U.S. patent application number 11/176598 was filed with the patent office on 2006-05-11 for methods using a robotic catheter system.
Invention is credited to Daniel T. Adams, Federico Barbagli, Kenneth M. Martin, Frederic H. Moll, David F. Moore, Gregory J. Stahler, Daniel T. Wallace, Robert G. Younge, Michael R. Zinn.
Application Number | 20060100610 11/176598 |
Document ID | / |
Family ID | 46322230 |
Filed Date | 2006-05-11 |
United States Patent
Application |
20060100610 |
Kind Code |
A1 |
Wallace; Daniel T. ; et
al. |
May 11, 2006 |
Methods using a robotic catheter system
Abstract
A method using a robotic system to perform a procedure on a
patient, includes moving a control interface provided on a master
input device, generating control signals corresponding, at least in
part, to movement of the interface, moving one or more drive
elements of an instrument driver in response to the control signal,
the one or more drive elements operatively coupled to a
corresponding plurality of control elements of an elongate guide
instrument, the control elements secured to a distal end of the
guide instrument and moveable axially relative to the guide
instrument such that movement of the drive elements causes a
corresponding movement of the guide instrument. The method may
further comprise providing tactile feedback through the
interface.
Inventors: |
Wallace; Daniel T.;
(Burlingame, CA) ; Younge; Robert G.; (Portola
Valley, CA) ; Zinn; Michael R.; (Pleasanton, CA)
; Barbagli; Federico; (San Francisco, CA) ; Moore;
David F.; (San Carlos, CA) ; Stahler; Gregory J.;
(San Jose, CA) ; Adams; Daniel T.; (Palo Alto,
CA) ; Moll; Frederic H.; (Woodside, CA) ;
Martin; Kenneth M.; (Los Gatos, CA) |
Correspondence
Address: |
BINGHAM, MCCUTCHEN LLP
THREE EMBARCADERO CENTER
18 FLOOR
SAN FRANCISCO
CA
94111-4067
US
|
Family ID: |
46322230 |
Appl. No.: |
11/176598 |
Filed: |
July 6, 2005 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
11073363 |
Mar 4, 2005 |
|
|
|
11176598 |
Jul 6, 2005 |
|
|
|
60550961 |
Mar 5, 2004 |
|
|
|
60553029 |
Mar 12, 2004 |
|
|
|
60600869 |
Aug 12, 2004 |
|
|
|
60644505 |
Jan 13, 2005 |
|
|
|
60677580 |
May 3, 2005 |
|
|
|
60678097 |
May 4, 2005 |
|
|
|
Current U.S.
Class: |
606/1 |
Current CPC
Class: |
A61B 2090/367 20160201;
A61B 6/541 20130101; A61B 2090/065 20160201; A61B 8/4254 20130101;
A61B 2017/003 20130101; A61B 2034/105 20160201; A61B 2090/035
20160201; A61B 2017/00199 20130101; A61B 10/06 20130101; A61B 34/71
20160201; A61B 2034/102 20160201; A61B 2034/715 20160201; A61B
34/37 20160201; A61B 34/77 20160201; A61B 6/503 20130101; A61B
8/4461 20130101; A61B 2090/374 20160201; A61B 18/00 20130101; A61B
34/76 20160201; A61B 17/00234 20130101; A61B 2017/00477 20130101;
A61B 8/0891 20130101; A61B 6/504 20130101; A61B 5/7285 20130101;
A61B 34/25 20160201; A61B 8/543 20130101; A61B 2018/00392 20130101;
A61B 2034/301 20160201; A61B 2017/00247 20130101; A61B 2034/2051
20160201; A61B 8/12 20130101; A61B 2034/742 20160201; A61B
2090/3925 20160201; A61B 2034/107 20160201; A61B 2090/378 20160201;
B33Y 80/00 20141201; A61B 34/20 20160201; A61B 46/10 20160201; A61B
2090/397 20160201; A61B 8/4466 20130101; A61B 34/30 20160201; A61B
90/50 20160201 |
Class at
Publication: |
606/001 |
International
Class: |
A61B 17/00 20060101
A61B017/00 |
Claims
1. A method using a robotic system to perform a procedure on a
patient, comprising: moving a control interface provided on a
master input device generating a control signal corresponding, at
least in part, to the movement of the interface; moving one or more
drive elements of an instrument driver in response to the control
signal, the one or more drive elements operatively coupled to a
corresponding plurality of control elements of an elongate guide
instrument, the control elements secured to a distal end of the
guide instrument and moveable axially relative to the guide
instrument such that movement of the drive elements causes a
corresponding movement of the guide instrument; and providing
tactile feedback through the interface.
2. The method of claim 1, further comprising determining a location
or relative location of the guide instrument in the patient,
3. The method of claim 2, wherein the location or relative location
is determined, at least in part, by using image data acquired by am
imaging system.
4. The method of claim 2, wherein the location or relative location
is determined, at least in part, by using position data acquired by
a localization system.
5. The method of claim 2, further comprising determining a
workspace limit of the guide instrument.
6. The method of claim 1, wherein the tactile feedback indicates
that the guide instrument has contacted a tissue structure in the
patient.
7. The method of claim 1, wherein the tactile feedback indicates
that a surgical tool carried by the guide instrument has contacted
a tissue structure in the patient.
8. The method of claim 1, wherein the tactile feedback represents a
resistance imparted by a tissue structure in response to a force
imparted by the guide instrument.
9. The method of claim 1, wherein the tactile feedback represents a
resistance imparted by a tissue structure in response to a force
imparted by a surgical tool carried by the guide instrument.
10. The method of claim 1, further comprising detecting whether an
operator has let go of the control interface, and operating one or
more motors to cause the control interface to remain in its
then-existing position, or to move to a predetermined position, if
the operator lets go of the interface.
11. The method of claim 1, further comprising generating and
displaying one or more views containing a graphical rendering of
one or both of the guide instrument and an area in the patient's
body where the guide instrument is located.
12. The method of claim 11, wherein the one or more views comprise
a primary navigation view and a secondary navigation view.
13. The method of claim 12, wherein the secondary view is
approximately orthogonal to the primary view.
14. The method of claim 1, further comprising acquiring and
displaying one or more views containing image data of one or both
of the guide instrument an area in the patient's body where the
guide instrument is located.
15. The method of claim 14, wherein the one or more views comprise
a primary navigation view and a secondary navigation view.
16. The method of claim 15, wherein the secondary view is
approximately orthogonal to the primary view.
17. The method of claim 1, further comprising synchronizing a
coordinate system of the master input device with a coordinate
system of an imaging system.
18. The method of claim 1, further comprising synchronizing a
coordinate system of the master input device with a coordinate
system of a localization system.
19. A method using a robotic system to perform a procedure on a
patient, comprising: generating a control signal corresponding, at
least in part, to movement of a master input device; moving one or
more drive elements of an instrument driver in response to the
control signal, the one or more drive elements operatively coupled
to a corresponding plurality of control elements of an elongate
guide instrument, the control elements secured to a distal end of
the guide instrument and moveable axially relative to the guide
instrument such that movement of the drive elements causes a
corresponding movement of the guide instrument; and generating and
displaying one or more views containing images of one or both of
the guide instrument and an area in the patient's body where the
guide instrument is located.
20. The method of claim 19, wherein the one or more views comprise
a primary navigation view and a secondary navigation view.
21. The method of claim 20, wherein the secondary view is
approximately orthogonal to the primary view.
22. The method of claim 19, wherein the images are acquired using
an imaging system.
23. The method of claim 19, wherein the images are graphically
rendered.
24. The method of claim 19, further comprising synchronizing a
coordinate system of the master input device with a coordinate
system of an imaging system.
25. The method of claim 19, further comprising synchronizing a
coordinate system of the master input device with a coordinate
system of a localization system.
26. The method of claim 19, further comprising detecting whether an
operator has let go of the master input device, and operating one
or more motors to cause the master input device to remain in its
then-existing position, or to move to a predetermined position, if
the operator lets go of the device.
27. The method of claim 19, the master input device comprising a
multi-degree-of-freedom device having multiple joints, each joint
having an associated encoder.
28. The method of claim 19, the master input device comprising one
or more motors; a interface configured to be held and
hand-controlled by an operator, and integrated haptics capability
in which the one or more motors provide tactile feedback to the
operator through the interface.
29. A method using a robotic system to perform a procedure on a
patient, comprising: moving a control interface provided on a
master input device, the master input device comprising a
multi-degree-of-freedom device having multiple joints, each joint
having an associated encoder; generating a control signal
corresponding, at least in part, to the movement of the interface;
and moving one or more drive elements of an instrument driver in
response to the control signal, the instrument driver configured
for independently controlling with the one or more drive elements
each of number of desired motions of a flexible, elongate guide
instrument in a body of a patient in response to the control
signals, wherein the desired motions are selected from the group
comprising axial advancement, axial retraction, axial rotation, and
radial bending.
30. The method of claim 29, further comprising providing tactile
feedback through the master input device.
31. The method of claim 30, further comprising determining a
location or relative location of the guide instrument in the
patient.
32. The method of claim 31, further comprising generating control
signals that cause the instrument driver to move the guide
instrument in two or more of the desired motions substantially
simultaneously.
33. The method of claim 32, further comprising synchronizing a
coordinate system of the master input device with a respective
coordinate system of one or both of an imaging system and a
localization system.
Description
RELATED APPLICATION DATA
[0001] The present application is a continuation-in-part of U.S.
patent application Ser. No. 11/073,363, filed Mar. 4, 2005, which
claims the benefit under 35 U.S.C. .sctn. 119 to U.S. provisional
patent application Ser. No. 60/550,961, filed Mar. 5, 2004,
60/553,029, filed Mar. 12, 2004, 60/600,869, filed Aug. 12, 2004,
and 60/644,505, filed Jan. 13, 2005. The present application also
claims the benefit under 35 U.S.C. .sctn. 119 to U.S. provisional
patent application Ser. No. 60/677,580, filed May 3, 2005, and
60/678,097, filed May 4, 2005. The foregoing applications are
hereby incorporated by reference into the present application in
their entirety.
FIELD OF INVENTION
[0002] The invention relates generally to robotically controlled
systems, such as telerobotic surgical systems, and more
particularly to a robotic catheter system for performing minimally
invasive diagnostic and therapeutic procedures.
BACKGROUND
[0003] Robotic surgical systems and devices are well suited for use
in performing minimally invasive medical procedures, as opposed to
conventional techniques wherein the patient's body cavity is open
to permit the surgeon's hands access to internal organs. For
example, there is a need for a highly controllable yet minimally
sized system to facilitate imaging, diagnosis, and treatment of
tissues which may lie deep within a patient, and which may be
preferably accessed only via naturally-occurring pathways such as
blood vessels or the gastrointestinal tract.
SUMMARY OF THE INVENTION
[0004] In accordance with a general aspect of the invention,
methods are provided for using a robotic system to perform a
procedure on a patient. In one embodiment, the method includes
moving a control interface provided on a master input device,
generating control signals corresponding, at least in part, to
movement of the interface, moving one or more drive elements of an
instrument driver in response to the control signal, the one or
more drive elements operatively coupled to a corresponding
plurality of control elements of an elongate guide instrument, the
control elements secured to a distal end of the guide instrument
and moveable axially relative to the guide instrument such that
movement of the drive elements causes a corresponding movement of
the guide instrument. The method may further comprise determining a
location or relative location of the guide instrument in the
patient, for example, by using image data acquired by am imaging
system, or by using position data acquired by a localization
system.
[0005] The master input device preferably comprises a
multi-degree-of-freedom device having multiple joints, each joint
having an associated encoder. In exemplary embodiments, the master
input device comprises a interface configured to be held and
hand-controlled by an operator. Integrated gravity compensation may
be provided, in which case the method would detect whether an
operator lets go of the interface and, if so, operate one or more
motors operate to cause the interface to remain approximately at
its then-existing position, or to move to a predetermined position,
without gravitational force otherwise moving the interface.
[0006] The master input device may be provided with integrated
haptics capability, in which case the method includes operating one
or more motors to provide tactile feedback to the operator through
the interface. By way of non-limiting examples, the tactile
feedback may indicate that the guide instrument has reached a
workspace limit, wherein the workspace limit may be determined
based on one or more of image data acquired by an imaging system,
position data acquired by a localization system, or feedback
information provided by a tissue contact sensor. The tactile
feedback may indicate that the guide instrument has contacted a
tissue structure in a patient. Additionally or alternatively, the
tactile feedback may indicate that a surgical tool carried by the
guide instrument has contacted a tissue structure in a patient.
Additionally or alternatively, the tactile feedback may represent a
resistance imparted by a tissue structure in response to a force
imparted by the guide instrument Additionally or alternatively, the
tactile feedback may represent a resistance imparted by a tissue
structure in response to a force imparted by a surgical tool
carried by the guide instrument.
[0007] In preferred embodiments, the method may include moving the
guide instrument in two or more desired motions substantially
simultaneously. If the desired motion is bending, the controller
may determine a respective tensioning to be applied by the
instrument driver to one or more control elements based on a
kinematic relationship between the desired bending motion and a
linear movement of the respective control element relative to the
guide instrument. The kinematic relationship may be a forward
kinematic relationship, an inverse kinematic relationship, or
both.
[0008] In one embodiment, a method using a robotic system to
perform a procedure on a patient, includes generating a control
signal corresponding, at least in part, to movement of a master
input device, and moving one or more drive elements of an
instrument driver in response to the control signal, the one or
more drive elements operatively coupled to a corresponding
plurality of control elements of an elongate guide instrument, the
control elements secured to a distal end of the guide instrument
and moveable axially relative to the guide instrument such that
movement of the drive elements causes a corresponding movement of
the guide instrument. The method of this embodiment may further
include generating and displaying one or more views containing
images of one or both of the guide instrument and an area in the
patient's body where the guide instrument is located. The one or
more views may include both a primary navigation view and a
secondary navigation view, wherein the secondary view may be
approximately orthogonal to the primary view. The images may be of
the actual instrument and/or body area acquired by an imaging
system, or graphical renderings. The method may further include
synchronizing a coordinate system of the master input device with a
respective coordinate system of one or both of an imaging system
and a localization system.
[0009] Other and further embodiments and aspects of the invention
will become apparent upon review of the following detailed
description in view of the illustrated embodiments.
BRIEF DESCRIPTION OF THE DRAWINGS
[0010] The drawings illustrate the design and utility of
illustrated embodiments of the invention, in which similar elements
are referred to by common reference numerals, and in which:
[0011] FIG. 1 illustrates a robotic surgical system in accordance
with some embodiments;
[0012] FIG. 2 illustrates a robotic surgical system in accordance
with other embodiments;
[0013] FIG. 3 illustrates a closer view of the robotic surgical
system of FIG. 2;
[0014] FIG. 4 illustrates an isometric view of an instrument having
a guide catheter in accordance with some embodiments;
[0015] FIG. 5 illustrates an isometric view of the instrument of
FIG. 4, showing the instrument coupled to a sheath instrument in
accordance with some embodiments;
[0016] FIG. 6 illustrates an isometric view of a set of instruments
for use with an instrument driver in accordance with some
embodiments;
[0017] FIG. 7A-7C illustrate a method of using a drape with an
instrument driver in accordance with some embodiments;
[0018] FIG. 8A illustrates an instrument driver and a set of
instruments before they are coupled to each other;
[0019] FIG. 8B illustrates the instrument driver and the set of
instruments of FIG. 8A after they are coupled to each other;
[0020] FIGS. 9-12 illustrate different drapes in accordance with
some embodiments;
[0021] FIG. 13 illustrates a sleeve in accordance with some
embodiments;
[0022] FIG. 14 illustrates an axel mating with the sleeve of FIG.
13 in accordance with some embodiments;
[0023] FIG. 15 illustrates a drape for use with an instrument
driver in accordance with other embodiments;
[0024] FIG. 16 illustrates a covering assembly for use with an
instrument driver in accordance with some embodiments;
[0025] FIG. 17 illustrates an isometric view of an instrument in
accordance with other embodiments;
[0026] FIG. 18 illustrates a catheter member of the instrument of
FIG. 17 in accordance with some embodiments;
[0027] FIG. 19 illustrates a cross sectional view of the catheter
member of FIG. 18 in accordance with some embodiments;
[0028] FIGS. 20-24 illustrate cross sectional views of catheter
members in accordance with other embodiments;
[0029] FIG. 25 illustrates an isometric view of a spine in
accordance with some embodiments;
[0030] FIG. 26 illustrates a side view of the spine of FIG. 25;
[0031] FIG. 27 illustrates another spine in accordance with other
embodiments;
[0032] FIG. 28 illustrates a cross sectional view of the spine of
FIG. 25;
[0033] FIG. 29 illustrates a close up view of the spine of FIG. 25
in accordance with some embodiments;
[0034] FIG. 30 illustrates a close up view of the spine of FIG. 25
in accordance with other embodiments, showing stress relief
angles;
[0035] FIGS. 31-32 illustrate another spine in accordance with
other embodiments;
[0036] FIG. 33 illustrates an isometric view of an anchoring ring
for use at a distal tip of a catheter member in accordance with
some embodiments;
[0037] FIG. 34 illustrates a cross sectional view of the anchoring
ring of FIG. 32;
[0038] FIG. 35 illustrates a control element interface assembly in
accordance with some embodiments;
[0039] FIG. 35A illustrates an axel of the control element
interface assembly of FIG. 35;
[0040] FIG. 36 illustrates a drive engagement knob in accordance
with some embodiments, showing the drive engagement knob coupled to
the axel of FIG. 35A;
[0041] FIG. 37 illustrates a control element pulley of the control
element interface assembly of FIG. 35 in accordance with some
embodiments;
[0042] FIG. 38 illustrates a side view of the control element
pulley of FIG. 37;
[0043] FIG. 39 illustrates a top portion of a guide instrument base
in accordance with some embodiments;
[0044] FIG. 40 illustrates a top view of the top portion of FIG.
39;
[0045] FIG. 41 illustrates an isometric bottom view of the top
portion of FIG. 39;
[0046] FIG. 42 illustrates a bottom view of the top portion of FIG.
39;
[0047] FIG. 43 illustrates an isometric view of a bottom portion of
a guide instrument base in accordance with some embodiments;
[0048] FIG. 44 illustrates a top view of the bottom portion of FIG.
43;
[0049] FIG. 45 illustrates an isometric bottom view of the bottom
portion of FIG. 43;
[0050] FIG. 46 illustrates a bottom view of the bottom portion of
FIG. 43;
[0051] FIG. 47 illustrates an assembled instrument proximal end in
accordance with some embodiments;
[0052] FIG. 48 illustrates a see-through view of the assembled
instrument proximal end of FIG. 47;
[0053] FIG. 49 illustrates a rear view of the assembled instrument
proximal end of FIG. 47;
[0054] FIG. 50 illustrates a front view of an instrument in
accordance with other embodiments;
[0055] FIG. 51 illustrates a side view of the instrument of FIG.
50;
[0056] FIG. 52 illustrates a top view of the instrument of FIG.
50;
[0057] FIG. 53 illustrates a bottom view of the instrument of FIG.
50;
[0058] FIG. 54 illustrates a top view of the instrument of FIG. 50,
showing a top view of a guide instrument base in accordance with
some embodiments;
[0059] FIG. 55 illustrates an isometric view of a guide instrument
base in accordance with other embodiments;
[0060] FIG. 56 illustrates an isometric view of a guide instrument
base in accordance with other embodiments;
[0061] FIG. 57 illustrates an isometric view of an instrument in
accordance with other embodiments;
[0062] FIG. 58 illustrates a side view of the instrument of FIG.
