention. It is a perspective view which shows the control handle (control handle which concerns on one Embodiment of this invention) which comprises the sheath apparatus shown in FIG. It is a top view which shows the state by which the catheter shaft is penetrated by the inner hole of the sheath tube which comprises the sheath apparatus shown in FIG. It is a top view which shows the state which is operating the rotation operation part of the control handle (control handle which concerns on one Embodiment of this invention) which comprises the sheath apparatus shown in FIG. 1, and the rotation operation part of the control handle of a catheter shaft. .
  • FIG. 8 is a plan view showing a state in which the rotation operation portion of the control handle of the catheter shaft is operated in the state shown in FIG. 7.
  • a medical tube device (sheath device) 100 shown in FIGS. 1 to 4 is a device for introducing the sheath tube 10 into the body prior to the insertion of the catheter shaft 80 into the body of the patient.
  • the sheath device 100 includes a sheath tube 10, a control handle 20, a branch pipe (side arm) 31, and a three-way cock 32.
  • a control handle 20 constituting the sheath device 100 includes a handle body 21 into which a proximal end portion of the sheath tube 10 having a distal end flexible portion 10A is inserted, and the handle body 21.
  • a rotation plate 22 (rotation operation part) that deflects the distal end flexible portion 10A and deflects the distal end of the sheath tube 10 by operating this, and is provided on the proximal end side of the handle body 21;
  • the handle main body 21 includes a hemostasis valve 23 to which the proximal end of the sheath tube 10 is connected.
  • the handle main body 21 includes a first grip portion 211 positioned on the proximal end side of the rotating plate 22 and the rotating plate 22. 2nd grip part 212 located in the front end side.
  • the tip region of the sheath tube 10 constituting the sheath device 100 is a tip flexible portion 10A.
  • the “tip flexible portion” refers to the tip portion of the tube that can be bent (bent) by operating the rotation operation portion.
  • the sheath tube 10 is configured by a hollow tube member made of a synthetic resin such as polyolefin, polyamide, polyether polyamide, or polyurethane.
  • the outer diameter of the sheath tube 10 is usually 2.0 to 5.0 mm, preferably 2.6 to 4.3 mm.
  • the inner diameter of the sheath tube 10 is usually 1.6 to 4.3 mm, preferably 2.0 to 2.8 mm.
  • the length of the sheath tube 10 is, for example, 500 to 800 mm, and the length of the distal end flexible portion 10A is, for example, 20 to 150 mm.
  • the control handle 20 constituting the sheath device 100 includes a handle body 21, a rotating plate 22, and a hemostasis valve 23.
  • the proximal end portion of the sheath tube 10 is inserted into the handle main body 21 of the control handle 20.
  • the rotating plate 22 of the control handle 20 is provided so as to be rotatable with respect to the handle body 21 around an axis perpendicular to the longitudinal direction of the handle body 21.
  • a first operation wire (not shown) for bending the distal flexible portion 10A in the first direction (the direction indicated by arrow A in FIG. 1) and the distal flexible portion 10A are second.
  • a second operation wire (not shown) for bending in a direction (a direction indicated by an arrow B in FIG. 1) extends.
  • the distal ends of the first operation wire and the second operation wire are connected and fixed to the distal end portion of the sheath tube 10.
  • the rear ends of the first operation wire and the second operation wire are connected to the rotating plate 22 of the control handle 20 so that the pulling operation can be performed.
  • the distal end flexible portion 10A When the rotating plate 22 is rotated in the A1 direction shown in FIG. 1, the distal end flexible portion 10A is bent in the first direction (the direction indicated by the arrow A in FIG. 1) by pulling the first operation wire, and the sheath. The tip of the tube 10 is deflected in the first direction.
  • the rotating plate 22 When the rotating plate 22 is rotated in the B1 direction shown in FIG. 1, the distal end flexible portion 10A is bent in the second direction (the direction indicated by the arrow B in FIG. 1) by pulling the second operation wire. The tip of the sheath tube 10 is deflected in the second direction.
  • the directions of the A direction and the B direction with respect to the control handle 20 can be freely set.
  • the handle main body 21 of the control handle 20 has two grip portions (a first grip 211 located on the proximal end side and a first grip located on the distal end side) disposed on both sides of the rotating plate 22 (rotation operation portion). 2 grip 212).
  • the control handle 20 having grips on both sides of the rotating plate 22, by holding the first grip portion 211 of the handle body 21 with either one of the left and right hands (for example, the right hand), the one hand (for example, the rotating plate 22 can be operated with the thumb and index finger of the right hand (the tip deflection operation of the sheath tube 10 can be performed). Further, by grasping the second grip 212 of the handle body 21 with either the left or right hand (for example, the left hand), the rotating plate 22 can be operated with the thumb and index finger of the other hand (for example, the left hand) (sheath) The tip 10 of the tube 10 can be deflected).
  • the control handle 20 even when the handle body 21 is gripped with either the left or right hand, by selecting the grip that can be gripped so that the rotating plate 22 is positioned on the thumb side, The distal end of the sheath tube 10 can be deflected by operating the rotary plate 22 with the thumb and index finger of the hand holding the grip.
