公开(公告)号：US20150065952A1

公开(公告)日：2015-03-05

申请号：US14468416

申请日：2014-08-26

Applicant: Catheter Robotics Inc.

Inventor： Robert Pacheco ,  Steve Foley ,  David Jenkins

IPC: A61M25/01

CPC classification number: A61M25/0113 ,  A61B34/30 ,  A61B2034/301

Abstract: Various embodiments provide a catheter positioning device with components for controlling actuators of the catheter in multiple axes. A catheter may be attached to a sled member by a modular plate with one or more actuator interfaces that may couple with the actuators of a catheter handle. One or more motors or drives in the sled member may move the actuator interfaces of the modular plate to control one or more actuators on the catheter in different axes. In various embodiments the sled member may have a clam shell design in which two or more sides of the sled member close around the catheter handle. In further embodiments, the sled member may include adjustable faces that can fit different types of modular plates and thereby control actuators on different types of the catheter.

Abstract translation: 各种实施例提供了具有用于控制多个轴中的导管的致动器的部件的导管定位装置。 导管可以通过具有一个或多个可与导管手柄的致动器联接的致动器接口的模块化板连接到滑动构件。 滑动构件中的一个或多个电动机或驱动器可以移动模块化板的致动器接口以在不同的轴上控制导管上的一个或多个致动器。 在各种实施例中，滑动构件可以具有蛤壳式设计，其中滑动构件的两侧或更多侧围绕导管手柄关闭。 在另外的实施例中，滑动构件可以包括可调整的面，其可以适应不同类型的模块板，从而控制不同类型导管上的致动器。

公开(公告)号：US20140243742A1

公开(公告)日：2014-08-28

申请号：US13777708

申请日：2013-02-26

Applicant: CATHETER ROBOTICS, INC.

Inventor： Robert PACHECO ,  Steve FOLEY

IPC: A61M25/09

CPC classification number: A61M25/0113 ,  A61B34/30 ,  A61B2017/00212 ,  A61B2034/301 ,  A61M25/09041

Abstract: Various embodiments provide systems and methods for controlling a catheter with a catheter positioning device by using a remote controller and a guidewire control mechanism that may be used to draw a guidewire through a catheter coupled with the catheter positioning system. As the catheter is advanced over the guidewire by the catheter positioning device, the guidewire control mechanism may draw the guidewire away, such as collecting any slack on the guidewire. In further embodiments, the guidewire control mechanism may match the speed at which the guidewire is drawn to the speed at which the catheter advances and thereby maintain the position of the guidewire relative to the patient.

Abstract translation: 各种实施例提供了通过使用遥控器和导丝控制机构来控制具有导管定位装置的导管的系统和方法，所述导丝控制机构可用于通过与导管定位系统联接的导管牵引导线。 当导管通过导管定位装置在导丝上前进时，导丝线控制机构可以将导丝线拉出，例如在引导线上收集任何松弛。 在另外的实施例中，导丝控制机构可将导丝的拉伸速度与导管前进的速度相匹配，从而保持导线相对于患者的位置。

公开(公告)号：US20150090057A1

公开(公告)日：2015-04-02

申请号：US14494709

申请日：2014-09-24

Applicant: Catheter Robotics Inc.

Inventor： Robert Pacheco ,  Steve Foley ,  David Jenkins ,  Thomas Jackson ,  Luke Hares

IPC: A61M25/01 ,  F16H19/02

CPC classification number: F16H19/02 ,  A61B34/30 ,  A61B2017/00212 ,  A61B2034/301 ,  A61M25/0113 ,  Y10T74/18056

Abstract: Embodiments include removable catheter actuator collars which may connect a catheter actuator on a catheter's handle to a catheter positioning device. The removable catheter actuator collars may allow the catheter to be easily removed from the catheter positioning device by a physician. The removable catheter actuator collars may remain connected with the catheter when removed and may allow the catheter to be easily reconnected to the catheter positioning system. In further embodiments, the removable catheter actuator collars may be annular or ring shaped and secure to a catheter actuator with various mechanisms such as one or more clamps, compression grips, or rotating portions and may remain connected with the catheter when the catheter is removed from the catheter positioning system.