57;
[0063] FIG. 59 illustrates an isometric view of the instrument of
FIG. 57, showing a bottom portion;
[0064] FIG. 60 illustrates a close up view of the bottom portion of
FIG. 59;
[0065] FIG. 61 illustrates another view of the bottom portion of
FIG. 59;
[0066] FIG. 62 illustrates a see-through view of the bottom portion
of FIG. 59;
[0067] FIG. 63 illustrates an isometric view of an instrument in
accordance with other embodiments;
[0068] FIG. 64 illustrates an isometric view of a bottom portion of
the instrument of FIG. 63;
[0069] FIG. 65 illustrates an instrument having two control element
interface assemblies coupled to a sheath instrument in accordance
with some embodiments;
[0070] FIG. 66 illustrates an isometric view of a bottom portion of
the instrument of FIG. 65;
[0071] FIG. 67 illustrates an instrument having a control element
interface assembly coupled to a sheath instrument in accordance
with some embodiments;
[0072] FIG. 68 illustrates an isometric view of a bottom portion of
the instrument of FIG. 67;
[0073] FIG. 69 illustrates an isometric view of an instrument
having a control element interface assembly coupled to a sheath
instrument in accordance with other embodiments;
[0074] FIG. 70 illustrates an isometric view of a bottom portion of
the instrument of FIG. 69;
[0075] FIG. 71 illustrates an isometric view of an instrument
having a control element interface assembly coupled to a sheath
instrument in accordance with other embodiments;
[0076] FIG. 72 illustrates an isometric view of a bottom portion of
the instrument of FIG. 71;
[0077] FIG. 73 illustrates an isometric view of the instrument of
FIG. 71, showing a top portion placed above a bottom portion;
[0078] FIG. 74 illustrates an instrument coupled with a sheath
instrument in accordance with some embodiments;
[0079] FIG. 75 illustrates an isometric view of the sheath
instrument of FIG. 74;
[0080] FIG. 76 illustrates an end isometric view of the sheath
instrument of FIG. 74;
[0081] FIG. 77 illustrates a bottom isometric view of a bottom
portion of the sheath instrument of FIG. 74;
[0082] FIG. 78 illustrates a top isometric view of the bottom
portion of FIG. 77;
[0083] FIG. 79 illustrates a bottom view of a top portion of the
sheath instrument of FIG. 74;
[0084] FIG. 80 illustrates a sheath catheter for use with a sheath
instrument in accordance with some embodiments;
[0085] FIG. 81 illustrates a cross sectional view of the sheath
catheter of FIG. 80 in accordance with some embodiments;
[0086] FIG. 82 illustrates a cross sectional view of another sheath
catheter in accordance with other embodiments;
[0087] FIG. 83 illustrates a cross sectional view of another sheath
catheter in accordance with other embodiments;
[0088] FIG. 84 illustrates a cross sectional view of another sheath
catheter in accordance with other embodiments;
[0089] FIG. 85 illustrates a cross sectional view of another sheath
catheter in accordance with other embodiments;
[0090] FIG. 86 illustrates a cross sectional view of a guide
catheter inserted into a lumen of a sheath catheter in accordance
with some embodiments;
[0091] FIGS. 87-91 illustrate cross sectional views of guide
catheters inserted into respective sheath catheters in accordance
with other embodiments;
[0092] FIG. 92 illustrates a sheath catheter member coupled to a
seal and an access port in accordance with some embodiments;
[0093] FIG. 93 illustrates a side view of the sheath catheter
member of FIG. 92;
[0094] FIG. 94 illustrates an end view of the seal of FIG. 92;
[0095] FIG. 95 illustrates an instrument driver in accordance with
some embodiments;
[0096] FIG. 96 illustrates an instrument driver in accordance with
other embodiments;
[0097] FIG. 97 illustrates an isometric view of an instrument
driver coupled with a steerable guide instrument and a steerable
sheath instrument in accordance with some embodiments;
[0098] FIG. 98 illustrates components of the instrument driver of
FIG. 97 in accordance with some embodiments;
[0099] FIG. 99 illustrates the instrument driver of FIG. 98,
showing the instrument driver having a roll motor;
[0100] FIG. 100 illustrates components of an instrument driver in
accordance with some embodiments, showing the instrument driver
having four motors;
[0101] FIG. 101 illustrates a side view of components of an
instrument driver in accordance with other embodiments;
[0102] FIG. 102 illustrates a cover plate covering components of an
instrument driver in accordance with some embodiments;
[0103] FIG. 103 illustrates components of the instrument driver of
FIG. 102;
[0104] FIG. 104 illustrates an operator control station in
accordance with some embodiments;
[0105] FIG. 105A illustrates a master input device in accordance
with some embodiments;
[0106] FIG. 105B illustrates a master input device in accordance
with other embodiments;
[0107] FIGS. 106-109 illustrate kinematics of a catheter in
accordance with various embodiments;
[0108] FIGS. 110A-110E illustrates different bending configurations
of a catheter in accordance with various embodiments;
[0109] FIG. 111 illustrates a control system in accordance with
some embodiments;
[0110] FIG. 112A illustrates a localization sensing system having
an electromagnetic field receiver in accordance with some
embodiments;
[0111] FIG. 112B illustrates a localization sensing system in
accordance with other embodiments;
[0112] FIG. 113 illustrates a user interface for a master input
device in accordance with some embodiments;
[0113] FIGS. 114-124 illustrate software control schema in
accordance with various embodiments;
[0114] FIG. 125 illustrates forward kinematics and inverse
kinematics in accordance with some embodiments;
[0115] FIG. 126 illustrates task coordinates, joint coordinates,
and actuation coordinates in accordance with some embodiments;
[0116] FIG. 127 illustrates variables associated with a geometry of
a catheter in accordance with some embodiments;
[0117] FIG. 128 illustrates a block diagram of a system having a
haptic master input device;
[0118] FIG. 129 illustrates a method for generating a haptic signal
in accordance with some embodiments;
[0119] FIG. 130 illustrates a method for converting an operator
hand motion to a catheter motion in accordance with some
embodiments;
[0120] FIG. 131 illustrates a diagram representing an operation of
the device of FIG. 102 in accordance with some embodiments;
[0121] FIG. 132 illustrates a set of equations associated with the
diagram of FIG. 131;
[0122] FIGS. 133-136 illustrate equations associated with an
operation of a guide instrument interface socket in accordance with
some embodiments;
[0123] FIG. 137 illustrates a localization device being used in a
heart in accordance with some embodiments;
[0124] FIG. 138 illustrates a cross sectional view of the heart of
FIG. 137, showing the heart being imaged by a localization device
in accordance with some embodiments;
[0125] FIG. 139 illustrates images generated using the localization
device of FIG. 137;
[0126] FIG. 140 illustrates an ultrasound image acquisition device
being used to acquire a plurality of image slices in accordance
with some embodiments;
[0127] FIG. 141 illustrates cavity threshold points obtained from
the slices of FIG. 140;
[0128] FIG. 142 illustrates a circumferentially-firing ultrasound
catheter device in accordance with some embodiments;
[0129] FIG. 143 illustrates two views taken along a longitudinal
axis of the catheter device of FIG. 142 in accordance with some
embodiments;
[0130] FIG. 144 illustrates mathematics for transforming position
and orientation data from a local reference to a desired frame of
reference;
[0131] FIGS. 145A-145B illustrate two views of a catheter being
used to acquire data slices in a tissue cavity in accordance with
some embodiments;
[0132] FIGS. 146A-146D illustrate different configurations of a
catheter being used to acquire slice data within a tissue
cavity;
[0133] FIG. 147 illustrates different bending configurations of a
catheter in accordance with some embodiments;
[0134] FIGS. 148A-148C illustrate different embodiments of a method
for generating a three dimensional model of a tissue cavity;
[0135] FIG. 149 illustrates a method for acquiring a
three-dimensional tissue structure model in accordance with some
embodiments;
[0136] FIG. 150 illustrates a method for acquiring a
three-dimensional tissue structure model in accordance with other
embodiments
[0137] FIG. 151 illustrates an instrument having localization
capability in accordance with some embodiments;
[0138] FIG. 152 illustrates an instrument having two vibratory
devices in accordance with some embodiments;
[0139] FIG. 153 illustrates an instrument having tissue sensing
capability in accordance with some embodiments;
[0140] FIG. 154 illustrates the instrument of FIG. 153 being used
on a patient in accordance with some embodiments;
[0141] FIG. 155 illustrates a circuit diagram associated with the
instrument of FIG. 153 in accordance with some embodiments;
[0142] FIG. 156 illustrates examples of various ECG signals;
[0143] FIG. 157 illustrates a signal processing technique for
comparing an intracardiac ECG signal with a body surface ECG signal
in accordance with some embodiments;
[0144] FIGS. 158A-158D illustrate a method of moving a distal end
of an instrument from a first position to a second position in
accordance with some embodiments;
[0145] FIGS. 159A-159D illustrate a method of moving a distal end
of an instrument from a first position to a second position in
accordance with other embodiments;
[0146] FIGS. 160A-160D illustrate a method of moving a distal end
of an instrument from a first position to a second position in
accordance with other embodiments;
[0147] FIGS. 161-169 illustrate a method of using a robotically
controlled guide catheter instrument and sheath instrument in an
atrial septal approach in accordance with some embodiments;
[0148] FIG. 170 illustrates a system having an instrument driver
and an ablation energy control unit in accordance with some
embodiments;
[0149] FIG. 171 illustrates the instrument driver of FIG. 170,
showing a therapeutic catheter inserted through a sheath catheter
in accordance with some embodiments;
[0150] FIG. 172 illustrates the instrument driver of FIG. 170,
showing a guide catheter inserted through a sheath catheter, and a
therapeutic catheter inserted through the guide catheter in
accordance with some embodiments;
[0151] FIG. 173A illustrates a device inserted through a guide
catheter in accordance with some embodiments, showing the device
having two bipolar electrodes;
[0152] FIG. 173B illustrates a device inserted through a guide
catheter in accordance with some embodiments, showing the device
having two bipolar electrodes spaced axially;
[0153] FIG. 173C illustrates a device inserted through a guide
catheter in accordance with some embodiments, showing the device
having a monopolar electrode;
[0154] FIG. 173D illustrates a device inserted through a guide
catheter in accordance with some embodiments, showing the device
having a side monopolar electrode;
[0155] FIG. 174A illustrates a device inserted through a guide
catheter in accordance with some embodiments, showing the device
having an energy transmitter;
[0156] FIG. 174B illustrates a device inserted through a guide
catheter in accordance with some embodiments, showing the device
having a laser generator;
[0157] FIG. 174C illustrates a device inserted through a guide
catheter in accordance with some embodiments, showing the device
having a needle; and
[0158] FIG. 174D illustrates a device inserted through a guide
catheter in accordance with some embodiments, showing the device
having a tissue disruption mechanism.
DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS
[0159] Referring to FIG. 1, one embodiment of a robotic catheter
system 32, includes an operator control station 2 located remotely
from an operating table 22, to which a instrument driver 16 and
instrument 18 are coupled by a instrument driver mounting brace 20.
A communication link 14 transfers signals between the operator
control station 2 and instrument driver 16. The instrument driver
mounting brace 20 of the depicted embodiment is a relatively
simple, arcuate-shaped structural member configured to position the
instrument driver 16 above a patient (not shown) lying on the table
22.
[0160] In FIG. 2, another embodiment of a robotic catheter system
is depicted, wherein the arcuate-shaped member 20 is replaced by a
movable support-arm assembly 26. The support assembly 26 is
configured to movably support the instrument driver 16 above the
operating table 22 in order to position the instrument driver 16
for convenient access into desired locations relative to a patient
(not shown). The support assembly 26 in FIG. 2 is also configured
to lock the instrument driver 16 into position once it is
positioned.
[0161] Referring to FIG. 2.5, a view of another variation of an
operator control station (2) is depicted having three displays (4),
a touchscreen user interface (5), and a control button console (8).
The master input device (12) depicted in the embodiment of FIG. 2.5
is depicted and described in further detail in reference to FIG.
105B. Also depicted in the embodiment of FIG. 2.5 is a device
disabling switch (7) configured to disable activity of the
instrument temporarily. The cart (9) depicted in FIG. 2.5 is
configured for easy movability within the operating room or
catheter lab, one advantage of which is location of the operator
control station (2) away from radiation sources, thereby decreasing
radiation dosage to the operator. FIG. 2.6 depicts a reverse view
of the embodiment depicted in FIG. 2.5.
[0162] FIG. 3 provides a closer view of the support assembly 26
depicted in the embodiment of FIG. 2. The support assembly 26
comprises a series of rigid links 36 coupled by electronically
braked joints 34. The joints 34 allow motion of the links 36 when
energized by a control system (not shown), but otherwise prevent
motion of the links. The control system may be activated by a
switch (e.g., a footswitch or thumbswitch), or computer interface.
In another embodiment, the rigid links 36 may be coupled by
mechanically lockable joints, which may be locked and unlocked
manually using, for example, locking pins, screws, or clamps. The
rigid links 36 preferably comprise a light but strong material,
such as high-gage aluminum, shaped to withstand the stresses and
strains associated with precisely maintaining a three-dimensional
position of the approximately ten pound weight of a typical
embodiment of the instrument driver 16 once the position of the
link 36 is fixed.
[0163] FIGS. 3.1-3.10B depict another embodiment of the support
assembly, also designated by reference no. 26. Referring to FIGS.
3.1 and 3.2, in this embodiment, a mechanical operating table
interface 1 includes a pair of clamp members 89 to removably attach
the support assembly 26 to the operating table 22 (shown in phantom
outline). As explained in greater detail in conjunction with FIG.
3.3, the clamp members 89 include a lower clamp toe configured to
pivot outwards for ease in engaging a rail (not shown) on an edge
of the operating table 22.
[0164] The main body of the mechanical interface 1 is fixed to the
housing of a solenoid and brake unit 3. A proximal base of an
arcuate, vertical extension member 11 is coupled to, and
selectively rotable about a central axis of, the solenoid and brake
unit 3. The vertical extension member 11 bends through an angle of
approximately 90.degree., and has a distal end rotatably coupled,
via a pan-rotate interface 13, to a first end of a further
extension member 15. As explained in greater detail in conjunction
with FIG. 3.6, the pan-rotate interface 13 selectively allows
extension member 15 to both rotate about an axis of a distal
extending shaft 55 (seen in FIG. 3.2), as well as pan laterally
along an arc defined by lateral movement of the shaft 55 through a
pan slot 111 defined by the housing 121 of the pan-rotate interface
13 in a plane that is preferably parallel to a plane defined by the
operating table.
[0165] A distal brake unit 19 is coupled to a sprocket comprising
the second end of extension member 15, the sprocket being rotatably
coupled to the housing f the extension member 15, as described in
further detail below. The brake unit 19 is configured for
selectively allowing rotation of an instrument driver support shaft
17 relative to the brake unit 19, the support shaft 17 carrying a
pivotable mounting interface 21 for attaching the instrument driver
(not shown). The support shaft 17 further includes a handle portion
23, which has a button 24 for electronically actuating the
respective electronic brake and solenoid in unit 3, as well as the
distal brake 19, to thereby allow the afore-described motions of
the various components of the assembly 26. Cable holder brackets
113 are provided along the exterior of the support shaft 17,
pan-rotate interface 13, and solenoid and brake unit 3,
respectively, for attaching a power/control cable from the
instrument driver (not shown). One a more control cables (not seen)
also extend internally within the various components of the
assembly 26 from the distal end button 24 to the distal brake 19
and to the solenoid and brake unit 3.
[0166] The support assembly 26 is configured to facilitate easy
positioning and repositioning of a remotely controlled instrument
driver over the operating table 22. When the button 24 on the
handle portion 23 is depressed, the respective electronic brakes
and solenoid of the assembly 26 allow the respective interfaces to
move freely relative to each other, constrained only by the
interface configurations, to allow for repositioning of the handle
23 and associated instrument driver support shaft 17 relative to
the operating table 22. When the button 24 is not depressed, the
respective brakes prevent any further movement of the support shaft
17, wherein the support assembly 26 is configured to provide a high
level of mechanical stability. In one embodiment, upon activation
of the solenoid and release of the brakes, the distal brake unit 19
is configured to allow an approximately 135 degree range of motion
about the rotation axis 125 of the brake unit 19, the pan-rotate
interface 13 is configured to allow an approximately 140 degree
range of motion rotation about the rotational axis of the shaft 55
as well as approximately 110 degrees of pan rotational motion
through the plane defined by the pan slot 111, and the vertical
extension member 11 is configured to allow an approximately 350
degree range of rotational motion relative to the solenoid and
brake unit 3, which is configured to be coupled to an operating
table.
[0167] As shown in FIG. 3.3, the mounting clamps 89 each generally
comprise a fixed body portion 33 having a mating surface 101, and
upper and lower clamp toe portions 115 and 99, configured for
attachably coupling to a rail (not shown) disposed on an edge of
the operating table 22. The lower clamp toe portion 99 is
preferably fastened to the swinging clamp body portion 29, with a
threaded locking member 25 used to tighten/loosen the lower clamp
toe portion 99 against the rail to secure/release the clamp 89
thereto or therefrom. For ease in loading the assembly 26 onto an
operating table rail, the mating surface 101 of the fixed clamp
body portion 33 is indented to seat a fulcrum rod 27 that rides
against a side of the rail, and the swinging clamp body portions 29
of the clamps 89 may be individually pivoted (95) about the pin
member 31 to rotate away from the operating table rail (not shown)
to facilitate extending the upper clamp toe member 115 onto the
rail with easy access to the mating surface 101. In the depicted
embodiment, the swinging clamp toe bodies 29 are spring 97 biased
to rotate (95) in this manner until the mating surface 101 has been
positioned against the operating table rail (not shown), subsequent
to which the swinging clamp toe bodies 29 may be manually rotated
about the pin 31 and wound into position interfacing with the
operating table rail (not shown) with the threaded locking member
25, as depicted in FIG. 3.3.
[0168] Referring to FIG. 3.4, the solenoid and brake unit 3
comprises an outer housing 103 and an inner member 45 that is
rotatably mounted within the housing 103. The inner member includes
a distal facing surface 117, configured to receive a proximal
mounting interface 94 of the vertical extension member 11 (See FIG.
3.2). In this manner, the extension member 11 (See FIG. 3.2) is
rotatable about a longitudinal axis 119 of the solenoid and brake
unit 3. A brake assembly 39 is biased to prevent rotation of member
45 (and, thus, of extension arm 11), unless electronically actuated
to release the member 45. In FIG. 3.5, the brake 39 is depicted,
along with a flex-disk interface 49 and a clamp 47, which couples
firmly to the rotatable frame member 45. The flex-disk interface 49
allows for some axial movement between the clamp 47 and the brake
39, without significant rotational "slop" commonly associated with
more conventional spline interfaces. Thus, manual rotation of the
vertical arm 11 about an axis which may be substantially orthogonal
to the operating table 22 (i.e., for positioning an instrument
driver 16 mounted on the support shaft 17 relative to a patient
positioned on the operating table 22) is selectively allowed by
electronic activation of the brake 39 when the button 24 is
depressed into the handle 23.
[0169] Referring back to FIG. 3.4, a top end of the unit 3 includes
a plunger 41, that is biased by a set of helical springs 43 to push
away from the housing 103 of the solenoid and brake unit 3, into an
interior bore of the extension member 11. When a solenoid 35
located in a lower portion of the housing 103 is electronically
activated, it pulls a pull-rod 37, which in turn pulls the plunger
41, in a compressive direction against the springs 43, toward the
housing 103 of the solenoid and brake unit 3.
[0170] As shown in FIG. 3.6, the vertical extension member 11 has a
hollow interior to accommodate an arcuate lever 57 configured to
compress and lock into place the pan-rotate interface 13 when
rotated counterclockwise about a pivot pin 61 within, and relative
to, the vertical extension member 11 as the plunger 41 (see FIG.
3.4) is pushed upward away from the housing 103 (see FIG. 3.4) by
the spring 43 load. With the plunger 41 pushed upward, the ball 53
is placed into compression between the toe 130 of the arcuate lever
57 and a contoured surface 131 coupled to the base of the
pan-rotate interface 13 housing 121. The ball 53, contoured surface
131 and bearings 63 mounted upon the shaft 55 preferably are
configured to place substantially all of the applied compressive
load upon the ball 53 and not the bearings 63. When the plunger 41
is pulled downward by the activated solenoid 35, the load
previously applied by the plunger 41 to the wheelset 59 at the end
of the arcuate lever 57 is released and gravity pulls the arcuate
lever 57 into clockwise rotation about the pivot pin 61, thus
substantially releasing the compressive loads that lock into the
place the pan-rotate interface 13 and allowing panning and rotation
of the shaft 55. The pan-rotate interface 13 includes a ball 53 and
shaft 55 construct (collectively indicated with ref no. as 51),
that, in one embodiment, is configured to provide a 15:1 leverage
ratio for loads applied by the plunger 41 at a wheel set 59 housed
in the extension member 11 and coupled to the proximal end of the
arcuate lever 57.
[0171] Referring to FIG. 3.7, the ball/shaft interface 51 comprises
63 to facilitate stable panning rotation, as well as rotation of an
associated structure about the longitudinal axis of the shaft 55.
The ball 53 preferably is greased to facilitate smooth panning and
rotation when not compressibly locked into position. The bearings
facilitate lateral panning of the shaft member 55 about a plane
formed by the pan-rotate interface 13, which causes the 63 to
rotate on a planar annulus about the center of the ball 53. The
result is constrained motion in two different degrees of freedom:
lateral panning as per the planar annulus and bearing interface,
and rotation about the axis of the shaft 55. The bias force of the
springs 43 on the plunger 41 extending from the solenoid housing
103 normally lock the ball/shaft interface 51 into place,
preventing either panning or rotation motion at the interface.
Electronic activation of the solenoid withdraws the pull-rod and,
by extension, piston 41 away from the wheel set 59, thereby
unloading the significant compressive forces that otherwise keep
the ball 53 locked into place, allowing for panning/rotation.
[0172] Referring also back to FIG. 3.2, the shaft 55 protrudes
through a horizontal slot 111 located in a distal face 123 of the
housing 121 covering the pan interface 13. The slot 111 constrains
the horizontal panning motion of the shaft 55 (and, by extension,
the support member 15) in a plane that may be substantially
parallel to the operating table within the range of motion defined
by the boundaries of the slot 111.
[0173] Referring to FIG. 3.8, the shaft 55 is coupled to a proximal
sprocket 75 of the horizontal extension member 15 using a
conventional interference fit, such as a "number 3 Morse taper."
The proximal sprocket 75 is coupled to a distal sprocket 74 by a
timing chain 73, so that rotation of the shaft 55 correspondingly
rotates both sprockets 74 and 75, preferably with a 1:1 ratio of
rotational movement, resulting in the same rotational displacement
at each of the sprockets. Rotational movement of the proximal
sprocket 75, caused by fixing the relative rotational position of
the proximal sprocket 75 relative to the distal face 124 of the pan
rotate interface 13 housing 121 with a key member 105 fitted into
key slots (77, 109) defined by the distal sprocket 75 and pan
rotate interface 13 housing 121, causes rotation of a pin 65, which
in turn causes tension via a linkage 67, proximal linkage base 71,
and distal linkage base 69, respectively, to a set of gas tension
springs 79 configured to constrain the rotational motion of the
sprockets 74 and 75 (and, thus, of the shaft 55). The position
(107) of the key member 105 is depicted in FIG. 3.2. Given this
configuration, with the solenoid 35 activated and the pan rotate
interface 13 free to move, the timing chain 73 and sprocket 74/75
configuration within the horizontal extension member 15 is
configured to maintain the relative planar positioning of the most
distal hardware of the system relative to the plane of the
operating table. This is important because a robotic catheter
driver (not shown; see FIGS. 3.10A and 3.10B, for example) may be
mounted upon the instrument driver interface 21 and pulled around
by the handle 23, with the solenoid activated and the brakes
released, to rotate about the rotational axis 125 of the distal
brake unit 19, to rotate about the axis 119 of the rotatable frame
member 45 within the solenoid and brake unit housing 3, to rotate
and pan about the pan-rotate interface 13 via connectivity of the
horizontal extension member 15, all simultaneously, without
substantially changing the planar orientation of the instrument
driver interface 21 relative to the plane of the operating table
(not shown). In other words, the axis of rotation 125 of the
proximal extension 127 of the instrument driver support shaft 17
may be configured to always be oriented perpendicular to the plane
of the operating table, by virtue of the timing chain and sprocket
interfacing of the extension member 15. When electronically
activated, the brake 19 allows rotational movement of the of the
support shaft 17 about an axis of the proximal extension 127. When
the brake is not electronically activated, such rotational movement
of the support shaft 17 is prevented.