  • the first grip 211 and the second grip 212 constituting the handle body 21 have the same shape. Thereby, even when any grip is gripped and the rotary plate 22 is operated, the same operational feeling can be obtained. Further, both the first grip 211 and the second grip 212 are reduced in diameter toward the center where the rotary plate 22 is located. Thereby, when gripping any grip and operating the rotating plate 22, the grip is easy to grip and the rotating plate 22 can be operated smoothly.
  • the hemostasis valve 23 provided at the proximal end of the handle body 21 (first grip portion 211) has liquid tightness, and the sheath tube 10 whose proximal end is connected to the hemostasis valve 23 inside the handle body 21. It is possible to prevent liquid (such as blood or a chemical solution supplied from the branch pipe 31) existing in the inner hole from leaking out from the base end of the control handle 20.
  • the hemostasis valve 23 is made of, for example, an elastomer sheet in which slits penetrating both surfaces are formed.
  • the inner hole of the branch pipe 31 constituting the sheath device 100 communicates with the inner hole of the sheath tube 10, and the chemical solution or the like supplied from the branch pipe 31 is supplied into the body through the inner hole of the sheath tube 10. be able to.
  • the sheath tube 10 constituting the sheath device 100 can be introduced into the patient's body.
  • a dilator (not shown) is inserted into the inner hole of the sheath tube 10
  • the sheath tube 10 integrated with the dilator is inserted into the blood vessel of the patient, and the rotating plate of the control handle 20 is inserted.
  • the sheath tube 10 is moved toward the target site (affected site) along the guide wire that is inserted in advance while performing the tip deflection operation.
  • the distal end opening of the sheath tube 10 reaches the vicinity of the target site (affected site), the dilator and the guide wire are removed. Thereby, the front-end
  • the catheter shaft can be inserted into the body using the sheath tube 10 thus introduced into the body.
  • the distal end of the catheter shaft 80 is inserted into the inner hole of the sheath tube 10 from the proximal end (the hemostatic valve 23) of the control handle 20, and the rotating plate 92 of the control handle 90 is inserted.
  • the catheter shaft 80 is moved along the inner hole of the sheath tube 10, and the tip flexible portion 80A of the catheter shaft 80 is extended from the tip opening of the sheath tube 10.
  • the distal end of the catheter shaft 80 is deflected by operating the rotating plate 92 of the control handle 90 to bend the distal end flexible portion 80A, and the rotating plate 22 of the control handle 20 is operated as necessary.
  • the distal end of the sheath tube 10 is deflected by bending the distal flexible portion 10A. Thereby, the position of the distal end portion of the catheter shaft 80 (for example, an electrode in the electrode catheter) is adjusted, and this can reach the target site (affected site).
  • the operation of the rotating plate 92 for deflecting the distal end of the catheter shaft 80 is performed by the right thumb and index finger holding the handle body 91 of the control handle 90 to deflect the distal end of the sheath tube 10.
  • the operation of the rotary plate 22 is performed by the left thumb and index finger holding the second grip 212 of the control handle 20.
  • a catheter procedure (diagnosis / treatment) is performed. After completion of the catheter procedure, the catheter shaft 80 is removed from the body, and then the sheath tube 10 is removed from the body.
  • FIG. 5 shows a control handle according to another embodiment of the present invention.
  • the control handle 25 is provided with a handle main body 26 into which the proximal end portion of the sheath tube 10 is inserted, and is rotatable with respect to the handle main body 26.
  • the rotary operation part 27 which deflects a part and deflects the front-end
  • the same components as those in the first embodiment are denoted by the same reference numerals.
  • the rotation operation unit 27 constituting the control handle 25 is provided so as to be rotatable around the longitudinal axis of the handle body 26.
  • the rotation operation unit 27 is rotated in the a1 direction shown in FIG. 5, the distal flexible portion of the sheath tube 10 is bent in the first direction, and the distal end of the sheath tube 10 is deflected in the first direction.
  • the rotation operation unit 27 is rotated in the b1 direction shown in FIG. 5, the distal end flexible portion of the sheath tube 10 is bent in the second direction opposite to the first direction, and the distal end of the sheath tube 10 is the second. Deflect in the direction.
  • the handle main body 26 constituting the control handle 25 has a first grip part 261 located on the proximal end side of the rotation operation part 27 and a second grip part 262 located on the distal end side of the rotation operation part 27. .
  • the first grip portion 261 of the handle body 26 is held by either one of the left and right hands (for example, the right hand), thereby
  • the rotation operation unit 27 can be operated with the thumb (for example, the right hand) and the index finger (the tip deflection operation of the sheath tube 10 is performed).
  • the rotation operation unit 27 is operated with the thumb and index finger of the other hand (for example, the left hand) (sheath)
  • the tip of the tube 10 can be deflected).
  • the tube to which the control handle of the present invention is attached is not limited to a sheath tube, and may be a catheter shaft that is directly used for diagnosis and treatment.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Engineering & Computer Science (AREA)
  • Anesthesiology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Hematology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