Abstract translation: 实施例包括可将导管手柄上的导管致动器连接到导管定位装置的可移除导管致动器套环。 可移除的导管致动器环可以允许医生容易地从导管定位装置移除导管。 当被移除时，可移除的导管致动器环可以与导管保持连接，并且可以允许导管容易地重新连接到导管定位系统。 在另外的实施例中，可拆卸的导管致动器环可以是环形的或环形的，并且固定到具有各种机构的导管致动器，例如一个或多个夹具，压缩夹具或旋转部分，并且当导管被移除时可以与导管保持连接 导管定位系统。

公开(公告)号：US20150066052A1

公开(公告)日：2015-03-05

申请号：US14468437

申请日：2014-08-26

Applicant: Catheter Robotics Inc.

Inventor： Robert Pacheco ,  Steve Foley ,  David Jenkins

IPC: A61M25/01 ,  A61B19/00

CPC classification number: A61M25/0113 ,  A61B34/30 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/067 ,  A61B2090/5025 ,  A61B2090/504 ,  A61M2205/332 ,  A61M2205/3331

Abstract: Various embodiments provide systems and methods for controlling a catheter with a catheter positioning device by using a remote controller. As the catheter is advanced by the catheter positioning device, a counterweight may be adjusted to balance the catheter positioning system. In further embodiments, the counterweight may be configured to move to balance a sled member such that any total moment exerted on a sled base remains constant. In further embodiments, the counterweight may be controlled by a control system based on one or more sensors coupled with the catheter positioning system.

Abstract translation: 各种实施例提供了通过使用遥控器来控制具有导管定位装置的导管的系统和方法。 当导管通过导管定位装置前进时，可以调整配重以平衡导管定位系统。 在另外的实施例中，配重可以被配置为移动以平衡滑动构件，使得施加在滑动底座上的任何总的力矩保持恒定。 在另外的实施例中，配重可以由基于与导管定位系统耦合的一个或多个传感器的控制系统来控制。

公开(公告)号：US20140081113A1

公开(公告)日：2014-03-20

申请号：US14087547

申请日：2013-11-22

Applicant: Catheter Robotics Inc.

Inventor： Todd J. COHEN ,  Dara MCMAHON ,  Robert C. Royce

IPC: A61B19/00 ,  A61B18/02 ,  A61B18/06 ,  A61B18/14 ,  A61N5/10 ,  A61N1/39 ,  A61F2/82 ,  A61B5/042 ,  A61B5/00 ,  A61B5/20 ,  A61B18/18 ,  A61N1/362

CPC classification number: A61M25/0105 ,  A61B5/042 ,  A61B5/201 ,  A61B5/4839 ,  A61B5/6852 ,  A61B18/0206 ,  A61B18/06 ,  A61B18/1492 ,  A61B18/1815 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B90/40 ,  A61B2034/301 ,  A61F2/82 ,  A61M25/0113 ,  A61M25/0133 ,  A61M25/0136 ,  A61N1/362 ,  A61N1/39 ,  A61N5/10

Abstract: Embodiment methods of treating a human or animal patient using a remotely controlled robotic catheter device inserting a handle of a catheter into a handle controller, inserting the catheter tubular portion into a resealable delivery channel forming a sterile barrier to a sled base, engaging a tip of the catheter with a sterile introducer disposed at an end of the sled base and engaged with the patient's body, positioning the catheter into the patient's body by remotely sending commands to the tele-robotic device to cause the sled member to advance toward the patient's body, and performing a diagnostic or therapeutic procedure on the patient using the catheter. Diagnostic or therapeutic procedures may include a mapping procedure, an ablation procedure, an angioplasty procedure, a drug delivery procedure; an electrophysiology procedure, a radiological procedure, and a medical device implantation or positioning procedure.