[0174] Referring to FIGS. 3.9A and 3.9B, the instrument driver
support shaft 17 comprises an instrument driver mounting interface
21, and a biasing spring 80 configured to at least partially
counterbalance the cantilevered load upon the instrument driver
interface 21 caused by the weight of an instrument driver mounted
upon it. The biasing spring 80 preferably is covered by a spring
housing 85. A lead screw 81 is provided and configured to change
the pitch of the instrument driver interface 21 relative to the
support shaft 17 when a knob 83 is rotated.
[0175] Referring to FIGS. 3.10A and 3.10B, an instrument driver
fitted with a cover 129 is depicted mounted to the instrument
driver interface 21. The cover 129 is configured to provide an
additional barrier between the instrument driver which is covers
and draping, liquids, vapors, and other substances that may be
encountered during a procedure. Preferably the cover 129 comprises
a polymer or metal material and is made with processes such as
stereolithography, injection molding, or machining. Preferably the
cover 129 may be snapped or fastened into place around the
instrument driver with simple recessed screws, bolts, or other
fasteners. Similar covers may be configured to cover instrument
bases. As depicted in FIGS. 3.10A and 3.10B, the cantilevered mass
of the covered instrument driver 129 creates a moment. Torsional
loads associated with such moment are counteracted by the spring
(not shown in FIGS. 3.10A and 3.10B--see FIG. 3.9A (80)) housed
within the housing 85. This counteraction is configured to prevent
binding of the knob 83 actuated lead screw 81 pitch control of the
instrument driver interface 21.
[0176] In summary, a support assembly 26, or support structure, is
configured to allow for easy repositioning of an instrument driver
or other device relative to an operating table when an actuation
button is depressed, thereby activating a solenoid and releasing
two electronic brakes. The position of an instrument driver then
may be easily fine-tuned, for example, or modified quickly and
substantially to remove the instrument driver from the immediate
area of a patient on an operating table for quick medical
intervention with broad physical access. Constraints limit the
movement of the instrument driver relative to the operating
table--i.e., a pan-rotate interface 13, a horizontal extension
member 15 with a rotational position maintaining timing chain 73
for distally-coupled structures, and brake-lockable rotations about
two axes of rotation (125, 119) which may be parallel and both
perpendicular relative to the plane of the operating table--to
provide desirable mechanics. When an actuation button is not
depressed and the structures are substantially locked into position
relative to each other, with the exception of manually-activated
lead screw pitch adjustment of an instrument driver interface 21,
the support assembly 26 is configured to provide a robust
structural platform upon which an instrument driver or other device
may be positioned relative to an operating table.
[0177] FIGS. 4 and 5 depict isometric views of respective
embodiments of instruments configured for use with an embodiment of
the instrument driver (16), such as that depicted in FIGS. 1-3.
FIG. 4 depicts an instrument (18) embodiment without an associated
coaxial sheath coupled at its midsection. FIG. 5 depicts a set of
two instruments (28), combining an embodiment like that of FIG. 4
with a coaxially coupled and independently controllable sheath
instrument (30). To distinguish the non-sheath instrument (18) from
the sheath instrument (30) in the context of this disclosure, the
"non-sheath" instrument may also be termed the "guide" instrument
(18).
[0178] Referring to FIG. 6, a set of instruments (28), such as
those in FIG. 5, is depicted adjacent an instrument driver (16) to
illustrate an exemplary mounting scheme. The sheath instrument (30)
may be coupled to the depicted instrument driver (16) at a sheath
instrument interface surface (38) having two mounting pins (42) and
one interface socket (44) by sliding the sheath instrument base
(46) over the pins (42). Similarly, and preferably simultaneously,
the guide instrument (18) base (48) may be positioned upon the
guide instrument interface surface (40) by aligning the two
mounting pins (42) with alignment holes in the guide instrument
base (48). As will be appreciated, further steps may be required to
lock the instruments (18, 30) into place upon the instrument driver
(16).
[0179] In one embodiment, the instruments (18, 30) are provided for
a medical procedure in sterile packaging, while the instrument
driver (16) is not necessarily sterile. In accordance with
conventional sterile medical procedure, the nonsterile instrument
driver (16) must be isolated from the patient by a sterile barrier
of some type. Referring to FIGS. 7A-7C, a drape (50) comprising
conventional surgical draping material may be folded into a
configuration (52) to enable gloved hands of a person (not shown)
to slide the drape (50) over the instrument driver (16), from one
end to the other without contamination of the sterile side of the
drape (50). The drape (50) is then unrolled around the instrument
driver (16), as shown in FIGS. 7B and 7C.
[0180] Referring to FIGS. 8A and 8B, the interfacing between
instrument driver (16) and instrument bases (46, 48) utilizing
alignment pins (42) is depicted to further illustrate the issues
associated with providing a sterile barrier between the instruments
and driver. In the illustrated embodiment(s), wherein the
instrument is a set of two instruments comprising both a sheath
instrument (30) and a guide instrument (18), the draping is
preferably configured to accommodate relative motion (56) between
the two instrument bases (46, 48). Further, the fit between the
instrument bases (46, 48) and pertinent alignment pins (42)
preferably is not loose and does not allow for relative motion.
Similarly, the interface between axels (54) extending from the
instruments and sockets (44) comprising the instrument driver (16)
preferably is a precision interface.
[0181] Referring to FIGS. 9-16, various embodiments of suitable
draping schemas are depicted. As shown in FIG. 9, a perforated
drape (58) may be utilized, wherein perforations (68) are sized to
fit the alignment pins (42) and interface sockets (44). The
perforated drape (58), preferably made from conventional draping
materials, is simply aligned appropriately and pulled down upon the
instrument driver (16).
[0182] Referring to FIG. 10, a perforated drape with socks (60) may
also be utilized. The depicted drape (60) has perforations (68) for
the underlying interface sockets (44), but has socks (70), also
formed from conventional draping material, which are sized to
encapsulate the mounting pins (42) of the instrument driver
(16).
[0183] Referring to FIG. 11, the depicted drape (62) may comprise
"socks" (70) to engage the mounting pins (42), as with the drape in
FIG. 10, but also have integrated plastic sleeves (64) rotatably
coupled to the surrounding conventional drape material. The
integrated plastic sleeves (64) are preferably precisely sized to
engage both the interface sockets (44) of the instrument driver
(16) and the axels (not shown) of an instrument. The sleeves (64)
are preferably constructed of a sterilizable, semi-rigid plastic
material, such as polypropylene or polyethylene, which has a
relatively low coefficient of friction as compared with
conventional drape material. To decrease rotational friction
between the integrated plastic sleeves (64) and the surrounding
drape material, perforations in the drape material through which
the sleeves (64) are to be placed may be circumferentially lined
with plastic collars (not shown), comprising a material having a
low coefficient of friction relative to that of the integrated
plastic sleeves (64).
[0184] Referring to FIG. 12, an embodiment similar to that of FIG.
11 is depicted, with the exception that removable plastic sleeves
(66) are not integrated into the drape, as delivered and unwrapped.
Instead, the drape (60) may be delivered with perforations (68),
circumferentially lined in one embodiment with plastic collars (not
shown), positioned for convenient drop-in positioning of the
sleeves (66). FIG. 13 is a close up view of a plastic sleeve (66)
suitable, for example, in the embodiment of FIG. 12. The sleeve
(66) may also be integrated into the embodiment depicted in FIG.
11. FIG. 14 illustrates that the inside of the sleeve (66) may be
fitted to engage an axel (54) extending down from an instrument
body.
[0185] Referring to FIG. 14.5, an alternative variation of a set of
instruments (28) is depicted, wherein all of the parts with the
exception of screws (91) and an axle (93) are comprised of
polymeric materials such as polycarbonate or delrin. As depicted in
FIG. 14.5, each axle (93) forms a spline interface with the
associated control elements pulley which carries an associated
tension element.
[0186] Referring to FIG. 15, another draping embodiment is
depicted, wherein two semi-rigid covers or plates (72) are
incorporated into a larger piece of conventional draping material.
The covers (72) are configured to snap into position upon the
sheath instrument interface surface (38) and guide instrument
interface surface (40), fit over the mounting pins (42), and
provide relatively high-tolerance access to the underlying
interface sockets (44), with pre-drilled holes (76) fitted for the
pertinent drive axel structures (not shown). Due to the anticipated
relative motion between the two instrument interfaces, as
previously described with reference to FIGS. 8A and 8B, it may be
preferable to have elastic draping material or extra draping
material bunched or bellowed in between the two interfaces, as
shown in FIG. 15, and similarly applicable to the embodiments of
FIGS. 9-14.
[0187] Referring to FIG. 16, another semi-rigid covering embodiment
comprises a semi-rigid covering for the entire local surface of the
instrument driver (16), without conventional draping in between
semi-rigid sub-pieces. To accommodate relative motion, high
tolerance overlap sections (78) are provided with sufficient
overlap to allow relative motion without friction binding, as well
as gapping of sufficient tightness that the sterility of the
barrier remains intact. The semi-rigid covers of the embodiments of
FIGS. 15 and 16 may be molded or machined from polymeric materials,
such as polycarbonate, which are inexpensive, sterilizable,
somewhat flexible for manual snap-on installation, and fairly
translucent to facilitate installation and troubleshooting.
[0188] FIG. 17 is an isometric view of one embodiment of an
instrument (18) configured for instrument steering via independent
control of four catheter control elements, or four tension
elements, such as cables comprising materials, e.g., stainless
steel. The proximal portion (82) comprises a guide instrument base
(48) and four axels (54) with associated manual adjustment knobs
(86). The middle (84) and distal portions (87) comprise a catheter
member which extends into the guide instrument base (48) forming
part of the proximal portion (82).
[0189] Referring to FIG. 18, a catheter member (90) is depicted
having control element apertures (92) through the proximal portion
(88) of the catheter member to accommodate control elements (not
shown), such as tension cables. The control elements may be
disposed along the length of the catheter member (90), and
positioned to exit the catheter through the apertures (92) and into
association with other structures comprising the proximal portion
(82) of the instrument. The proximal (88) and middle (84) portions
of the catheter member (90) are shown in a substantially straight
configuration, which is preferred for controllability of the more
flexible distal portion (87). Indeed, the proximal (88) and middle
(84) portions are structurally reinforced and made from stiffer
materials to enhance torque transmission and insertability to the
distal portion, while also providing enough cantilever bendability
to facilitate access to remote tissue locations, such as the
chambers of the heart.
[0190] FIG. 19 is a cross sectional view of the catheter member
(90) at either the proximal (88) or middle (84) portion. At the
center of the cross sectional construct is a central (or "working")
lumen (108), the geometry of which is selected in accordance with
the requisite medical application. For example, in one embodiment
it is desired to pass a commercially available ablation catheter
having an outer diameter of about 7 French through the working
lumen (108), in which case it is preferable to have a working lumen
in the range of 7 French in diameter. The catheter member (90), and
the entire system (32), for that matter, can be sized up or down in
accordance with the desired procedure and tools. The proximal
portion of the catheter member (90) may be reinforced with a
stiffening member such as a braiding layer (98) which is preferably
encapsulated on the outside by an outer layer (96) having at least
one lumen (102) to accommodate a control element, such as a tension
cable (not shown), and a low-friction inner layer (100) selected to
provide a low-friction surface over the inside of the braiding
layer (98). Four extruded lumens (102) are provided in the
illustrated embodiment to accommodate four respective control
elements (not shown).
[0191] To prevent relative rotational motion between the catheter
member (90) and other structures which may surround it, the profile
of the outer layer adjacent the control element lumens (102) may be
increased. The cross section of the embodiment of FIG. 19 has a
relatively low surface profile (104) adjacent the control element
lumens (102), as compared with the cross section of the embodiment
of FIG. 20, which is otherwise similar to that of FIG. 19. Indeed,
within the same catheter member, it is preferable to have a more
pronounced surface profile distally to interface with surrounding
structures and prevent "wind up", or torsional rotation, of the
distal and middle portions of the catheter member. With the
braiding layer (98) in the middle (84) and proximal (82) portions
of the instrument, "wind up" is not as significant an issue, and
therefore it is less important to have a pronounced surface profile
to interface or "key" with other adjacent structures.
[0192] FIG. 21 depicts an embodiment having three control element
lumens (102) disposed approximately equidistantly from each other
about the perimeter of the catheter member (90) cross section. This
embodiment illustrates by way of non-limiting example that the
catheter member (90) need not be limited to configurations
comprising four control element lumens or four control elements. By
way of another example, FIG. 22 illustrates a non-equidistant,
three-lumen (102) configuration, with two-lumen (102) and single
lumen (102) variations shown in FIGS. 23 and 24, respectively.
[0193] To facilitate more dramatic bendability at the distal
portion (87) of the catheter member (90), a reinforcing structure
other than a braiding layer may be preferred. By way of
non-limiting example, FIGS. 25-27 depict a metal spine (110) having
a unique stress relief geometry cut into its walls. FIG. 28 depicts
a cross section of an embodiment of a metal spine (110) to
illustrate that the working lumen may be continued from the
proximal (88) and middle (84) portions of the catheter member into
the distal portion (87) through the center of the metal spine
(110). Indeed, the metal spine preferably has similar inner and
outer diameter sizes as the braiding layer (98) in the more
proximal portions of the catheter member (90). Depending upon the
metal utilized for the metal spine (110), very tight bend radius
operation of the distal portion (87) of the catheter member (90) is
possible, due in significant part to such a highly bendable
reinforcing structure and its associated repeated stress relief
pattern. To further enhance the flexibility of the distal portion
(87) of the catheter member (90), softer polymeric materials may be
utilized in the construct, such as Pebax.TM.. For example, in one
embodiment, the outer layer (96) in the proximal (88) and middle
(84) portions of the catheter member (90) preferably comprise 70
durometer Pebax.TM., while in the distal portion (84) and outer
layer (96) preferably comprise 35 or 40 durometer Pebax.TM..
[0194] Referring to FIGS. 29 and 30, one embodiment of a stress
relief pattern is depicted in close-up view to illustrate that the
pattern may be shifted by about ninety degrees with each
longitudinal step along the spine (110) to maximize the homogeneity
of stress concentration and bending behavior of the overall
construct. To further enhance the flexibility of the metal spine,
and clean up undesirable geometric discrepancies left behind after
laser cutting, the metal spine may be chemically etched and
electropolished before incorporation into the catheter member (90).
As shown in FIG. 30, chemical etching takes the pattern from the
original lasercut positioning (114) to a revised positioning (112)
with larger windows in the pattern. In this embodiment, subsequent
to chemical etching, the pattern forms a relief angle with sides
(116a-116b, 118a-118b) with an intersection (120) and included
angle (122). Preferred metal spine materials include, but are not
limited to, stainless steel and nitinol.
[0195] Referring to FIGS. 31 and 32, the distal reinforcing
structure may also comprise a polymeric spine (124) similarly
configured to homogeneously bend due to a stress relief pattern
comprising the tubular wall of the spine (124). In particular, due
to the greater fracture toughnesses of many available polymeric
materials, a more squared stress concentrating pattern may be
repeated with polymer structures. Further, high-precision
structures such as the depicted polymeric spine (124), may be
formed using injection molding and/or other techniques less
inexpensive than laser cutting and etching. As will be apparent to
those skilled in the art, many other distal spine structures for
concentrating and relieving stress may also be utilized to provide
the requisite tight bend radius functionality distally within the
catheter member (90) construct, including but not limited to coils
and braids.
[0196] Referring to FIG. 33, a control element anchoring ring (126)
is depicted having two anchoring lumens (128) for each incoming
control element to be anchored at the distal tip of the catheter
member (90). The anchoring ring (126) comprises the last rigid
construct at the distal tip of the catheter member (90), beyond
which only a low durometer polymeric atraumatic distal tip (not
shown) extends, as the low friction liner (100) meets the outer
layer (96) subsequent to these two layers encapsulating the
anchoring ring (126). The anchoring ring (126) is the "anchor" into
which the relatively high-tension control elements are fixedly
inserted--and is therefore a key to the steerability and
controllability of the catheter member (90) regardless of the
number of control elements pulling upon it. In one embodiment,
tension wire control elements (not shown) insert into the outermost
of the anchoring lumens, then bend directly back into the innermost
of the anchoring lumens, where they are soldered to the anchoring
ring, which comprise machined or gold plated stainless steel for
solderability.
[0197] FIGS. 35-49 depict certain aspects of a proximal portion
(82) of an instrument (18) similar to that depicted in FIG. 19.
Referring to FIG. 35, a control element interface assembly (132) is
depicted, comprising an axel (54), a control element pulley (136),
a manual adjustment knob (86), and a drive engagement knob (134).
The manual adjustment knob is configured to facilitate manual
adjustment of control element tensions during setup of the
instrument upon the instrument driver. It is held in place against
the axel (54) with a clamp screw (138), and houses a rotation range
of motion limitation pin (140) which limits the range of motion of
the axel subsequent to setup and tightening of the clamp screw.
Referring to FIG. 35A, one embodiment of an axel (54) is depicted
in isometric view without other hardware mounted upon it. Referring
to FIG. 36, an axel (54) is depicted with a drive engagement knob
(134) mounted upon it. The drive engagement knob (134) may take a
shape similar to a screw with a long threaded portion configured to
extend through the axel to engage a tapered nut (142), as shown.
Twisting of the drive engagement knob (134) causes the tapered nut
(142) to urge the teeth (144) of the axel outward (223), thereby
engaging whatever structures surround the lower portion of the
axel, including but not limited to a instrument driver interface
socket (44).
[0198] FIGS. 37 and 38 depict respective orthogonal views of one
embodiment of a control element pulley (136). The central hole
(148) in the pulley (136) is sized for a press fit upon an axel,
and the control element termination engagement slot (146) is
configured to capture a control element terminator, such as a lead
or steel cable terminator, that is pushed into the slot before a
control element is wound around the pulley (136) during manufacture
or rebuilding. Referring to FIG. 38, the pulley (136) preferably
has a flanged shape (150) to facilitate winding and positional
maintenance of a control element.
[0199] As shown in FIG. 39, the top portion (152) of one embodiment
of a guide instrument base (48) comprises slots (154) to interface
with the rotation range of motion limitation pins (140), which may
be housed within a manual adjustment knob (86). FIG. 40 depicts a
top view of the top portion (152). FIG. 41 depicts the same top
portion (152), as viewed isometrically from underneath, to
demonstrate how two pulleys may be mounted in related to the top
portion (152) of the guide instrument base (48). The control
element splay tracks (158) are employed to guide control elements
(not shown) from apertures in a catheter member into pulleys which
may be positioned within the pulley geometry accommodations (160)
formed into the top portion (152) of the guide instrument base
(48). Also shown in the top portion (152) is a catheter member
geometry accommodation (162) and a seal geometry accommodation
(164). FIG. 42 depicts an orthogonal view of the structures of FIG.
41 to better illustrate the control element splay track (158)
structures positioned to guide control elements (not shown) away
from a catheter member and over to a pulley associated with the top
portion (152) of the guide instrument base (48).
[0200] Referring to FIG. 43, a bottom portion (156) of one
embodiment of a guide instrument base (48) is configured to
interface with a top portion (152) such as that depicted in FIGS.
39-42. The bottom portion (156) has two additional pulley geometry
accommodations (160) and associated control element splay tracks
(158). The top (152) and bottom (156) portions of the guide
instrument base (48) are "sandwiched" together to capture the
proximal portion (88) of a catheter member (90), and therefore the
bottom portion (156) also has a catheter member geometry
accommodation (162) and a seal geometry accommodation (164) formed
into it. FIG. 44 depicts an orthogonal view of the structures of
FIG. 43 to better illustrate the control element splay track (158)
structures positioned to guide control elements (not shown) away
from a catheter member and to a pulley associated with the bottom
portion (156) of the guide instrument base (48). FIG. 45 depicts an
underside isometric view of the same bottom portion (156) shown in
FIGS. 43 and 44. The bottom surface may comprise magnets (166) to
facilitate mounting of the instrument upon an instrument driver.
The depicted embodiment also has mounting pin interface holes (168)
formed through it to accommodate mounting pins from an instrument
driver. Further, the bottom surface preferably has a generally
asymmetric geometry to ensure that it will only fit an underlying
instrument driver snugly in one way. FIG. 46 depicts an orthogonal
view of the bottom portion (156) of the guide instrument base (48)
embodiment of FIG. 45.
[0201] FIG. 47 illustrates a partially (although nearly completely)
assembled instrument proximal end (82), including a top portion
(152) and bottom portion (156) of an instrument base (48)
interfaced together. The proximal end (82) houses four pulleys (not
shown), a catheter member (90), and a seal (170), including and a
purging port (172). Three manual adjustment knobs (86) are mounted
to the guide instrument base (48) by axels (54), which are held in
place by pulleys (not visible) mounted upon the axels (54).