L'invention concerne un manche de commande qui comprend : un corps de manche principal (21) à l'intérieur duquel la partie d'extrémité de base d'un tube de gaine (10) ayant une partie de pointe souple (10A) est introduite ; une plaque rotative (22), qui est agencée de façon à pouvoir tourner par rapport au corps de manche principal (21) et qui plie la partie de pointe souple (10A) du tube de gaine (10) en l'actionnant pour diriger la pointe du tube de gaine (10) ; et une valve hémostatique (23) disposée sur l'extrémité de base du corps de manche principal (21). Le corps de manche principal (21) a une première section de préhension (211) située sur le côté extrémité de base de la plaque rotative (22) et une seconde section de préhension (213) située sur le côté extrémité avant de la plaque rotative (22). Grâce audit manche de commande, le fonctionnement de la section d'actionnement de rotation (direction de la pointe de tube) peut être réalisé si elle a été saisie à l'aide de la main gauche ou droite.
PCT/JP2013/055947 2012-03-19 2013-03-05 Manche de commande de tube médical et dispositif de tube médical WO2013141011A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012-061947 2012-03-19
JP2012061947A JP2013192691A (ja) 2012-03-19 2012-03-19 医療用チューブの制御ハンドルおよび医療用チューブの導入装置

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Publication Number Publication Date
WO2013141011A1 true WO2013141011A1 (fr) 2013-09-26

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JP (1) JP2013192691A (fr)
TW (1) TW201402160A (fr)
WO (1) WO2013141011A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11147635B1 (en) 2020-06-19 2021-10-19 Remedy Robotics, Inc. Systems and methods for guidance of intraluminal devices within the vasculature
US11690683B2 (en) 2021-07-01 2023-07-04 Remedy Robotics, Inc Vision-based position and orientation determination for endovascular tools
US11707332B2 (en) 2021-07-01 2023-07-25 Remedy Robotics, Inc. Image space control for endovascular tools

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Publication number Priority date Publication date Assignee Title
JP2017121313A (ja) * 2016-01-06 2017-07-13 日本ライフライン株式会社 カテーテルおよびカテーテル装置

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JPH06292728A (ja) * 1992-12-04 1994-10-21 C R Bard Inc 近位制御および遠位制御を独立して行うカテーテルおよびそのハンドル／アクチュエータ
JP2011234977A (ja) * 2010-05-12 2011-11-24 Japan Lifeline Co Ltd カテーテル用ハンドル

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Publication number Priority date Publication date Assignee Title
JP2687849B2 (ja) * 1993-08-31 1997-12-08 日本ゼオン株式会社 カテーテル及びその操作機構
US10046141B2 (en) * 2008-12-30 2018-08-14 Biosense Webster, Inc. Deflectable sheath introducer

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
JPH06292728A (ja) * 1992-12-04 1994-10-21 C R Bard Inc 近位制御および遠位制御を独立して行うカテーテルおよびそのハンドル／アクチュエータ
JP2011234977A (ja) * 2010-05-12 2011-11-24 Japan Lifeline Co Ltd カテーテル用ハンドル

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11147635B1 (en) 2020-06-19 2021-10-19 Remedy Robotics, Inc. Systems and methods for guidance of intraluminal devices within the vasculature
US11154366B1 (en) 2020-06-19 2021-10-26 Remedy Robotics, Inc. Systems and methods for guidance of intraluminal devices within the vasculature
US11197725B1 (en) 2020-06-19 2021-12-14 Remedy Robotics, Inc. Systems and methods for guidance of intraluminal devices within the vasculature
US11229488B2 (en) 2020-06-19 2022-01-25 Remedy Robotics, Inc. Systems and methods for guidance of intraluminal devices within the vasculature
US11246667B2 (en) 2020-06-19 2022-02-15 Remedy Robotics, Inc. Systems and methods for guidance of intraluminal devices within the vasculature
US11779406B2 (en) 2020-06-19 2023-10-10 Remedy Robotics, Inc. Systems and methods for guidance of intraluminal devices within the vasculature
US11690683B2 (en) 2021-07-01 2023-07-04 Remedy Robotics, Inc Vision-based position and orientation determination for endovascular tools
US11707332B2 (en) 2021-07-01 2023-07-25 Remedy Robotics, Inc. Image space control for endovascular tools

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JP2013192691A (ja) 2013-09-30

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