Rotational range of motion limitation pins (140) interface with the
manual adjustment knobs and slots (154) in the guide instrument
base (48) top portion (152). One of the four manual adjustment
knobs is removed from the embodiment in FIG. 47 to illustrate the
interaction between the pin (140) and slot (154). FIG. 48 shows the
locations of the pulleys (136) and control element splay tracks
(158) within this four-control element embodiment. Control elements
(not shown) preferably comprise solid wires made from materials
such as stainless steel, which are sized for the anticipated loads
and geometric parameters of the particular application. They may be
coated with materials such as Teflon.TM. to reduce friction forces.
FIG. 49 illustrates a different isometric view of an instrument
embodiment similar to that in FIG. 47 to better illustrate the seal
(170) and purging port (172) positioning, as well as the clamp
screws (138) of the manual adjustment knobs (86). The seal (170)
preferably comprises a silicon rubber seal configured to
accommodate insertion of working members or instruments, such as,
e.g., relatively small profile guidewires (e.g, in the range of
0.035'' diameter), or relatively larger profile catheters (e.g., of
up to 7 French or even larger).
[0202] Referring to FIGS. 50-73, other embodiments of instruments
are depicted having the respective capabilities to drive two,
three, or four control elements with less than four control element
interface assemblies (132) as previously discussed. For ease in
illustration, many of the same components are utilized in these
embodiments. As will be appreciated by those skilled in the art,
such component matching is by no means required to accomplish the
described functions, and many alternative arrangements are possible
within the scope of the inventions disclosed herein.
[0203] FIGS. 50, 51, and 52 illustrate an instrument (174) having
two control element interface assemblies (132) is depicted in three
orthogonal views. While this embodiment has only two control
element interface assemblies, it is configured to drive four
control elements and keep them in tension through either
pre-tensioning, or active tensioning through a slotted guide
instrument base (188) to a tensioning mechanism in the instrument
driver (16). FIG. 53 illustrates an instrument (174) similar to
that in FIG. 52, but shown from a back or bottom side orthogonal
view. In particular, one side of the guide instrument base (188)
forms slots (190) through which an instrument driver tensioning
mechanism may keep control elements taut during operation of the
instrument (174). FIG. 54 is a reverse orthogonal view of the
structure in FIG. 53, with one side of the guide instrument base,
and both control element interface assemblies, removed (132) to
show the slots (190) and four control elements (192).
[0204] FIG. 55 illustrates an instrument (175) similar to that in
FIGS. 53 and 54, with the exception that the guide instrument base
(194) does not have slots--but rather has only fixed idler control
element pathways to align the cables with the sets of two pulleys
(136) comprising each control element interface assembly (132). In
this embodiment, tension may be maintained in the control elements
(192), with pre-tensioning, or pre-stressing, to prevent control
element slack. FIG. 56 also illustrates an instrument (174) similar
to that of FIGS. 53 and 54, including slots to allow for active
tensioning of the control elements (192) from the underlying
instrument driver. One of the control element interface assemblies
(132) is shown intact, and one is shown only partially intact, with
the axel (54) and drive engagement knob (134) depicted to show the
control elements (192). A notable difference between the embodiment
in FIG. 56 and that in FIG. 55 is the addition of the tensioning
slots (190).
[0205] Referring to FIGS. 57 and 58, yet another instrument
embodiment (176) is depicted in isometric and side views,
respectively, with this embodiment having two control element
interface assemblies to drive four control elements. As shown in
the partial cutaway isometric view of FIG. 59, and close up cutaway
view of FIG. 60, this embodiment differs from the fixed ider
embodiment of FIG. 55, or the slotted embodiment of FIG. 56, in
that it has four spring-loaded idlers to assist with tensioning
each of the four control elements. Referring to FIG. 60, each of
the control elements (192) passes through a spring loaded idler
(198), which urges the control element (192) into tension by trying
to rotate (200). This tensioning schema may be easiest to visualize
in the orthogonal cutaway view of FIG. 61, wherein the spring
loaded idlers (198) are depicted urging (200) the four control
elements (192) into tension. The wireframe orthogonal view of FIG.
62 also shows the stacks of two pulleys each on each control
element interface assembly (132) to accommodate four control
elements (192).
[0206] FIGS. 63 and 64 depict another instrument embodiment (178),
this one having three control element interface assemblies (132)
for three independent control elements. As best seen in FIG. 64,
this embodiment is similar to that of FIG. 47, for example, except
that it has one less control element and one less control element
interface assembly (132). FIG. 65 depicts yet another instrument
embodiment (180) coupled with a sheath instrument (30). In
particular, instrument (180) has two control element interface
assemblies (132) and two control elements. As best seen in FIG. 66,
the instrument (180) is not configured for slotted tensioning or
spring-loaded tensioning. Instead, the control elements (192) of
this embodiment may be actively tensioned independently, and/or
pre-tensioned, to facilitate maintenance of tension for control
purposes.
[0207] Referring to FIG. 67, yet another instrument embodiment
(182) is shown coupled with a sheath instrument (30). Instrument
(182) has a single control element interface assembly (132) and two
control elements. As best seen in FIG. 68, instrument (182) is also
not configured for slotted tensioning or spring-loaded tensioning.
Instead, the control elements (192) of this embodiment may be
pre-tensioned and kept in position with the help of a fixed idler
control element pathway (196) to facilitate maintenance of tension
for control purposes. FIG. 69 illustrates still another instrument
embodiment (184), which is shown coupled with a sheath instrument
(30). Instrument (184) has a single control element interface
assembly (132) and two control elements (192), with a spring-loaded
idler (198) tensioning of the control elements (192), as shown in
FIG. 70. As with the aforementioned spring-loaded idler tensioning
instrument embodiments, the spring-loaded idlers urge (200) the
control elements (192) into tension to facilitate control.
[0208] FIG. 71 illustrates a still further instrument embodiment
(186), which is shown coupled with a sheath instrument (30).
Instrument (186) has a single control element interface assembly
(132) and two control elements (192), with a single-slotted guide
instrument base, as shown in FIG. 72. As with the aforementioned
slotted-tensioning instrument embodiments, the slot facilitates
tensioning of the control elements from a mechanism in the
instrument driver below. FIG. 73 depicts the embodiment of FIG. 72,
with both portions of the slotted guide instrument base (202)
intact. Depending upon the amount of tensioning deflection within
the slot (190), it may be desirable to remove the rotational range
of motion limitation pin (not shown) from the manual adjustment
knob (not shown) to prevent impingement of the pin, knob, and
instrument base (202), as the control element interface assembly is
moved in the slot (190) relative to the rest of the instrument base
(202).
[0209] Referring to FIGS. 74-93, elements of a sheath instrument
embodiment will now be described. Again, for ease in illustration,
many of the same components from the previously described
instrument embodiments is utilized in these further embodiments,
although such component matching is by no means required to
accomplish the described functions.
[0210] FIG. 74 depicts a guide instrument (18) shown coupled
coaxially with a sheath instrument (30), together forming what has
been described as a set of instruments (28). In FIGS. 75 and 76,
the sheath instrument (30) is depicted without the guide instrument
of FIG. 74. In FIG. 76, the sheath instrument (30) is depicted
having one control element interface assembly (132), and preferably
only one control element (not shown). From a functional
perspective, in most embodiments the sheath instrument need not be
as driveable or controllable as the associated guide instrument,
because the sheath instrument is generally used to contribute to
the remote tissue access schema by providing a conduit for the
guide instrument, and to point the guide in generally the right
direction. Such movement is controlled by rolling the sheath
relative to the patient, bending the sheath in one or more
directions with a control element, and inserting the sheath into
the patient. The seal (204) is generally larger than the seal on
the guide instrument due to the larger diameters of elongate
members that may be inserted into the sheath instrument (30) as
part of a medical procedure. Adjacent the seal (204) is an access
port (206), which may be utilized to purge the instrument, or
circulate fluids or instruments. The bottom (210) and top (212)
portions of the sheath instrument base (48) are preferably
sandwiched to house portions of the control element interface
assembly, such as the single pulley in this embodiment, and the
proximal portion of the sheath catheter member (208).
[0211] Referring to FIG. 77, the bottom portion of one embodiment
of a sheath instrument base is depicted showing two magnets
utilized to facilitate mounting against an instrument driver.
Mounting pin interface holes (168) also assist in accurate
interfacing with an instrument driver. The opposite surface is
formed with a sheath catheter member geometry accommodation (214)
to interface with the sheath catheter (not shown). FIG. 78 shows
this opposite surface in further detail, having a pulley geometry
accommodation (218), a seal geometry accommodation (216), and a
sheath catheter geometry accommodation (214). There is also a
control element splay track (220) similar to those depicted in
reference to the embodiments of the guide instrument. In FIG. 79, a
bottom view of a top portion (212) of one embodiment of a sheath
instrument base (48) is depicted showing the sheath catheter
geometry (214) and seal geometry (216) accommodations formed
therein, and an axel interface hole (222) formed there through.
[0212] FIG. 80 illustrates yet another embodiment of the sheath
catheter (208) in a pre-bent formation, which may be desirable
depending upon the anatomical issue pertinent to the medical
procedure. The sheath catheter (208) preferably has a construction
somewhat similar to that of the aforementioned guide catheter
member embodiments, with notable exceptions. For one, it preferably
does not have a flexible structural element disposed within its
distal end, as it is not within the preferred functionality of the
sheath instrument to have very tight radius bendability,
particularly given the high bendability of the associated guide
instrument. Preferably both the proximal (224) and distal (226)
portions comprise a low-friction inner layer, a braiding layer, and
an outer layer, as described below with reference to FIG. 81. It is
preferable to have more bending flexibility in the distal portion
than in the proximal portion. This may be accomplished by selecting
a outer layer polymeric material for the distal portion (226)
having approximately half the durometer of the polymeric material
utilized for the outer layer of the proximal portion (224). In the
depicted embodiment, an atraumatic distal tip (228) comprising an
extension of the low-friction inner layer and outer layer extends
slightly beyond the termination of the braiding layer by between
about 1/4 inch and 1/8 inch to prevent damage to tissues in various
medical procedures.
[0213] FIG. 81 is a cross sectional view of a proximal or distal
portion of a sheath catheter member (208), similar to that shown in
FIG. 80. A braiding layer (230) is surrounded by an outer layer
(232) preferably comprising a polymer such as Pebax.TM. with a
durometer between about 30 and 80, and an inner layer (234)
preferably comprising a low-friction polymeric material into which
one or more lumens may be optionally extruded. The embodiment of
FIG. 81 depicts one control element lumen (236). The geometry of
the inner layer (234) may be configured to "key" or restrictively
interface with a guide catheter member outer geometry to prevent
rotation of the guide catheter member as discussed below with
reference to FIGS. 85-91. The central lumen (238) of the sheath
catheter preferably is sized to closely fit the associated guide
catheter member. FIG. 82 depicts an embodiment similar to that
shown in FIG. 81, with the exception that it does not have a
control element lumen. In some embodiments, it is preferable not to
have a steerable sheath catheter, but instead to have a straight or
pre-bent sheath catheter, or no sheath catheter at all, surrounding
a portion of the guide catheter.
[0214] Referring to FIGS. 83 and 84, an embodiment of a sheath
catheter member is depicted with an inner layer (234) configured to
key with a 3-control-element guide geometry, such as that depicted
in FIG. 21. FIG. 84 depicts a similar embodiment, without a control
element lumen (236). FIG. 85 depicts an non-keyed sheath without
any control element lumens to illustrate that keying and steerable
control is not necessary or desired in some embodiments or
procedures--particularly when more bendability of the sheath is
desired. The embodiment of FIG. 85 is relatively thin walled, and
while it still comprises a braiding layer (230) surrounded by an
outer layer (232) and an inner layer (234) of polymeric material,
it is generally more easily bendable through tortuous paths than
are other more thick-walled embodiments. Further, without the
keying geometry of the inner layer (234), the central lumen (238)
is effectively larger.
[0215] FIGS. 86-91 illustrate cross sectional representations of
various embodiments of coaxially coupled guide catheter (90) and
sheath catheter (208) combinations.
[0216] Referring to FIG. 86, a relatively low surface profile (104)
guide catheter is disposed within sheath catheter (208) having four
control element lumens. The fit between the two structures is
fairly loose, and some relative rotational displacement is to be
expected if the guide catheter (90) is torqued significantly more
than the sheath catheter (208). To help prevent such relative
rotational displacement, a higher profile guide catheter (90)
geometry may be utilized,,as shown in FIG. 87, in order to decrease
the freedom of movement between the two structures as they are bent
through the pathways required by a medical procedure.
[0217] FIG. 88 depicts an embodiment similar to that in FIG. 87,
but without the control element lumens. It may be desirable to have
control element lumens formed into the walls of the guide catheter
or sheath catheter for reasons other than passing control elements
through such lumens. These lumens may function as stress relief
structures to increase bendability. They may also be utilized to
form preferred bending axes for the overall structure. Further,
they may be utilized as working channels for flushing, drug
delivery, markers, sensors, illumination fibers, vision fibers, and
the like. It may be desirable to have a homogeneous patterning of
control lumens across the cross section of a particular structure
in order to promote homogeneous bending. For example, a sheath
catheter with four control lumens, one of which is occupied by a
control element in tension, may bend more homogeneously than a
sheath catheter with only one or two control lumens, one of which
occupied by a control element.
[0218] Referring to FIG. 89, a relatively high surface profile
(106) guide catheter (90) is depicted within a non-keyed sheath
catheter, with a 4-control-element guide catheter disposed within a
pre-bent sheath instrument that is not remotely steerable. FIG. 90
depicts a similar embodiment to that of FIG. 89, with the exception
of an even lower surface profile (104) guide catheter (90) disposed
within the non-keyed sheath catheter. FIG. 91 depicts a somewhat
extreme example of keying to resist relative rotational
displacement between a guide catheter (90) and a sheath catheter
(208). Significant resistance to rotational displacement is traded
for higher degrees of overall system bendability, as will be
apparent to those skilled in the art. As shown in FIG. 92, a
preferably elastomeric seal (204) and access port (206) construct
may be fitted onto the sheath catheter member (208), prior to
mounting within the confines of the sheath instrument base (46).
FIG. 93 is a side view of the sheath catheter member (208) coupled
to the seal (204) and access port (206). FIG. 94 is an end view of
the seal (204).
[0219] FIGS. 95-103 depict various aspects of embodiments of an
instrument driver configured for use with the above-described
instrument embodiments.
[0220] FIGS. 95 and 96 are simplified schematics that illustrate
internal features and functionalities of one embodiment of an
instrument driver. In FIG. 95, a carriage (240) is slidably mounted
upon a platform (246), which is slidably mounted to a base
structure (248). The slidable mounting (250) at these interfaces
may be accomplished with high-precision linear bearings. The
depicted system has two cables (256, 258) running through a
plurality of pulleys (244) to accomplish motorized, synchronized
relative motion of the carriage (240) and platform (246) along the
slidable interfaces (250). As will be apparent to those skilled in
the art, as the motor (242) pulls on the carriage displacement
cable (256) with a tension force T, the carriage (240) feels a
force of 2*T. Further, as the motor pulls the carriage displacement
cable (256) by a displacement X, the carriage moves by X/2, and the
platform moves by half that amount, or X/4, due to its "pulleyed"
synchronization cable (258).
[0221] FIG. 96 illustrates a top view of a separate (but similar)
system configured to drive an instrument interface pulley (260)
associated with an instrument interface socket (262) to produce
both directions of rotation independently from the position of the
carriage (240), to which it is coupled, along the linear pathway
prescribed by the slidable interfaces (250). With a mechanical
schema similar to that in FIG. 96, as the motor (242) pulls a
deflection X in the instrument interface cable (264), the same
deflection is seen directly at the instrument interface pulley
(260), regardless of the position of the carriage (240) relative to
the motor (242), due to the synchronizing cable (266) positioning
and termination (252).
[0222] Referring to FIGS. 97-103, systems similar to those depicted
in FIGS. 95 and 96 are incorporated into various embodiments of the
instrument driver. In FIG. 97, an instrument driver (16) is
depicted as interfaced with a steerable guide instrument (18) and a
steerable sheath instrument (30). FIG. 98 depicts an embodiment of
the instrument driver (16), in which the sheath instrument
interface surface (38) remains stationary, and requires only a
simple motor actuation in order for a sheath to be steered using an
interfaced control element via a control element interface assembly
(132). This may be accomplished with a simple cable loop about a
sheath socket drive pulley (272) and a capstan pulley (not shown),
which is fastened to a motor, similar to the two upper motors (242)
(visible in FIG. 98). The drive motor for the sheath socket drive
schema is hidden under the linear bearing interface assembly.
[0223] The drive schema for the four guide instrument interface
sockets (270) is more complicated, due in part to the fact that
they are coupled to a carriage (240) configured to move linearly
along a linear bearing interface (250) to provide for motor-driven
insertion of a guide instrument toward the patient relative to the
instrument driver, hospital table, and sheath instrument. The
cabling and motor schema that moves the carriage (240) along the
linear bearing interface (250) is an implementation of the
diagrammatic view depicted in FIG. 95. The cabling and motor schema
that drives each of the four depicted guide instrument interface
sockets is an implementation of the diagrammatic view depicted in
FIG. 96. Therefore, in the embodiments of FIGS. 98-103, wherein
four separate cable drive loops serve four separate guide
instrument interface sockets (270), and wherein the carriage (240)
has motorized insertion, there is achieved a functional equivalent
of a system such as that diagrammed in FIGS. 95 and 96, all fit
into the same construct. Various conventional cable termination and
routing techniques are utilized to accomplish a preferably
high-density instrument driver structure with the carriage (240)
mounted forward of the motors for a lower profile patient-side
interface.
[0224] Still referring to FIG. 98, the instrument driver (16) is
rotatably mounted to an instrument driver base (274), which is
configured to interface with an instrument driver mounting brace
(not shown), such as that depicted in FIG. 1, or a movable setup
joint construct (not shown), such as that depicted in FIG. 2.
Rotation between the instrument driver base (274) and an instrument
driver base plate (276) to which it is coupled is facilitated by a
heavy-duty flanged bearing structure (278). The flanged bearing
structure (278) is configured to allow rotation of the body of the
instrument driver (16) about an axis approximately coincident with
the longitudinal axis of a guide instrument (not shown) when the
guide instrument is mounted upon the instrument driver (16) in a
neutral position. This rotation preferably is automated or powered
by a roll motor (280) and a simple roll cable loop (286), which
extends around portions of the instrument driver base plate and
terminates as depicted (282, 284). Alternatively, roll rotation may
be manually actuated and locked into place with a conventional
clamping mechanism. The roll motor (280) position is more easily
visible in FIG. 99.
[0225] FIG. 100 illustrates another embodiment of an instrument
driver, including a group of four motors (290). Each motor (290)
has an associated high-precision encoder for controls purposes and
being configured to drive one of the four guide instrument
interface sockets (270), at one end of the instrument driver.
Another group of two motors (one hidden, one visible--288) with
encoders (292) are configured to drive insertion of the carriage
(240) and the sheath instrument interface socket (268).
[0226] Referring to FIG. 101, a further embodiment of an instrument
driver is depicted to show the position of the carriage (240)
relative to the linear bearing interfaces (250). Also shown is the
interfacing of a portion of a instrument interface cable (264) as
it bends around a pulley (244) and completes part of its loop to an
instrument interface pulley (260) rotatably coupled to the carriage
(240) and coupled to a guide instrument interface socket (270),
around the instrument interface pulley (260), and back to a motor
capstan pulley (294). To facilitate adjustment and installation of
such cable loops, and due to the fact that there is generally no
requirement to have a loop operating for a long period of time in
one direction, thereby perhaps requiring a true unterminated loop,
two ends of a cut cable loop preferably are terminated at each
capstan (294).
[0227] The carriage (240) depicted in the embodiments of FIGS.
97-101 generally comprises a structural box configured to house the
instrument interface sockets and associated instrument interface
pulleys. Referring to FIGS. 102 and 103, a split carriage (296) is
depicted, comprising a main carriage body (304) similar to that of
the non split carriage depicted in previous embodiments (240), and
either one or two linearly movable portions (302), which are
configured to slide relative to the main carriage body (304) when
driven along either forward or backward relative to the main
carriage body by a gear (300) placed into one of the guide
instrument interface sockets, the gear (300) configured to
interface with a rack (298) mounted upon the main carriage body
(304) adjacent the gear (300). In an alternate embodiment, the
carriage need not be split on both sides, but may have one split
side and one non-split side. Further, while a carriage with four
guide instrument interface sockets is suitable for driving a guide
instrument with anywhere from one to four control element interface
assemblies, the additional hardware required for all four control
element interface assemblies may be undesirable if an instrument
only requires only one or two.
[0228] Referring to FIGS. 103.1-103.11, another variation of an
instrument driver is depicted, comprising a variation of a split
carriage design, such as that depicted in FIG. 103. As opposed to
the embodiment of FIG. 103, wherein each instrument base interface
is moved straight along a slot, or rotated, or both
(independently), the embodiment of FIGS. 103.1-103.11 provides
rotation and/or arcuate slot motion by a "winged" split carriage
design, wherein the tension member pulleys and axles may be rotated
about the axle axis, or moved along an arcuate pathway,
independently.
[0229] Referring to FIG. 103.1, a winged split carriage instrument
driver (135) is depicted coupled to a guide instrument (215)
configured for the winged split carriage with a specialized guide
instrument base (141) having two arcuate slots (145) as opposed to
the straight slots of other embodiments, such as those described in
reference to FIGS. 53, 54, and 72, for example. One or more
electronics boards (139) preferably are coupled to the main housing
structure (137) of the winged split carriage instrument driver
(135). The depicted assembly also comprises a sheath instrument
(30) movably threaded over at least a portion of the guide
instrument (215) and coupled to the sheath frame block (185) which
is coupled to the main housing structure (137) when the depicted
assembly is fully assembled.
[0230] Referring to FIG. 103.2, a winged instrument driver guide
instrument base (141) is depicted showing the arcuate slots (145)
in greater detail, as well as a winged instrument driver guide
instrument base top plate (143), which is configured to be fitted
down upon the proximal tubular portion of a guide instrument
catheter member (not shown) to maintain the relative positioning of
the catheter member (not shown) relative to the winged instrument
driver guide instrument base (141). An underside isometric view of
the same structures depicted in FIG. 103.2 is depicted in FIG.
103.3. In the depicted embodiment, a low-profile control element
interface assembly (147) is configured to rotate about the
longitudinal axis of the interface assembly (219) while also
slidably translating through the associated arcuate slot (145).
FIG. 103.4 depicts an exploded view of the winged instrument driver
guide instrument base top plate (143) and winged instrument driver
guide instrument base (141) depicted in FIG. 103.2, also showing
the arcuate slots (145) defined therein.
[0231] Referring to FIG. 103.5, a low-profile control element
interface assembly (147) is shown in isometric view comprising a
splined axle (157) coupled to a pulley flange (153), and also
coupled to a set of control element pulleys (155) which are
compressed between a low-profile manual adjustment knob (151) and
the pulley flange (153) with a retaining fastener (149), such as a
screw. An exploded view of the same structures is depicted in FIG.
103.6. Also shown in FIG. 103.6 is a pin (159) configured to
prevent relative rotational displacement between the two control
element pulleys (155) when the low-profile control element
interface assembly (147) is assembled. The depicted embodiment of
low-profile control element interface assembly (147) may be
utilized with any of the aforementioned instrument base and
instrument driver assemblies, subject to the requirement that the
instrument interface sockets, labeled 44, for example in FIG. 6,
preferably are also geometrically matched for a splined interface
between socket and axle facilitating highly-efficient transfer of
loads between the matched socket and axle. The low-profile control
element interface assembly (147) preferably comprises polymers or
metals which may be formed or machined into very high precision
subassemblies or parts which are low in weight, high in hardness,
and low in fracture toughness. In one embodiment, each of the
components of the low-profile control element interface assembly
(147) comprises polycarbonate or ultra-high-molecular-weight
polyethylene.
[0232] Referring to FIG. 103.7, a winged split carriage assembly is
depicted in semi-exploded view. The winged carriage base (173) is
configured to rotatably support two independently rotatable wing
structures (221), each comprising a bottom portion (165) and a top
portion (163). A further exploded view of the wing structures (221)
and associated members are depicted in FIG. 103.8. Rotatably
coupled to the rotatable wing structures (221) is a set of control
element pulleys (167) to which a splined instrument interface
socket (161) is coupled. The winged carriage base (173) is
configured to slidably couple to a carriage interface frame (not
shown) with bearings (179). As shown in FIG. 103.9, slots (181)
constrain the motion of the winged carriage base (173) relative to
the carriage interface frame (191) to linear motion. Shafts and
bearings are utilized to rotatably couple the wing structures (221)
to the winged carriage base and facilitate rotational motion of the
wing structures (221) about the axis of the pertinent coupling
shaft (171). Similar shaft and bearing configurations are utilized
to provide for rotation of the control element pulleys (167)
relative to the wing structures (221). Thus, the winged split
carriage design is configured to allow for independent motion of
each of two wing structures (221), while also allowing for
independent rotational motion of two sets of control element
pulleys (167) and thereby instrument interface sockets (161). In
other words, with a winged guide instrument (215) such as that
depicted in FIG. 103.1 coupled to an arcuate slot instrument
mounting base (187), and two control element interface assemblies
(147) coupled to two instrument interface sockets positioned below
the mounting base (187) in the configuration depicted in FIG.
103.1, each of the control element interface assemblies (147) may
be rotated about their longitudinal axis, and also arcuately
translated through the arcuate slot formed in the instrument base
(141), to provide for tensioning and control of two control
elements, one around each of the control element pulleys (167) on
each of the control element interface assemblies (147), with
actuation of a single control element interface assembly (147).
Thus four control elements may be driven with the actuation of only
two control element interface assemblies (147).
[0233] Referring to FIG. 103.10, an exploded view of an assembly
similar to that depicted in FIG. 103.1 is depicted. Neither the
sheath instrument, the two control element interface assemblies,
nor the guide instrument catheter member are depicted in FIG.
103.10. As with aforementioned embodiments, the instrument driver
roll assembly (195) and instrument driver motor/gear assembly (193)
are coupled to the main frame (137) of the instrument driver. As
shown in FIG. 103.11, redundant encoder readers (211) associated
with each of four control element drive motors (209) of this
embodiment facilitate high precision rotational position readings
of the motor shafts and prevent position read errors. The motor
output shafts are coupled to bevel gears (207) which are interfaced
with another set of bevel gears (213) and thereby configured to
drive the depicted vertical output shafts (205). The motor/gear
interface block (203) is utilized to couple the motors, gears, and
shafts into positions relative to each other and the main frame of
the instrument driver (not shown), while constraining motions
generally to rotational motions of shafts, motors, gears, and
bearings. The rotation and arcuate translation of the winged
structure instrument interface sockets (161) relative to the winged
carriage base (173) and wing structures (221) is a key difference
between the winged split carriage instrument driver and the
non-winged embodiments described herein.
[0234] Referring to FIG. 104, an operator control station is
depicted showing a control button console (8), a computer (6), a
computer control interface (10), such as a mouse, a visual display
system (4) and a master input device (12). In addition to "buttons"
on the button console (8) footswitches and other known user control
interfaces may be utilized to provide an operator interface with
the system controls. Referring to FIG. 105A, in one embodiment, the
master input device (12) is a multi-degree-of-freedom device having
multiple joints and associated encoders (306). An operator
interface (217) is configured for comfortable interfacing with the
human fingers. The depicted embodiment of the operator interface
(217) is substantially spherical. Further, the master input device
may have integrated haptics capability for providing tactile
feedback to the user. Another embodiment of a master input device
(12) is depicted in FIG. 105B having a similarly-shaped operator
interface (217). Suitable master input devices are available from
manufacturers such as Sensible Devices Corporation under the trade
name "Phanto.TM.", or Force Dimension under the trade name
"Omega.TM.". In one embodiment featuring an Omega-type master input
device, the motors of the master input device are utilized for
gravity compensation. In other words, when the operator lets go of
the master input device with his hands, the master input device is
configured to stay in position, or hover around the point at which
is was left, or another predetermined point, without gravity taking
the handle of the master input device to the portion of the master
input device's range of motion closest to the center of the earth.
In another embodiment, haptic feedback is utilized to provide
feedback to the operator that he has reached the limits of the
pertinent instrument workspace. In another embodiment, haptic
feedback is utilized to provide feedback to the operator that he
has reached the limits of the subject tissue workspace when such
workspace has been registered to the workspace of the instrument
(i.e., should the operator be navigating a tool such as an ablation
tip with a guide instrument through a 3-D model of a heart
imported, for example, from CT data of an actual heart, the master
input device is configured to provide haptic feedback to the
operator that he has reached a wall or other structure of the heart
as per the data of the 3-D model, and therefore help prevent the
operator from driving the tool through such wall or structure
without at least feeling the wall or structure through the master
input device). In another embodiment, contact sensing technologies
configured to detect contact between an instrument and tissue may
be utilized in conjunction with the haptic capability of the master
input device to signal the operator that the instrument is indeed
in contact with tissue.
[0235] Referring to FIGS. 106-109, the basic kinematics of a
catheter with four control elements is reviewed.
[0236] Referring to FIGS. 106 A-B, as tension is placed only upon
the bottom control element (312), the catheter bends downward, as
shown in FIG. 106A. Similarly, pulling the left control element
(314) in FIGS. 107 A-B bends the catheter left, pulling the right
control element (310) in FIGS. 108 A-B bends the catheter right,
and pulling the top control element (308) in FIGS. 109A-B bends the
catheter up. As will be apparent to those skilled in the art,
well-known combinations of applied tension about the various
control elements results in a variety of bending configurations at
the tip of the catheter member (90). One of the challenges in
accurately controlling a catheter or similar elongate member with
tension control elements is the retention of tension in control
elements, which may not be the subject of the majority of the
tension loading applied in a particular desired bending
configuration. If a system or instrument is controlled with various
levels of tension, then losing tension, or having a control element
in a slack configuration, can result in an unfavorable control
scenario.
[0237] Referring to FIGS. 110A-E, a simple scenario is useful in
demonstrating this notion. As shown in FIG. 110A, a simple catheter
(316) steered with two control elements (314, 310) is depicted in a
neutral position. If the left control element (314) is placed into
tension greater than the tension, if any, which the right control
element (310) experiences, the catheter (316) bends to the left, as
shown in FIG. 110B. If a change of direction is desired, this
paradigm needs to reverse, and the tension in the right control
element (310) needs to overcome that in the left control element
(314). At the point of a reversal of direction like this, where the
tension balance changes from left to right, without slack or
tension control, the right most control element (314) may gather
slack which needs to be taken up before precise control can be
reestablished. Subsequent to a "reeling in" of slack which may be
present, the catheter (316) may be may be pulled in the opposite
direction, as depicted in FIGS. 110C-E, without another slack issue
from a controls perspective until a subsequent change in
direction.
[0238] The above-described instrument embodiments present various
techniques for managing tension control in various guide instrument
systems having between two and four control elements. For example,
in one set of embodiments, tension may be controlled with active
independent tensioning of each control element in the pertinent
guide catheter via independent control element interface assemblies
(132) associated with independently-controlled guide instrument
interface sockets (270) on the instrument driver (16). Thus,
tension may be managed by independently actuating each of the
control element interface assemblies (132) in a
four-control-element embodiment, such as that depicted in FIGS. 18
and 47, a three-control-element embodiment, such as that depicted
in FIGS. 63 and 64, or a two-control-element embodiment, such as
that depicted in FIGS. 56 and 66.
[0239] In another set of embodiments, tension may be controlled
with active independent tensioning with a split carriage design, as
described in reference to FIGS. 102 and 103. For example, with an
instrument embodiment similar to that depicted in FIGS. 53, 54, and
56, a split carriage with two independent linearly movable
portions, such as that depicted in FIG. 103, may be utilized to
actively and independently tension each of the two control element
interface assemblies (132), each of which is associated with two
dimensions of a given degree of freedom. For example, there can
be+and-pitch on one interface assembly, +and -yaw on the other
interface assembly, with slack or tension control provided for
pitch by one of the linearly movable portions (302) of the split
carriage (296), and slack or tension control provided for yaw by
the other linearly movable portion (302) of the split carriage
(296).
[0240] Similarly, with an embodiment similar to that of FIGS.
71-73, slack or tension control for a single degree of freedom,
such as yaw or pitch, may be provided by a single-sided split
carriage design similar to that of FIG. 103, with the exception
that only one linearly movable portion would be required to
actively tension the single control element interface assembly of
an instrument.
[0241] In another set of embodiments, tensioning may be controlled
with spring-loaded idlers configured to keep the associated control
elements out of slack, as in the embodiments depicted in FIGS.
57-62 and 69-70. The control elements preferably are pre-tensioned
in each embodiment to prevent slack and provide predictable
performance. Indeed, in yet another set of embodiments,
pre-tensioning may form the main source of tension management, as
in the embodiments depicted in FIGS. 55 and 67-68. In the case of
embodiments only having pre-tensioning or spring-loaded idler
tensioning, the control system may need to be configured to reel in
bits of slack at certain transition points in catheter bending,
such as described above in relation to FIGS. 110A and 110B.
[0242] To accurately coordinate and control actuations of various
motors within an instrument driver from a remote operator control
station such as that depicted in FIG. 1, an advanced computerized
control and visualization system is preferred. While the control
system embodiments that follow are described in reference to a
particular control systems interface, namely the SimuLink.TM. and
XPC.TM. control interfaces available from The Mathworks Inc., and
PC-based computerized hardware configurations, many other
configurations may be utilized, including various pieces of
specialized hardware, in place of more flexible software controls
running on PC-based systems.
[0243] Referring to FIG. 111, an overview of an embodiment of a
controls system flow is depicted. A master computer (400) running
master input device software, visualization software, instrument
localization software, and software to interface with operator
control station buttons and/or switches is depicted. In one
embodiment, the master input device software is a proprietary
module packaged with an off-the-shelf master input device system,
such as the Phantom.TM. from Sensible Devices Corporation, which is
configured to communicate with the Phantom.TM. hardware at a
relatively high frequency as prescribed by the manufacturer. Other
suitable master input devices, such as that (12) depicted in FIG.
105B are available from suppliers such as Force Dimension of
Lausanne, Switzerland. The master input device (12) may also have
haptics capability to facilitate feedback to the operator, and the
software modules pertinent to such functionality may also be
operated on the master computer (400). Preferred embodiments of
haptics feedback to the operator are discussed in further detail
below.
[0244] The term "localization" is used in the art in reference to
systems for determining and/or monitoring the position of objects,
such as medical instruments, in a reference coordinate system. In
one embodiment, the instrument localization software is a
proprietary module packaged with an off-the-shelf or custom
instrument position tracking system, such as those available from
Ascension Technology Corporation, Biosense Webster, Inc.,
Endocardial Solutions, Inc., Boston Scientific (EP Technologies),
Medtronic, Inc., and others. Such systems may be capable of
providing not only real-time or near real-time positional
information, such as X-Y-Z coordinates in a Cartesian coordinate
system, but also orientation information relative to a given
coordinate axis or system. Some of the commercially-available
localization systems use electromagnetic relationships to determine
position and/or orientation, while others, such as some of those
available from Endocardial Solutions, Inc.--St Jude Medical,
utilize potential difference or voltage, as measured between a
conductive sensor located on the pertinent instrument and
conductive portions of sets of patches placed against the skin, to
determine position and/or orientation. Referring to FIGS. 112A and
112B, various localization sensing systems may be utilized with the
various embodiments of the robotic catheter system disclosed
herein. In other embodiments not comprising a localization system
to determine the position of various components, kinematic and/or
geometric relationships between various components of the system
may be utilized to predict the position of one component relative
to the position of another. Some embodiments may utilize both
localization data and kinematic and/or geometric relationships to
determine the positions of various components.
[0245] As shown in FIG. 112A, one preferred localization system
comprises an electromagnetic field transmitter (406) and an
electromagnetic field receiver (402) positioned within the central
lumen of a guide catheter (90). The transmitter (406) and receiver
(402) are interfaced with a computer operating software configured
to detect the position of the detector relative to the coordinate
system of the transmitter (406) in real or near-real time with high
degrees of accuracy. Referring to FIG. 112B, a similar embodiment
is depicted with a receiver (404) embedded within the guide
catheter (90) construction. Preferred receiver structures may
comprise three or more sets of very small coils spatially
configured to sense orthogonal aspects of magnetic fields emitted
by a transmitter. Such coils may be embedded in a custom
configuration within or around the walls of a preferred catheter
construct. For example, in one embodiment, two orthogonal coils are
embedded within a thin polymeric layer at two slightly flattened
surfaces of a catheter (90) body approximately ninety degrees
orthogonal to each other about the longitudinal axis of the
catheter (90) body, and a third coil is embedded in a slight
polymer-encapsulated protrusion from the outside of the catheter
(90) body, perpendicular to the other two coils. Due to the very
small size of the pertinent coils, the protrusion of the third coil
may be minimized. Electronic leads for such coils may also be
embedded in the catheter wall, down the length of the catheter body
to a position, preferably adjacent an instrument driver, where they
may be routed away from the instrument to a computer running
localization software and interfaced with a pertinent
transmitter.
[0246] In another similar embodiment (not shown), one or more
conductive rings may be electronically connected to a
potential-difference-based localization/orientation system, along
with multiple sets, preferably three sets, of conductive skin
patches, to provide localization and/or orientation data utilizing
a system such as those available from Endocardial Solutions--St.
Jude Medical. The one or more conductive rings may be integrated
into the walls of the instrument at various longitudinal locations
along the instrument, or set of instruments. For example, a guide
instrument may have several conductive rings longitudinally
displaced from each other toward the distal end of the guide
instrument, while a coaxially-coupled sheath instrument may
similarly have one or more conductive rings longitudinally
displaced from each other toward the distal end of the sheath
instrument--to provide precise data regarding the location and/or
orientation of the distal ends of each of such instruments.
[0247] Referring back to FIG. 111, in one embodiment, visualization
software runs on the master computer (400) to facilitate real-time
driving and navigation of one or more steerable instruments. In one
embodiment, visualization software provides an operator at an
operator control station, such as that depicted in FIG. 1 (2), with
a digitized "dashboard" or "windshield" display to enhance
instinctive drivability of the pertinent instrumentation within the
pertinent tissue structures. Referring to FIG. 113, a simple
illustration is useful to explain one embodiment of a preferred
relationship between visualization and navigation with a master
input device (12). In the depicted embodiment, two display views
(410, 412) are shown. One preferably represents a primary (410)
navigation view, and one may represent a secondary (412) navigation
view. To facilitate instinctive operation of the system, it is
preferable to have the master input device coordinate system at
least approximately synchronized with the coordinate system of at
least one of the two views. Further, it is preferable to provide
the operator with one or more secondary views which may be helpful
in navigating through challenging tissue structure pathways and
geometries.
[0248] Using the operation of an automobile as an example, if the
master input device is a steering wheel and the operator desires to
drive a car in a forward direction using one or more views, his
first priority is likely to have a view straight out the
windshield, as opposed to a view out the back window, out one of
the side windows, or from a car in front of the car that he is
operating. The operator might prefer to have the forward windshield
view as his primary display view, such that a right turn on the
steering wheel takes him right as he observes his primary display,
a left turn on the steering wheel takes him left, and so forth. If
the operator of the automobile is trying to park the car adjacent
another car parked directly in front of him, it might be preferable
to also have a view from a camera positioned, for example, upon the
sidewalk aimed perpendicularly through the space between the two
cars (one driven by the operator and one parked in front of the
driven car), so the operator can see the gap closing between his
car and the car in front of him as he parks. While the driver might
not prefer to have to completely operate his vehicle with the
sidewalk perpendicular camera view as his sole visualization for
navigation purposes, this view is helpful as a secondary view.
[0249] Referring still to FIG. 113, if an operator is attempting to
navigate a steerable catheter in order to, for example, contact a
particular tissue location with the catheter's distal tip, a useful
primary navigation view (410) may comprise a three dimensional
digital model of the pertinent tissue structures (414) through
which the operator is navigating the catheter with the master input
device (12), along with a representation of the catheter distal tip
location (416) as viewed along the longitudinal axis of the
catheter near the distal tip. This embodiment illustrates a
representation of a targeted tissue structure location (418), which
may be desired in addition to the tissue digital model (414)
information. A useful secondary view (412), displayed upon a
different monitor, in a different window upon the same monitor, or
within the same user interface window, for example, comprises an
orthogonal view depicting the catheter tip representation (416),
and also perhaps a catheter body representation (420), to
facilitate the operator's driving of the catheter tip toward the
desired targeted tissue location (418).
[0250] In one embodiment, subsequent to development and display of
a digital model of pertinent tissue structures, an operator may
select one primary and at least one secondary view to facilitate
navigation of the instrumentation. By selecting which view is a
primary view, the user can automatically toggle a master input
device (12) coordinate system to synchronize with the selected
primary view. In an embodiment with the leftmost depicted view
(410) selected as the primary view, to navigate toward the targeted
tissue site (418), the operator should manipulate the master input
device (12) forward, to the right, and down. The right view will
provide valued navigation information, but will not be as
instinctive from a "driving" perspective.
[0251] To illustrate: if the operator wishes to insert the catheter
tip toward the targeted tissue site (418) watching only the
rightmost view (412) without the master input device (12)
coordinate system synchronized with such view, the operator would
have to remember that pushing straight ahead on the master input
device will make the distal tip representation (416) move to the
right on the rightmost display (412). Should the operator decide to
toggle the system to use the rightmost view (412) as the primary
navigation view, the coordinate system of the master input device
(12) is then synchronized with that of the rightmost view (412),
enabling the operator to move the catheter tip (416) closer to the
desired targeted tissue location (418) by manipulating the master
input device (12) down and to the right.
[0252] The synchronization of coordinate systems described herein
may be conducted using fairly conventional mathematic
relationships. For example, in one embodiment, the orientation of
the distal tip of the catheter may be measured using a 6-axis
position sensor system such as those available from Ascension
Technology Corporation, Biosense Webster, Inc., Endocardial
Solutions, Inc., Boston Scientific (EP Technologies), and others. A
3-axis coordinate frame, C, for locating the distal tip of the
catheter, is constructed from this orientation information. The
orientation information is used to construct the homogeneous
transformation matrix, T.sub.C0.sup.G0, which transforms a vector
in the Catheter coordinate frame "C" to the fixed Global coordinate
frame "G" in which the sensor measurements are done (the subscript
C.sub.0 and superscript G.sub.0 are used to represent the O'th, or
initial, step). As a registration step, the computer graphics view
of the catheter is rotated until the master input and the computer
graphics view of the catheter distal tip motion are coordinated and
aligned with the camera view of the graphics scene. The 3-axis
coordinate frame transformation matrix T.sub.Gref.sup.G0 for the
camera position of this initial view is stored (subscripts
G.sub.ref and superscript C.sub.ref stand for the global and camera
"reference" views). The corresponding catheter "reference view"
matrix for the catheter coordinates is obtained as:
T.sub.Cref.sup.C0=T.sub.G0.sup.C0T.sub.Gref.sup.G0T.sub.Cref.sup.Gref=(T.-
sub.C0.sub.G0).sup.-1T.sub.Gref.sup.G0T.sub.C1.sup.Gi Also note
that the catheter's coordinate frame is fixed in the global
reference frame G, thus the transformation matrix between the
global frame and the catheter frame is the same in all views, i.e.,
T.sub.C0.sup.G0=T.sub.Cref.sup.Gref=T.sub.Ci.sup.Gi for any
arbitrary view i. The coordination between primary view and master
input device coordinate systems is achieved by transforming the
master input as follows: Given any arbitrary computer graphics view
of the representation, e.g. the i'th view, the 3-axis coordinate
frame transformation matrix T.sub.Gi .sup.G0 of the camera view of
the computer graphics scene is obtained form the computer graphics
software. The corresponding catheter transformation matrix is
computed in a similar manner as above:
T.sub.Ci.sup.C0=T.sub.G0.sup.C0T.sub.Gi.sup.G0T.sub.Ci.sup.Gi=(T.sub.Co.s-
up.G0).sup.-1T.sub.Gi.sup.G0T.sub.Ci.sup.Gi The transformation that
needs to be applied to the master input which achieves the view
coordination is the one that transforms from the reference view
that was registered above, to the current ith view, i.e.,
T.sub.Cref.sup.Ci. Using the previously computed quantities above,
this transform is computed as:
T.sub.Cref.sup.Ci=T.sub.C0.sup.CiT.sub.Cref.sup.C0 The master input
is transformed into the commanded catheter input by application of
the transformation T.sub.Cref.sup.Ci. Given a command input r
master = [ x master y master y master ] , ##EQU1## one may
calculate: r catheter = [ x catheter y catheter y catheter ] = T
Cref Ci .function. [ x master y master y master ] . ##EQU2## Under
such relationships, coordinate systems of the primary view and
master input device may be aligned for instinctive operation.
[0253] Referring back to embodiment of FIG. 111, the master
computer (400) also comprises software and hardware interfaces to
operator control station buttons, switches, and other input devices
which may be utilized, for example, to "freeze" the system by
functionally disengaging the master input device as a controls
input, or provide toggling between various scaling ratios desired
by the operator for manipulated inputs at the master input device
(12). The master computer (400) has two separate functional
connections with the control and instrument driver computer (422):
one (426) for passing controls and visualization related commands,
such as desired XYZ )in the catheter coordinate system) commands,
and one (428) for passing safety signal commands. Similarly, the
control and instrument driver computer (422) has two separate
functional connections with the instrument and instrument driver
hardware (424): one (430) for passing control and visualization
related commands such as required-torque-related voltages to the
amplifiers to drive the motors and encoders, and one (432) for
passing safety signal commands.
[0254] In one embodiment, the safety signal commands represent a
simple signal repeated at very short intervals, such as every 10
milliseconds, such signal chain being logically read as "system is
ok, amplifiers stay active". If there is any interruption in the
safety signal chain, the amplifiers are logically toggled to
inactive status and the instrument cannot be moved by the control
system until the safety signal chain is restored. Also shown in the
signal flow overview of FIG. 111 is a pathway (434) between the
physical instrument and instrument driver hardware back to the
master computer to depict a closed loop system embodiment wherein
instrument localization technology, such as that described in
reference to FIGS. 112A-B, is utilized to determine the actual
position of the instrument to minimize navigation and control
error, as described in further detail below.
[0255] FIGS. 114-124 depict various aspects of one embodiment of a
SimuLink.TM. software control schema for an embodiment of the
physical system, with particular attention to an embodiment of a
"master following mode." In this embodiment, an instrument is
driven by following instructions from a master input device, and a
motor servo loop embodiment, which comprises key operational
functionality for executing upon commands delivered from the master
following mode to actuate the instrument.
[0256] FIG. 114 depicts a high-level view of an embodiment wherein
any one of three modes may be toggled to operate the primary servo
loop (436). In idle mode (438), the default mode when the system is
started up, all of the motors are commanded via the motor servo
loop (436) to servo about their current positions, their positions
being monitored with digital encoders associated with the motors.
In other words, idle mode (438) deactivates the motors, while the
remaining system stays active. Thus, when the operator leaves idle
mode, the system knows the position of the relative components. In
auto home mode (440), cable loops within an associated instrument
driver, such as that depicted in FIG. 97, are centered within their
cable loop range to ensure substantially equivalent range of motion
of an associated instrument, such as that depicted in FIG. 17, in
both directions for a various degree of freedom, such as + and
-directions of pitch or yaw, when loaded upon the instrument
driver. This is a setup mode for preparing an instrument driver
before an instrument is engaged.
[0257] In master following mode (442), the control system receives
signals from the master input device, and in a closed loop
embodiment from both a master input device and a localization
system, and forwards drive signals to the primary servo loop (436)
to actuate the instrument in accordance with the forwarded
commands. Aspects of this embodiment of the master following mode
(442) are depicted in further detail in FIGS. 119-124. Aspects of
the primary servo loop and motor servo block (444) are depicted in
further detail in FIGS. 115-118.
[0258] Referring to FIG. 119, a more detailed functional diagram of
an embodiment of master following mode (442) is depicted. As shown
in FIG. 119, the inputs to functional block (446) are XYZ position
of the master input device in the coordinate system of the master
input device which, per a setting in the software of the master
input device may be aligned to have the same coordinate system as
the catheter, and localization XYZ position of the distal tip of
the instrument as measured by the localization system in the same
coordinate system as the master input device and catheter.
Referring to FIG. 120 for a more detailed view of functional block
(446) of FIG. 119, a switch (460) is provided at block to allow
switching between master inputs for desired catheter position, to
an input interface (462) through which an operator may command that
the instrument go to a particular XYZ location in space. Various
controls features may also utilize this interface to provide an
operator with, for example, a menu of destinations to which the
system should automatically drive an instrument, etc. Also depicted
in FIG. 120 is a master scaling functional block (451) which is
utilized to scale the inputs coming from the master input device
with a ratio selectable by the operator. The command switch (460)
functionality includes a low pass filter to weight commands
switching between the master input device and the input interface
(462), to ensure a smooth transition between these modes.
[0259] Referring back to FIG. 119, desired position data in XYZ
terms is passed to the inverse kinematics block (450) for
conversion to pitch, yaw, and extension (or "insertion") terms in
accordance with the predicted mechanics of materials relationships
inherent in the mechanical design of the instrument.
[0260] The kinematic relationships for many catheter instrument
embodiments may be modeled by applying conventional mechanics
relationships. In summary, a control-element-steered catheter
instrument is controlled through a set of actuated inputs. In a
four-control-element catheter instrument, for example, there are
two degrees of motion actuation, pitch and yaw, which both have +
and -directions. Other motorized tension relationships may drive
other instruments, active tensioning, or insertion or roll of the
catheter instrument. The relationship between actuated inputs and
the catheter's end point position as a function of the actuated
inputs is referred to as the "kinematics" of the catheter.
[0261] Referring to FIG. 125, the "forward kinematics" expresses
the catheter's end-point position as a function of the actuated
inputs while the "inverse kinematics" expresses the actuated inputs
as a function of the desired end-point position. Accurate
mathematical models of the forward and inverse kinematics are
essential for the control of a robotically controlled catheter
system. For clarity, the kinematics equations are further refined
to separate out common elements, as shown in FIG. 125. The basic
kinematics describes the relationship between the task coordinates
and the joint coordinates. In such case, the task coordinates refer
to the position of the catheter end-point while the joint
coordinates refer to the bending (pitch and yaw, for example) and
length of the active catheter. The actuator kinematics describes
the relationship between the actuation coordinates and the joint
coordinates. The task, joint, and bending actuation coordinates for
the robotic catheter are illustrated in FIG. 126. By describing the
kinematics in this way we can separate out the kinematics
associated with the catheter structure, namely the basic
kinematics, from those associated with the actuation
methodology.
[0262] The development of the catheter's kinematics model is
derived using a few essential assumptions. Included are assumptions
that the catheter structure is approximated as a simple beam in
bending from a mechanics perspective, and that control elements,
such as thin tension wires, remain at a fixed distance from the
neutral axis and thus impart a uniform moment along the length of
the catheter.
[0263] In addition to the above assumptions, the geometry and
variables shown in FIG. 127 are used in the derivation of the
forward and inverse kinematics. The basic forward kinematics,
relating the catheter task coordinates (X.sub.c, Y.sub.c, Z.sub.c)
to the joint coordinates (.phi..sub.pitch, .phi..sub.pitch, L), is
given as follows: X.sub.c=w cos(.theta.) Y.sub.c=R sin(.alpha.)
Z.sub.c=w sin (.theta.) where w=R(1-cos(.alpha.))
.alpha.=[(.phi..sub.pitch).sup.2+(.phi..sub.yaw).sup.2[.sup.1/2
(total bending) R = L .alpha. ( bend .times. .times. radius )
.theta. = a .times. .times. tan .times. .times. 2 .times. ( .PHI.
pitch , .PHI. yaw ) ( roll .times. .times. angle ) ##EQU3##
[0264] The actuator forward kinematics, relating the joint
coordinates (.phi..sub.pitch, .phi..sub.pitch, L) to the actuator
coordinates (.DELTA.L.sub.x,.DELTA.L.sub.z,L) is given as follows:
.PHI. pitch = 2 .times. .DELTA. .times. .times. L z D c .PHI. yaw =
2 .times. .DELTA. .times. .times. L x D c ##EQU4##
[0265] As illustrated in FIG. 125, the catheter's end-point
position can be predicted given the joint or actuation coordinates
by using the forward kinematics equations described above.
[0266] Calculation of the catheter's actuated inputs as a function
of end-point position, referred to as the inverse kinematics, can
be performed numerically, using a nonlinear equation solver such as
Newton-Raphson. A more desirerable approach, and the one used in
this illustrative embodiment, is to develop a closed-form solution
which can be used to calculate the required actuated inputs
directly from the desired end-point positions.
[0267] As with the forward kinematics, we separate the inverse
kinematics into the basic inverse kinematics, which relates joint
coordinates to the task coordinates, and the actuation inverse
kinematics, which relates the actuation coordinates to the joint
coordinates. The basic inverse kinematics, relating the joint
coordinates (.phi..sub.pitch, .phi..sub.pitch, L), to the catheter
task coordinates (Xc, Yc, Zc) is given as follows:
.phi..sub.pitch=.alpha.sin (.theta.)
.phi..sub.yaw=.alpha.cos(.theta.) L=R.alpha. .fwdarw. .times. where
.fwdarw. .times. .fwdarw. .times. .theta. = a .times. .times. tan
.times. .times. 2 .times. ( Z c , X c ) R = l .times. .times. sin
.times. .times. .beta. sin .times. .times. 2 .times. .times. .beta.
.alpha. = .pi. - 2 .times. .times. .beta. .times. .fwdarw. .times.
.beta. = a .times. .times. tan .times. .times. 2 .times. ( Y c , W
c ) W c = ( X c 2 + Z c 2 ) 1 2 l = ( W c 2 + Y c 2 ) 1 2
##EQU5##
[0268] The actuator inverse kinematics, relating the actuator
coordinates (.DELTA.L.sub.x,.DELTA.L.sub.z,L) to the joint
coordinates (.phi..sub.pitch, .phi..sub.pitch, L) is given as
follows: .DELTA. .times. .times. L x = D c .times. .PHI. yaw 2
##EQU6## .DELTA. .times. .times. L z = D c .times. .PHI. pitch 2
##EQU6.2##
[0269] Referring back to FIG. 119, pitch, yaw, and extension
commands are passed from the inverse kinematics (450) to a position
control block (448) along with measured localization data. FIG. 124
provides a more detailed view of the position control block (448).
After measured XYZ position data comes in from the localization
system, it goes through a inverse kinematics block (464) to
calculate the pitch, yaw, and extension the instrument needs to
have in order to travel to where it needs to be. Comparing (466)
these values with filtered desired pitch, yaw, and extension data
from the master input device, integral compensation is then
conducted with limits on pitch and yaw to integrate away the error.
In this embodiment, the extension variable does not have the same
limits (468), as do pitch and yaw (470). As will be apparent to
those skilled in the art, having an integrator in a negative
feedback loop forces the error to zero. Desired pitch, yaw, and
extension commands are next passed through a catheter workspace
limitation (452), which may be a function of the experimentally
determined physical limits of the instrument beyond which
componentry may fail, deform undesirably, or perform unpredictably
or undesirably. This workspace limitation essentially defines a
volume similar to a cardioid-shaped volume about the distal end of
the instrument. Desired pitch, yaw, and extension commands, limited
by the workspace limitation block, are then passed to a catheter
roll correction block (454).
[0270] This functional block is depicted in further detail in FIG.
121, and essentially comprises a rotation matrix for transforming
the pitch, yaw, and extension commands about the longitudinal, or
"roll", axis of the instrument--to calibrate the control system for
rotational deflection at the distal tip of the catheter that may
change the control element steering dynamics. For example, if a
catheter has no rotational deflection, pulling on a control element
located directly up at twelve o'clock should urge the distal tip of
the instrument upward. If, however, the distal tip of the catheter
has been rotationally deflected by, say, ninety degrees clockwise,
to get an upward response from the catheter, it may be necessary to
tension the control element that was originally positioned at a
nine o'clock position. The catheter roll correction schema depicted
in FIG. 121 provides a means for using a rotation matrix to make
such a transformation, subject to a roll correction angle, such as
the ninety degrees in the above example, which is input, passed
through a low pass filter, turned to radians, and put through
rotation matrix calculations.
[0271] In one embodiment, the roll correction angle is determined
through experimental experience with a particular instrument and
path of navigation. In another embodiment, the roll correction
angle may be determined experimentally in-situ using the accurate
orientation data available from the preferred localization systems.
In other words, with such an embodiment, a command to, for example,
bend straight up can be executed, and a localization system can be
utilized to determine at which angle the defection actually went -
to simply determine the in-situ roll correction angle.
[0272] Referring briefly back to FIG. 119, roll corrected pitch and
yaw commands, as well as unaffected extension commands, are output
from the roll correction block (454) and may optionally be passed
to a conventional velocity limitation block (456). Referring to
FIG. 122, pitch and yaw commands are converted from radians to
degrees, and automatically controlled roll may enter the controls
picture to complete the current desired position (472) from the
last servo cycle. Velocity is calculated by comparing the desired
position from the previous servo cycle, as calculated with a
conventional memory block (476) calculation, with that of the
incoming commanded cycle. A conventional saturation block (474)
keeps the calculated velocity within specified values, and the
velocity-limited command (478) is converted back to radians and
passed to a tension control block (458).
[0273] Tension within control elements may be managed depending
upon the particular instrument embodiment, as described above in
reference to the various instrument embodiments and tension control
mechanisms. As an example, FIG. 123 depicts a pre-tensioning block
(480) with which a given control element tension is ramped to a
present value. An adjustment is then added to the original
pre-tensioning based upon a preferably experimentally-tuned matrix
pertinent to variables, such as the failure limits of the
instrument construct and the incoming velocity-limited pitch, yaw,
extension, and roll commands. This adjusted value is then added
(482) to the original signal for output, via gear ratio adjustment,
to calculate desired motor rotation commands for the various motors
involved with the instrument movement. In this embodiment,
extension, roll, and sheath instrument actuation (484) have no
pre-tensioning algorithms associated with their control. The output
is then complete from the master following mode functionality, and
this output is passed to the primary servo loop (436).
[0274] Referring back to FIG. 114, incoming desired motor rotation
commands from either the master following mode (442), auto home
mode (440), or idle mode (438) in the depicted embodiment are fed
into a motor servo block (444), which is depicted in greater detail
in FIGS. 115-118.
[0275] Referring to FIG. 115, incoming measured motor rotation data
from digital encoders and incoming desired motor rotation commands
are filtered using conventional quantization noise filtration at
frequencies selected for each of the incoming data streams to
reduce noise while not adding undue delays which may affect the
stability of the control system. As shown in FIGS. 117 and 118,
conventional quantization filtration is utilized on the measured
motor rotation signals at about 200 hertz in this embodiment, and
on the desired motor rotation command at about 15 hertz. The
difference (488) between the quantization filtered values forms the
position error which may be passed through a lead filter, the
functional equivalent of a proportional derivative ("PD")+low pass
filter. In another embodiment, conventional PID, lead/lag, or state
space representation filter may be utilized. The lead filter of the
depicted embodiment is shown in further detail in FIG. 116.
[0276] In particular, the lead filter embodiment in FIG. 116
comprises a variety of constants selected to tune the system to
achieve desired performance. The depicted filter addresses the
needs of one embodiment of a 4-control element guide catheter
instrument with independent control of each of four control element
interface assemblies for .+-.pitch and .+-.yaw, and separate roll
and extension control. As demonstrated in the depicted embodiment,
insertion and roll have different inertia and dynamics as opposed
to pitch and yaw controls, and the constants selected to tune them
is different. The filter constants may be theoretically calculated
using conventional techniques and tuned by experimental techniques,
or wholly determined by experimental techniques, such as setting
the constants to give a sixty degree or more phase margin for
stability and speed of response, a conventional phase margin value
for medical control systems.
[0277] In an embodiment where a tuned master following mode is
paired with a tuned primary servo loop, an instrument and
instrument driver, such as those described above, may be "driven"
accurately in three-dimensions with a remotely located master input
device. Other preferred embodiments incorporate related
functionalities, such as haptic feedback to the operator, active
tensioning with a split carriage instrument driver, navigation
utilizing direct visualization and/or tissue models acquired
in-situ and tissue contact sensing, and enhanced navigation
logic.
[0278] Referring to FIG. 128, in one embodiment, the master input
device may be a haptic master input device, such as those available
from Sensible Devices, Inc., under the trade name Phantom.TM., and
the hardware and software required for operating such a device may
at least partially reside on the master computer. The master XYZ
positions measured from the master joint rotations and forward
kinematics are generally passed to the master computer via a
parallel port or similar link and may subsequently be passed to a
control and instrument driver computer. With such an embodiment, an
internal servo loop for the Phantom.TM. generally runs at a much
higher frequency in the range of 1,000 Hz, or greater, to
accurately create forces and torques at the joints of the
master.
[0279] Referring to FIG. 129, a sample flowchart of a series of
operations leading from a position vector applied at the master
input device to a haptic signal applied back at the operator is
depicted. A vector (344) associated with a master input device move
by an operator may be transformed into an instrument coordinate
system, and in particular to a catheter instrument tip coordinate
system, using a simple matrix transformation (345). The transformed
vector (346) may then be scaled (347) per the preferences of the
operator, to produce a scaled-transformed vector (348). The
scaled-transformed vector (348) may be sent to both the control and
instrument driver computer (422) preferably via a serial wired
connection, and to the master computer for a catheter workspace
check (349) and any associated vector modification (350). this is
followed by a feedback constant multiplication (351) chosen to
produce preferred levels of feedback, such as force, in order to
produce a desired force vector (352), and an inverse transform
(353) back to the master input device coordinate system for
associated haptic signaling to the operator in that coordinate
system (354).
[0280] A conventional Jacobian may be utilized to convert a desired
force vector (352) to torques desirably applied at the various
motors comprising the master input device, to give the operator a
desired signal pattern at the master input device. Given this
embodiment of a suitable signal and execution pathway, feedback to
the operator in the form of haptics, or touch sensations, may be
utilized in various ways to provide added safety and
instinctiveness to the navigation features of the system, as
discussed in further detail below.
[0281] FIG. 130 is a system block diagram including haptics
capability. As shown in summary form in FIG. 130, encoder positions
on the master input device, changing in response to motion at the
master input device, are measured (355), sent through forward
kinematics calculations (356) pertinent to the master input device
to get XYZ spatial positions of the device in the master input
device coordinate system (357), then transformed (358) to switch
into the catheter coordinate system and (perhaps) transform for
visualization orientation and preferred controls orientation, to
facilitate "instinctive driving."
[0282] The transformed desired instrument position (359) may then
be sent down one or more controls pathways to, for example, provide
haptic feedback (360) regarding workspace boundaries or navigation
issues, and provide a catheter instrument position control loop
(361) with requisite catheter desired position values, as
transformed utilizing inverse kinematics relationships for the
particular instrument (362) into yaw, pitch, and extension, or
"insertion", terms (363) pertinent to operating the particular
catheter instrument with open or closed loop control.
[0283] Referring to FIGS. 131-136, relationships pertinent to
tension control via a split carriage design such as that depicted
in FIGS. 102-103 are depicted to illustrate that such a design may
isolate tension control from actuation for each associated degree
of freedom, such as pitch or yaw of a steerable catheter
instrument.
[0284] Referring to FIG. 131, some of the structures associated
with a split carriage design, such as the embodiments depicted in
FIGS. 102 and 103, include a linearly movable portion (302), a
guide instrument interface socket (270), a gear (300), and a rack
(298). Applying conventional geometric relationships to the
physical state of the structures related in FIG. 131, the equations
(364, 365) of FIG. 132 may be generated. Utilizing foreward
kinematics of the instrument, such as those described above in
reference to a pure cantilever bending model for a catheter
instrument, the relationships of FIG. 133 may be developed for the
amount of bending as a function of cable pull and catheter diameter
("Dc") (366), and for tension (367), defined as the total amount of
common pull in the control elements. Combining the equations of
FIG. 132 and 133, one arrives at the relationships (368, 369)
depicted in FIG. 134, wherein desired actuation and desired
tensioning are decoupled by the mechanics of the involved
structures. Desired actuation (368) of the guide instrument
interface socket (270) depicted in FIG. 131 is a function of the
socket's angular rotational position. Desired tensioning (369) of
the associated control elements is a function of the position of
the tensioning gear (300) versus the rack (298).
[0285] Referring to FIG. 135, with a single degree of freedom
actuated, such as .+-.pitch or .+-.yaw, and active tensioning via a
split carriage mechanism, desired tension is linearly related to
the absolute value of the amount of bending, as one would predict
per the discussion above in reference to FIGS. 110A-E. The
prescribed system never goes into slack--desired tension is always
positive, as shown in FIG. 135. Referring to FIG. 136, a similar
relationship applies for a two degree of freedom system with active
tensioning--such as a four-cable system with .+-.pitch and .+-.yaw
as the active degrees of freedom and active tensioning via a split
carriage design. Since there are two dimensions, coupling terms
(370) are incorporated to handle heuristic adjustments to, for
example, minimize control element slacking and total instrument
compression.
[0286] As discussed in reference to FIG. 113, in one embodiment, a
tissue structure model (414) may be utilized to enhance navigation.
It is particularly desirable to utilize actual data, acquired in
situ, from the patient onto which a procedure is to be conducted,
due to anatomic variation among the patient population which may be
significant, depending generally upon the subject tissue
structures. For example, the geometry of the left atrium of the
human heart varies significantly from patient to patient, according
to published reports and experimental verification in animals.
[0287] In one embodiment, focused magnetic resonance imaging, gated
for heart cycle motion, and preferably gated for respiratory cycle
motion, may be utilized along with conventional image cropping and
thresholding techniques to produce a three dimensional tissue
structure model. One of the challenges with such an imaging
modality as applied to modeling active tissue structures such as
those of the heart is the gating. In one embodiment, the gating
comprises waiting for cardiac resting periods during diastole which
are also correlated to substantially limited respiratory-induced
motion. Acquiring a three-dimensional image of a left atrium, for
example, utilizing gated magnetic resonance, may require an
unacceptable amount of acquisition time, not to mention the
generally large and expensive instrumentation required to
accomplish the acquisition and fusion into a usable tissue
structure model. Such a modality, however, may be preferred where
cardiac and/or respiratory cyclic motion is negligible, and wherein
an image or series of images may be acquired and synthesized into a
usable tissue structure model comparatively quickly.
[0288] Referring to FIGS. 137-139 a technique is depicted through
which a tissue structure model may be synthesized given appropriate
hardware, such as an ultrasound transducer mounted upon a catheter
or similar structure, and a localization system mounted upon the
same structure to enable the capture of not only ultrasound slice
data, but also the position and orientation of the transducer at
the time of each slice acquisition. In other embodiments, a similar
robotic system does not include a localization system, in which
case kinematic and/or geometric relationships may be used to
predict the location of the imaging device.
[0289] FIG. 137 depicts a human heart with a side-firing ultrasound
catheter, such as those available under the trade name AcuNav.TM.
by Siemens AG, entering the left atrium via the inferior vena cava
blood vessel. Coupled to the ultrasound catheter, at or near the
location of the ultrasound transducer, is a localization device,
such as a set of orthogonally oriented electromagnetic receiving
coils, to determine the position and orientation of the ultrasound
transducer at each acquired "slice" of acquired reflected data.
FIG. 138 is a view along the longitudinal axis of the distal end of
the ultrasound catheter illustrating that, by rotating the
ultrasound catheter, multiple slices (500) of reflected ultrasound
image data, comprising multiple structural tissue mass location
points, may be acquired, along with the position and orientation of
the ultrasound transducer for each slice of reflected ultrasound
data. With such an embodiment and a targeted tissue structure that
is cyclically mobile, such the heart, each of the slices preferably
is acquired during the resting period of diastole to prevent
motion-based image distortion.
[0290] In post-acquisition processing, the acquired image slice
data and associated position and orientation data may be utilized
to construct a three-dimensional tissue structure model, such as
that represented by the series of slices in FIG. 139. As will be
apparent to those skilled in the art, to achieve a finer "mesh" of
points for image formation, more slices may be acquired and
assembled as shown in FIG. 139. Utilizing conventional image
thresholding techniques available, for example, on most ultrasound
mainframe devices, such as that sold under the trade name
Sequoia.TM. by Siemens AG, points of transition between blood or
other fluid-filled cavity and tissue mass may be clearly resolved
to establish transition points such as those depicted in FIG.
138.
[0291] Referring to FIGS. 140-148, various aspects of another
embodiment for acquiring a compiling a tissue structure image is
depicted. Referring to FIG. 140, applying similar principles as
applied in reference to the embodiment of FIGS. 137-139, a
perimetrically-firing ultrasound image acquisition device, such As
that sold under the trade name UltraICE.TM. by Boston Scientific
Corporation, may be utilized in concert with a localization system
to acquire a series of perimetric slices (502) and associated
position and orientation data for the transducer (504) to assemble
a series of tissue-cavity threshold points (506) related in space,
as depicted in FIG. 141. As illustrated in FIG. 140, a series of
related slices (502) is gathered as the transducer is inserted,
retrieved, or both, through a cavity. As with the embodiment above,
in the case of mobile heart tissue, each of the slices preferably
is acquired during the resting period of diastole to prevent
motion-based image distortion. Further, a finer resolution tissue
structure image may be created with higher density image
acquisition as the transducer is repositioned within the targeted
cavity, as will be apparent to those skilled in the art.
[0292] Referring to FIG. 142, a close-up isometric view of a
circumferentially-firing ultrasound catheter device (508)
comprising a localization device (509) and an ultrasound transducer
(510) is depicted within a tissue cavity acquiring a slice of data
with an illustrative measured point at a detected density threshold
at the transition between empty cavity and tissue wall. FIG. 143
depicts two views down the longitudinal axis of such a catheter
system to depict acquisition of a series of density transition
points about the catheter which form a slice which may be compiled
into a larger three-dimensional image of the subject cavity.
Referring to FIG. 144, the conventional transformation mathematics
which may be utilized to transform position and orientation data
within the acquiring catheter tip frame of reference to the ground
frame of reference, or some other desired frame of reference. FIGS.
145A and 145B depict two different views of a catheter (512)
inserting straight through a tissue cavity (513) and acquiring a
series of data slices (514) along the way.
[0293] FIGS. 146A-D depict respective variations for imaging a
given tissue structure geometry with the subject embodiment. In the
embodiment depicted in FIG. 146A, a circumferentially-firing
ultrasound catheter (515) is inserted straight through a cavity
without regard to incoming slice data. In FIG. 146B, a variation is
depicted wherein the catheter structure carrying the ultrasound
transducer and localization device is bent as it moves through the
subject tissue cavity to provide a series of slices occupying
substantially parallel planes. FIG. 146C depicts a variation
wherein the catheter structure carrying the ultrasound transducer
and localization device is directed into specific sub-portions of
the subject tissue mass. In one embodiment, such directing may be
the result of real-time or near-real-time image analysis by the
operator. For example, fluoroscopy or other conventional imaging
techniques may be utilized to position the catheter into such a
location in one embodiment. In another embodiment, the catheter may
be automatically or semi-automatically guided to such as position,
as discussed below. As shown in FIG. 146D, the catheter may be
inserted and steered through the subject tissue cavity such that
the planes of the slices of data acquired are not parallel. Given
the known position and orientation of the ultrasound transducer
from an associated localization system, it is by no means a
requirement that the planes within a given image stack be parallel.
Indeed, in some embodiments, it may be desirable to controllably
bend an imaging catheter (516) near a location of interest to
acquire multiple images (517) of a particular portion of the
subject tissue, as depicted in FIG. 147. Such controlled bending
through a preset range of motion as additional image slices are
acquired may be termed "bend detailing" a particular portion of the
subject tissue structures.
[0294] Referring to FIGS. 148A-C, several acquisition protocol
embodiments are depicted for implementing the aforementioned
acquisition system embodiment. In a simple embodiment (148A), an
insertion vector is selected, subsequent to which an ultrasound
transducer is inserted across a subject tissue cavity, pausing to
acquire slice and position/orientation data along the way, leading
to the combination of slice and location/orientation data into a
three-dimensional model. In another embodiment (148B), rather than
following a pre-determined program for inserting across the subject
cavity and acquiring data slices, a closed-loop system analyzes
incoming slice data and applies preprogrammed logic to
automatically navigate as the image acquisition continues. FIG.
148C depicts an embodiment similar to that of FIG. 148B, with the
exception that logical path planning is integrated into the
controls logic operating the catheter instrument driver to provide
automated or semi-automated image acquisition functionality. For
example, the system may watch acquired images time-of-flight
between emitted radiation and detected reflection of such radiation
to steer the instrument directly down the middle of the cavity, as
interpreted utilizing the time-of-flight data. This may be referred
to as "time-of-flight center drive". In another embodiment,
significant changes in time-of-flight data for a given sector of an
image series over a given period of time or distance may be
interpreted as a change in tissue surface geometry worth higher
density localized imaging, or even an automatic bending to take the
transducer closer to the site of interest - or to rotate the
transducer for higher-resolution imaging of the particular area
without insertion adjustment, as described above in reference to
FIG. 147.
[0295] FIGS. 149 and 150 depict respective embodiments for
acquiring a three-dimensional tissue structure model of a human
left atrium.
[0296] Referring to FIG. 149, subsequent to crossing the septal
wall, confirming an acquisition start position adjacent the septum,
and measuring the approximate trajectory and insertion length to
reach the left superior pulmonary vein funnel into the left atrium
with the instrument utilizing a conventional technology such as
fluoroscopy or ultrasound, the instrument may be driven across the
left atrium cavity along the approximate trajectory, gathering
slices along the way and noting, via time of flight calculations
and anatomy logic, approximate positioning of any other pulmonary
vein funnel neckdown positions. As the instrument reaches the end
of the predicted trajectory to the left inferior pulmonary vein
funnel, neckdown into the funnel may be detected using time of
flight calculations and added data from bend-detailing, as
described above in reference to FIG. 147. After the neckdown is
detected, the instrument may be driven into the funnel and funnel
shape and trajectory data acquired for the left superior pulmonary
vein structure. In one embodiment, a preset insertion limit
prevents insertion beyond a set value into a pulmonary vein funnel
structure. In another embodiment (such as that described in
reference to FIG. 150), a tissue contact sensing means may be
utilized to provide feedback to an operator or automated drive
system that a tissue structure has been physically encountered by
the instrument, and that the instrument insertion should be
limited, as directed by the pertinent controls logic.
[0297] Referring still to FIG. 149, subsequent to acquiring funnel
shape and trajectory data for a first pulmonary vein funnel of the
left atrium, a similar procedure may be utilized to do the same for
second, third, and fourth pulmonary vein funnels. After driving
back out of the left superior pulmonary vein funnel, preferably
along the trajectory utilized to minimally invasively enter the
funnel, the neckdown into the left inferior pulmonary vein funnel
is detected utilizing similar techniques, such as bend-detailing,
and funnel and trajectory data pertinent to the left inferior
pulmonary vein is acquired. Subsequently, the instrument may be
driven back to the location of the right pulmonary vein neckdowns,
preferably starting with the more easily accessed, in most
patients, right inferior pulmonary vein neckdown. To increase the
amount and variation of data comprising the ultimate left atrium
model, data slices may be continually gathered as the instrument is
driven back, forth, and around the left atrium.
[0298] After locating the right inferior pulmonary vein funnel, the
instrument may be driven into the funnel and data acquired for the
trajectory and shape, as discussed above in reference to the left
pulmonary vein funnels. Similar, shape and trajectory data may be
acquired for the right superior pulmonary vein funnel, which in
most patients, is the most difficult to access due to its location
relative to the septum. Should bend-detailing or acquisition of
slices and time of flight analysis as facilitated by driving the
instrument around within the atrium be ineffective in location any
of the pulmonary vein neck down locations, conventional systems,
such as fluoroscopy or intracardiac ultrasound, may be utilized
during the depicted acquisition procedure to assist in generally
driving the instrument to the location of the pertinent tissue
structures, after which the appropriate portion of the depicted
procedure may be resumed in a more automated fashion.
[0299] Referring to FIG. 150, another embodiment of a procedure for
acquiring a three-dimensional image of a left atrium is depicted,
this embodiment differing from that of FIG. 149 in that the
pertinent system also incorporates a contact sensing means at the
distal tip of the instrument for sensing contact between the
instrument tip and the subject tissue structures. With such added
functionality and logic to incorporate the information from it, the
subject system may be configured to stop or indicate to the
operator that a tissue structure or wall has been engaged. Such a
feature may be utilized to streamline the acquisition process. For
example, rather than planning a trajectory based upon data from
imaging modalities such as fluoroscopy or ultrasound, the
instrument merely may be pointed in roughly the appropriate
direction across the left atrium toward the left pulmonary veins,
and insertion driving and data slice acquisition engaged. The
contact sensing feedback may be logically utilized to stop
insertion of the instrument at or near the left wall of the left
atrium, or within the bends of the pulmonary veins as they narrow
away from the funnels of the left atrium.
[0300] A number of references have reported methods for determining
contact between medical device instrumentation and tissue. For
example, U.S. Pat. Nos. 5,935,079; 5,891,095; 5,836,990; 5,836,874;
5,673,704; 5,662,108; 5,469,857; 5,447,529; 5,341,807; 5,078,714;
and Canadian Patent Application 2,285,342 disclose various aspects
of determining electrode-tissue contact by measuring changes in
impedance between an instrument electrode and a. reference
electrode. In an embodiment of the subject invention wherein the
instrument comprises suitably positioned electrodes, techniques
such as those disclosed in the art may be utilized. Other preferred
embodiments of contact sensing means are described in reference to
FIGS. 151-157.
[0301] Referring to FIG. 151, an instrument (518) operated by an
instrument driver and a closed-loop control system incorporating a
localization technology to measure actual instrument position is
depicted. When the instrument tip is driven through a range of
motion, such as +pitch to -pitch, then back to neutral and +yaw to
-yaw, at some cyclic interval, loads encountered by tissue
structure contact, as opposed to free cavity space in blood, for
example, will tend to increase the error detected between the
measured tip position determined by the localization system, and
the predicted tip location, determined via the inverse kinematics
of the instrument structure. Other cyclic patterns of motion may
also be utilized, such as repeated spiral motion, circular motion,
etc. Depending upon the experimentally determined systematic error
between the predicted and measured tip locations in free space
given a particular instrument structure, a threshold may be
utilized, beyond which error is considered an indicator of tissue
contact. Depending upon the cyclic motion pattern selected, the
direction of contact between the instrument and another object may
also be detected by observing the directionality of error between
predicted and measured instrument position.
[0302] Referring to FIG. 152, a distal tip of an instrument (519)
is depicted having two vibratory devices (520). In one embodiment,
one device is a vibratory transmitter, such as a piezoelectric
crystal adjacent a membrane, and the other device is a vibratory
receiver comprising, for example, a membrane adjacent another
piezoelectric crystal. In another embodiment, both devices, a
single device, or more than two devices may comprise both
transmitters and receivers. In free cavity space, the instrument
will vibrate more freely than it will when in mechanical contact
with a tissue structure, and in this embodiment, the difference is
detected and logically interpreted as a tissue structure contact
indicator.
[0303] Referring to FIGS. 153-155, another embodiment of a tissue
contact sensing means is depicted wherein impedance monitoring
through multiple paths at multiple frequencies may be utilized as
an indicator of tissue contact. Conductivity measured through blood
varies relatively little with frequency modulation, whereas
conductivity does vary more significantly with frequency modulation
when measured through a tissue structure. By quickly switching
frequencies and taking measurements at various frequencies, using,
for example, a microprocessor, one can make a determination
regarding contact with tissue or not based upon the associated
modulation in conductivity or impedance.
[0304] Such a technique may be combined with conductivity path
modulation. Conventionally, impedance is measured between an
instrument tip electrode and a dispersive ground mounted, for
example, upon the skin of a patient's back. With such a
configuration, conductivity increases, and impedance decreases,
when the instrument is in contact with, for example, the heart
wall. Another measurement path of interest is conductivity between
an instrument tip electrode and another electrode inside of the
same chamber, but at a more proximal instrument location. As blood
is relatively highly conductive, conductivity will be at a maximum
when the tip electrode is not in contact with tissue, and will
decrease when the tip electrode touches a tissue wall, resulting in
obscuring at least a portion of the tip electrode. Indeed, previous
studies have shown conductivity or impedance measurements take with
such a configuration can be utilized to predict contact before it
actually occurs, and that depth of tip electrode penetration may
also be predicted given the relationship between conductivity and
obstruction of the tip electrode by tissue.
[0305] FIG. 153 depicts a further instrument embodiment (522)
having a distal tip configured to facilitate such functionality.
The instrument (522) has a tip electrode disposed distally, and
four electrodes (524a-d) disposed more proximally at corner
positions to facilitate contact with tissue structures as the
instrument is positioned adjacent a tissue structure in a near
parallel or tangential manner. FIG. 154 depicts the instrument
(522) adjacent a tissue structure (523) with reference to a
dispersive patch electrode (524) located upon the skin of a
patient's back. With such a configuration, impedance may be
monitored between any pair of electrodes, with various frequencies,
to provide a configuration combining not only frequency modulation
to detect tissue-electrode contact, but also conductivity
comparison path modulation to detect tissue-electrode contact.
[0306] Referring to FIG. 155, a schematic is depicted for utilizing
fast switching hardware, such as microprocessors, to collect data
with each of the pertinent combinations. Each cycle of acquisition
through the various combinations yields impedance difference
monitoring based upon path switching and frequency switching, which
may be compiled and logically associated with determinations of
tissue contact or not, and even the location of the instrument
which is predicted to be in contact with tissue. Many other
variations of electrode arrays may be utilized in addition to the
configuration depicted in FIG. 153, and frequency may be modulated
between more than three frequencies, as depicted in FIG. 155, to
produce additional data for each combination acquisition cycle.
[0307] FIGS. 156 and 157 depict another embodiment of a means for
detecting contact between an instrument electrode and a tissue
structure, such as a cardiac wall. The electrocardiogram ("ECG")
signal acquired by an instrument electrode positioned in free blood
in the heart shows a discemable signal, but from a signal
processing perspective, is less sharp and lower in amplitude due to
the attenuation of high frequency signal content, as compared with
similar signals detected when the electrode is in contact with a
cardiac wall. When the ECG signal is differentiated with respect to
time, the resulting differentiated signal has higher amplitude when
the electrode is in contact, as compared with a slower-rising curve
for a not-in-contact scenario. In one embodiment, a microcontroller
or digital signal processor ("DSP") is utilized to perform
sampling, differentiation, and analysis of acquired ECG waveforms.
In another embodiment, the shape of incoming ECG waveforms is
monitored to detect not only contact, but proximity to contact as
the waveform shape changes with proximity to the pertinent tissue
structure.
[0308] Referring to FIG. 157, similar signal processing means are
utilized to compare an intracardiac ECG signal (527) with a body
surface ECG signal (528), which essentially represents a
superposition of the various ECG waveforms from subportions of the
heart. The fit between the intracardiac ECG signal is compared with
the body surface ECG signal to determine whether the intracardiac
ECG signal does indeed appear to be a portion of the combined
signal represented by the body surface ECG signal. If the
superposition match does not meet an experimentally determined
threshold, the result is logically related to a state of
non-contact between the intracardiac electrode and the heart wall
tissue structures.
[0309] When the intracardiac electrode is in contact with a
particular wall of the heart, the intracardiac ECG signal is crisp,
detailed, and fits well into a portion of the superimposed combined
body surface ECG signal, as depicted in FIG. 157. In another
embodiment, the body surface ECG signal may be split into, for
example, four subportions, each of which may be compared in a
similar manner to the intracardiac ECG signal for a determination
of not only contact, but also a confirmation of position within the
heart as associated with the four subportions. For example, the
body surface ECG signal may be subdivided into four portions
representative of the four chambers of the heart, or even four
portions of the same chamber.
[0310] In a generic form, the aforementioned "master following
mode" may be logically configured to follow directly each command
as it comes through the control system from the master input
device. In one closed loop control embodiment, however, a logic
layer is configured to interpret data incoming from a master input
device and a localization system in light of the integrated tissue
structure model and certain system settings information pertinent
to the particular procedure at hand, to make modifications to
commands forwarded to the master following and subsequent main
servo loop controls logic, resulting in movements of the physical
instrument.
[0311] Referring to FIGS. 158-160, some relatively simplistic
examples illustrate challenges addressed by interpreted master
following. The exemplary instrument embodiment depicted in each of
these figures comprises a localization device and a contact sensing
device. Many combinations or instrument componentry may be utilized
with an interpreted master following logic layer to provide an
operator with enhanced navigation functionality, depending upon the
functional objectives.
[0312] As shown in FIG. 158, an instrument (530) has a distal end
carrying a localization device (532) is positioned adjacent an
irregular tissue wall which is represented in the system's
visualization and control systems by a preferably three-dimensional
tissue structure model acquired utilizing one of the aforementioned
modalities. Supposing that the operator's objective is to move the
instrument distal tip as indicated in FIG. 158, an operator's
preferred movement path depends upon his preferred action in
between the two locations. For example, if the operator merely
wishes to touch the instrument (530) to the tissue wall in each
location without contacting any tissue in between, the operator may
prefer a path of efficiency around the irregularity in the tissue
structure, such as that depicted by a dashed line (531). Following
this path, the operator may drive the instrument between the
respective positions/locations.
[0313] Additionally or alternately, the operator may wish to
lightly touch the instrument (530) against the tissue structure and
keep the instrument in contact as the instrument is driven between
the locations depicted in FIG. 159 via a series of hops between the
two locations, rather than a constant dragging type of contact as
described in the aforementioned embodiment. Further, in another
embodiment, as depicted in FIG. 160, the operator may wish to move
the instrument between positions, while maintaining the instrument
substantially normal to the tissue structure wall, perhaps due to
the preferred orientation of a distal instrument feature, e.g., an
electrode.
[0314] In addition, the operator may wish to have safety
functionality built into the controls logic to, for example,
prevent the instrument from damaging the subject tissue structures
by excessively dragging along the tissue with an excessive load,
overloading or overstressing a particular portion of a tissue
structure with a concentrated load, or occupying a region that may
cause tissue damage, such as an active valve entrance.
[0315] Such operator objectives are addressed in various
embodiments of an interpreted master following logic layer
interposed into the controls logic. In one embodiment, interpreted
master following interprets commands that would normally lead to
dragging along the tissue structure surface as commands to execute
a succession of smaller "hops" to and from the tissue structure
surface, while logging each contact as a new point to add to the
tissue structure surface model. Hops are preferably executed by
backing the instrument out the same trajectory it came into contact
with the tissue structure, then moving normally along the wall per
the tissue structure model, and re-approaching with a similar
trajectory. In addition to saving to memory each new XYZ surface
point, in one embodiment the system saves the trajectory of the
instrument with which the contact was made by saving the
localization orientation data and control element tension commands
to allow the operator to re-execute the same trajectory at a later
time if so desired. By saving the trajectories and new points of
contact confirmation, a more detailed contour map is formed from
the tissue structure model, which may be utilized in the procedure
and continually enhanced. The length of each hop may be configured,
as well as the length of non-contact distance in between each hop
contact.
[0316] In one embodiment, interpreted master following performs a
variety of safety checking steps to ensure that the operator does
not accidentally damage the subject tissue structure by driving
into it or through it with the instrument. For example, the
controls logic may be configured to disallow driving of the
instrument beyond or into the subject tissue structure, as
determined utilizing a tissue structure model with localization
data and/or contact sensing. Such a mode may be manually overridden
with an operator command in certain scenarios, for example, in
order to purposefully puncture a tissue wall such as the septum at
the location of the fossa ovalis. In one embodiment, the controls
logic may be configured to prevent instrument electrode activation
while the operator is attempting to move the instrument, or may
attempt to prevent electrode activation in the same location for
more than a predetermined time or amount of energy delivered.
[0317] In another embodiment, interpreted master following assists
the operator in automating various clinical procedures. For
example, where the instrument comprises a distal ablation
electrode, the controls may be configured to automatically fit a
circular ablation pattern through three contact points selected by
the operator. Further, an operator may select a hopping,
intermittent electrode burning pattern to automatically apply has
he merely moves the master input device linearly. Haptics
functionality may be utilized to provide the operator with various
feedback to assist in clinical procedures. For example, a haptic
"groove" may be created along the insertion axis of the instrument
to assist the operator in driving the instrument with the master
input device. Further, previously selected points of desired
contact may be haptically turned in to "gravity wells" to assist
the operator in directing the instrument to such locations.
[0318] A control system embodiment, such as described above,
facilitates precision steerability of a catheter-based instrument
in order to conduct a medical procedure. As an exemplary
application, a myocardial ablation procedure to address atrial
fibrillation will now be described with reference to FIGS.
161-174.
[0319] Referring to FIG. 161, a standard atrial approach is
depicted with a robotically controlled guide catheter instrument
(534) and sheath instrument (535) passing through the inferior vena
cava and into the right atrium. Referring to FIG. 162, an imaging
device, such as an intracardiac echo ("ICE") sonography catheter
(536), is forwarded into the right atrium to provide a field of
view upon the interatrial septum. The guide instrument is driven to
the septum wall, as shown in FIG. 163. Referring to FIGS. 164 and
165, the septum (537) may be crossed using a conventional technique
of first puncturing the fossa ovalis location with a sharpened
device (538), such as a needle or wire, passed through the working
lumen of the guide instrument (534), then passing a dilator (539)
over the sharpened device and withdrawing the sharpened device to
leave the dilator (539), over which the guide instrument (534) may
be advanced, as shown in FIG. 166. It may be desirable in some
embodiments to pass an instrument arrangement through the working
lumen of the guide instrument comprising a needle positioned
coaxially within a dilator, as is well known in conventional (i.e.,
non-robotic) septum crossing techniques.
[0320] As shown in FIG. 167, subsequent to passing the guide
instrument (534) across the septum (537), the guide instrument
(534) may be utilized as a dilator to insert the sheath instrument
(535) across the septum (537), thereby providing both instruments
(534, 535) access and/or a view into the left atrium. It may be
desirable to anchor the sheath instrument (535) in place just
across the septum (537). For example, as shown in FIG. 168, an
expanding structure such as a conventional balloon anchor (540) may
be employed. As shown in FIG. 169, the guide instrument (534) may
then be used to navigate inside the left atrium.
[0321] In one embodiment, a radio frequency (RF) ablation system is
used with the robotic catheter system to supply energy to perform
myocardial tissue ablation procedures in order block undesirable
conduction pathways within the wall of the left atrium and
adjoining vessels (e.g., pulmonary vein). By way of illustration,
FIG. 170 depicts a system level view of such arrangement, including
an operator control station (2), a computer (6), an instrument
driver (16), a RF ablation energy control unit (541), a guide
instrument (543) and a working instrument (547).
[0322] In one embodiment, shown in FIG. 171, a robotically
controlled guide instrument (543), which may have an outer diameter
of about 7 French, comprises an integrated ablation distal tip, and
is passed through a sheath instrument (535). In another embodiment,
shown in FIG. 172, a working instrument (547), in this instance an
"off the shelf" ablation catheter such as that sold under the trade
name Blazer.TM. by Boston Scientific Corporation, which may have an
outer diameter of about 7 French, is passed through the working
lumen of the guide instrument (534), which itself is passed through
a sheath instrument (535). In such embodiments, the RF power may be
supplied directly from the RF generator to the ablation catheter
handle. Alternatively, the power supply may be coupled to the
ablation catheter via a controller integrated with the robotic
guide instrument in order to provide addition safety features,
e.g., automatic power shut-off under defined circumstances. In such
embodiments, only a small portion of the ablation catheter need be
protruded beyond the distal tip of the guide instrument to expose
the ablation electrodes, and the steering features which may be
integrated into the "off the shelf" ablation catheter may not be
needed as a result of the precision steerability provided by the
robotically-controlled instrumentation through which the ablation
catheter is coaxially positioned. Alternatively, a greater portion
of the ablation catheter may be protruded beyond the distal tip of
the guide instrument, preferably with the guide instrument held in
a constant position by the system, and the manual steering
functionality of the "off the shelf" ablation catheter may be
utilized to place the distal portion of such device in a desired
location, utilizing feedback to the operator from fluoroscopy,
ultrasound, localization, or other real-time or near real-time
systems. It will be appreciated by those skilled in the art that
many of types of other ablation catheters or other working
instruments may be passed through the working lumen of the guide
instrument (534).
[0323] The precision provided by a system comprising a robotic
guide instrument with an ablation catheter positioned coaxially
within the robotic guide instrument facilitates precision mapping
and creation of transmural lesions. In the right heart, without
transseptal crossing, atrial flutter may be addressed by actively
driving the distal tip of the ablation catheter to the lower right
atrium. The right atrial isthmus may be contacted and ablated,
along with the tricuspid annulus down to the junction of the right
atrium and the inferior vena cava. Long linear lesions may be
created through inputs to the master input device in various
locations, such as the "intercavalline" between the superior vena
cava and the inferior vena cava, or the "septal line" from the
superior vena cava to the fossa ovalis, and then from the fossa
ovalis down to the inferior vena cava. "Lasso" type ablation
catheters may be driven using the subject robotic instrument
system, to isolate pulmonary veins in the left heart, or conduct a
segmental pulmonary vein isolation, wherein a subset of the
electrodes positioned about the "Lasso" device are utilized to
create ablation lesions. The procedure known as "Left Atrial
Catheter Ablation" or "LACA", developed by clinicians such as
Pappone and Morady, may be facilitated using the subject system.
LACA, which may involve large ablations to isolate the right
superior pulmonary vein and right inferior pulmonary vein, along
with ablative isolation of the left superior pulmonary vein and
left inferior pulmonary vein, a connecting ablation between the
aforementioned lesions ("roofline" ablation), and a left atrial
isthmus linear ablation from the left inferior pulmonary vein to
the mitral valve annulus, may be addressed utilizing the robotic
precision of the subject system. Ablation targets such as the right
inferior pulmonary vein and the ridge between the left superior
pulmonary vein and the left inferior pulmonary vein may be
particularly difficult without the precision of the subject
system.
[0324] There are many well-known diagnostic or therapeutic distal
end electrode configurations of working instruments that may used
in conjunction with the guide instrument (534), such as those shown
by way of non-limiting example in FIGS. 173A-D. Other tip options
include non-contact means such as microwave or ultrasound energy
(indicated by an "arrow" emitted from distal tip element 612 in
FIG. 174A), optical laser energy (indicated by multiple "arrows"
emitted from distal tip element 614 in FIG. 174B), a penetrating
electrode or chemical/drug injection needle (element 616 in FIG.
174C), or mechanical grasper (element 618 in FIG. 174D).
[0325] In another embodiment, the instrument may be navigated by
"direct visualization" utilizing conventional fiberscope or CCD
camera devices, preferably disposed within a distally-positioned
viewing balloon containing a substantially clear fluid such as
saline when in a blood environment. In yet another embodiment, an
infrared visualization technology, such as those available from
CardioOptics Corporation, may be coupled to the instrument to
provide direct visualization through a blood or similar medium
without a viewing balloon or similar structure. In another
embodiment wherein the instrument is navigated in a non-blood
space, a viewing balloon need not be positioned to protect the
camera device, and the camera lens or image intake may be
positioned at the distal tip of the instrument. Whether the direct
visualization device is assisted by a balloon-like visualization
structure or not, the device preferably is coupled to the
instrument either by insertion through the working lumen of an
embodiment of the instrument, or integrated into one of the walls
comprising the elongate instrument.
[0326] Conventional sensors may be disposed at and/or around the
distal tip of the instrument, such as those which comprise strain
gages and/or piezoelectric crystals. Also, more than one
localization device may be coupled to the instrument along
different positions of the instrument to allow for more complex
monitoring of the position of the instrument. Such additional
information may be utilized to help compensate for body movement or
respiratory cycle related movement of tissues relative to a base
coordinate system.
[0327] In still another embodiment of the tissue structure model
acquisition modalities described above, including a contact sensor,
the instrument may merely be driven around, in a planned fashion,
or even at random, within a cavity to collect and store all points
of contact to develop a three-dimensional model of the tissue
structures. In a related embodiment, a rough model acquired
utilizing a conventional imaging modality such as ultrasound
or.fluoroscopy may be utilized as a starting point, and then
additional points added, particularly at points of interest, such
as pulmonary vein and valve locations within the left atrium,
utilizing a "tapping around" pattern with contact sensing to gather
more points and refine the model.
[0328] As described above in reference to FIG. 113, in one
embodiment, visualization software provides an operator at an
operator control station, such as that depicted in FIG. 1 (2), with
a digitized "dashboard" or "windshield" display to enhance
instinctive driveability of the pertinent instrumentation within
the pertinent tissue structures.
[0329] It may be useful to present the operator with one or more
views of various graphical objects in an overlayed format, to
facilitate the user's comprehension of relative positioning of the
various structures. For example, it may be useful to overlay a
real-time fluoroscopy image with digitally-generated "cartoon"
representations of the predicted locations of various structures or
images. Indeed, in one embodiment, a realtime or
updated-as-acquired fluoroscopy image including a fluoroscopic
representation of the location of an instrument may be overlayed
with a realtime representation of where the computerized system
expects the instrument to be relative to the surrounding anatomy.
In a related variation, updated images from other associated
modalities, such as intracardiac echo ultrasound ("ICE"), may also
be overlayed onto the display with the fluoro and instrument
"cartoon" image, to provide the operator with an information-rich
rendering on one display.
[0330] Referring to FIG. 220, a systemic view configured to produce
such an overlayed image is depicted. As shown in FIG. 220, a
conventional fluoroscopy system (330) outputs an electronic image
in formats such as those known as "S-video" or "analog
high-resolution video". In image output interface (332) of a
fluoroscopy system (330) may be connected to an input interface of
a computer (342) based image acquisition device, such as those
known as "frame grabber" (334) image acquisition cards, to
facilitate intake of the video signal from the fluoroscopy system
(330) into the frame grabber (334), which may be configured to
produce bitmap ("BMP") digital image data, generally comprising a
series of Cartesian pixel coordinates and associated grayscale or
color values which together may be depicted as an image. The bitmap
data may then be processed utilizing computer graphics rendering
algorithms, such as those available in conventional "OpenGL"
graphics libraries (336). In summary, conventional OpenGL
functionality enables a programmer or operator to define object
positions, textures, sizes, lights, and cameras to produce
three-dimensional renderings on a two-dimensional display. The
process of building a scene, describing objects, lights, and camera
position, and using OpenGL functionality to turn such a
configuration into a two-dimensional image for display is known in
computer graphics as "rendering". The description of objects may be
handled by forming a mesh of triangles, which conventional graphics
cards are configured to interpret and output displayable
two-dimensional images for a conventional display or computer
monitor, as would be apparent to one skilled in the art. Thus the
OpenGL software (336) may be configured to send rendering data to
the graphics card (338) in the system depicted in FIG. 220, which
may then be output to a conventional display (340).
[0331] In one embodiment, a triangular mesh generated with OpenGL
software to form a cartoon-like rendering of an elongate instrument
moving in space according to movements from, for example, a master
following mode operational state, may be directed to a computer
graphics card, along with frame grabber and OpenGL processed
fluoroscopic video data. Thus a moving cartoon-like image of an
elongate instrument would be displayable. To project updated
fluoroscopic image data onto a flat-appearing surface in the same
display, a plane object, conventionally rendered by defining two
triangles, may be created, and the updated fluoroscopic image data
may be texture mapped onto the plane. Thus the cartoon-like image
of the elongate instrument may be overlayed with the plane object
upon which the updated fluoroscopic image data is texture mapped.
Camera and light source positioning may be pre-selected, or
selectable by the operator through the mouse or other input device,
for example, to enable the operator to select desired image
perspectives for his two-dimensional computer display. The
perspectives, which may be defined as origin position and vector
position of the camera, may be selected to match with standard
views coming from a fluoroscopy system, such as anterior/posterior
and lateral views of a patient lying on an operating table. When
the elongate instrument is visible in the fluoroscopy images, the
fluoroscopy plane object and cartoon instrument object may be
registered with each other by ensuring that the instrument depicted
in the fluoroscopy plane lines up with the cartoon version of the
instrument. In one embodiment, several perspectives are viewed
while the cartoon object is moved using an input device such as a
mouse, until the cartoon instrument object is registered with the
fluoroscopic plane image of the instrument. Since both the position
of the cartoon object and fluoroscopic image object may be updated
in real time, an operator, or the system automatically through
image processing of the overlayed image, may interpret significant
depicted mismatch between the position of the instrument cartoon
and the instrument fluoroscopic image as contact with a structure
that is inhibiting the normal predicted motion of the instrument,
error or malfunction in the instrument, or error or malfunction in
the predictive controls software underlying the depicted position
of the instrument cartoon.
[0332] Referring back to FIG. 220, other video signals (not shown)
may be directed to the image grabber (334), besides that of a
fluoroscopy system (330), simultaneously. For example, images from
an intracardiac echo ultrasound ("ICE") system, intravascular
ultrasound ("IVUS"), or other system may be overlayed onto the same
displayed image simultaneously. Further, additional objects besides
a plane for texture mapping fluoroscopy or a elongate instrument
cartoon object may be processed using OpenGL or other rendering
software to add additional objects to the final display.
[0333] Referring to FIGS. 221A-B and FIG. 222, one embodiment is
illustrated wherein the elongate instrument is a robotic guide
catheter, and fluoroscopy and ICE are utilized to visualize the
cardiac and other surrounding tissues, and instrument objects.
Referring to FIG. 221A, a fluoroscopy image has been texture mapped
upon a plane configured to occupy nearly the entire display area in
the background. Visible in the fluoroscopy image as a dark elongate
shadow is the actual position, from fluoroscopy, of the guide
catheter instrument relative to the surrounding tissues. Overlayed
in front of the fluoroscopy plane is a cartoon rendering (white in
color in FIGS. 221A and 221B) of the predicted, or "commanded",
guide catheter instrument position. Further overlayed in front of
the fluoroscopy plane is a small cartoon object representing the
position of the ICE transducer, as well as another plane object
adjacent the ICE transducer cartoon object onto which the ICE image
data is texture mapped by a technique similar to that with which
the fluoroscopic images are texture mapped upon the background
plane object. Further, mouse objects, software menu objects, and
many other objects may be overlayed. FIG. 221B shows a similar view
with the instrument in a different position. For illustrative
purposes, FIGS. 221A and 221B depict misalignment of the instrument
position from the fluoroscopy object, as compared with the
instrument position from the cartoon object. As described above,
the various objects may be registered to each other by manually
aligning cartoon objects with captured image objects in multiple
views until the various objects are aligned as desired. Image
processing of markers and shapes of various objects may be utilized
to automate portions of such a registration process.
[0334] Referring to FIG. 222, a schematic is depicted to illustrate
how various objects, originating from actual medical images
processed by frame grabber, originating from commanded instrument
position control outputs, or originating from computer operating
system visual objects, such as mouse, menu, or control panel
objects, may be overlayed into the same display.
[0335] In another embodiment, a preacquired image of pertinent
tissue, such as a three-dimensional image of a heart, may be
overlayed and registered to updated images from realtime medical
imaging modalities as well. For example, in one embodiment, a
beating heart may be preoperatively imaged using gated computed
tomography ("CT"). The result of CT imaging may be a stack of CT
data slices. Utilizing either manual or automated thresholding
techniques, along with interpolation, smoothing, and/or other
conventional image processing techniques available in software
packages such as that sold under the tradename Amira.TM., a
triangular mesh may be constructed to represent a three-dimensional
cartoon-like object of the heart, saved, for example, as an object
(".obj") file, and added to the rendering as a heart object. The
heart object may then be registered as discussed above to other
depicted images, such as fluoroscopy images, utilizing known tissue
landmarks in multiple views, and contrast agent techniques to
particularly see show certain tissue landmarks, such as the outline
of an aorta, ventricle, or left atrium. The cartoon heart object
may be moved around, by mouse, for example, until it is
appropriately registered in various views, such as
anterior/posterior and lateral, with the other overlayed
objects.
[0336] Referring to FIG. 225, a distributed system architecture
embodiment is depicted. A master control computer running a
realtime operating system, such as QNX, is connected to each of the
other computers in the system by a 1 gigabit Ethernet "Realtime
Network", and also by a 100 megabit Ethernet "System Network",
using a conventional high-speed switch. This enables localized
custom computing for various devices to be pushed locally near the
device, without the need for large cabling or a central computing
machine. In one embodiment, the master control computer may be
powered by an Intel Xeon dual processor architecture, the
visualization computer powered by a high-end X86 Intel architecture
PC running Windows XP and having multiple video cards and frame
grabbers, the instrument driver and master input device CPUs being
PC 104 or "EPIC" standard boards with two Ethernet connections for
the two networks. An additional master input device, touchscreen,
and console may be configured into an addition operator workstation
in a different location relative to the patient. The system is very
expandeable--new devices may be plugged into the switch and placed
onto either of the two networks. Referring to FIG. 225, two high
resolution frame grabber boards (374) acquire images from two
fluoro devices (or one in the case of single plane fluoro), which a
nominal resolution frame grabber board (373) acquires images from
an intracardiac echo system. Such image data may be utilized for
overlaying, etc, as described in reference to FIGS. 220-222, and
displayed on a display, such as the #2 display, using a video card
(372) of the visualization computer, as depicted. Heart monitor
data, from systems such as those distributed by Prucka, may be
directly channeled from video out ports on the heart monitor device
to one of the displays. Such data may also be acquired by a frame
grabber. Similarly, electrophysiological mapping and treatment data
and images from systems available from distributors such as
Endocardial Solutions, Biosense Webster, etc, may be directed as
video to a monitor, or data to a data acquisition board, databus,
or frame grabber. Preferably the master control computer has some
interface connectivity with the electrophysiology system as well to
enable single master input device driving of such device, etc.
Referring to FIG. 226 a depiction of the software and hardware
interaction is depicted. Essentially, the master state machine
functionality of the master control system realtime operating
system allows for very low latency control of processes used to
operate master input device algorithms and instrument driver
algorithms, such as those described in reference to the control
systems description above. Indeed, XPC may be utilized to develop
algorithm code, but preferably a universal modeling language such
as rational rose by IBM or Rhapsody by Logix, is utilized to build
code and documentation using a graphical interface. With the
gigabit realtime network, in a matter of 200-300 microseconds, the
master input device or instrument driver algorithms are able to
communicate with FPGA driver code in the electronics and hardware
near the pertinent device to exchange new values, etc, and confirm
that all is well from a safety perspective. This leaves
approximately 700 microseconds for processing if a 1 millisecond
motor shutoff time is required if all is not well--and this is
easily achievable with the described architecture. The
visualization PC may be configured to cycle data from the master
control computer at a lower frequency, about 20 milliseconds.
[0337] Referring to FIG. 228, common features may be accessed by a
console. Sheath control buttons for roll, bend, and insert, when
depressed one at a time, cause the master input device to control
roll of the sheath (in one embodiment, this meaning roll of the
entire instrument driver) in one direction or another as directed
by the master input device, .+-.bending in one direction, and
insertion of the sheath relative to the guide instrument.
Instinctive control buttons determine whether the main display is
to synchronize master input device movement with 3-D images, such
as CT images, or fluoro images. An autoretract button pulls in the
guide instrument to a zero insertion point along the trajectory
that it was bent. A trackball and mouse select buttons may be used
for some features not accessed by a touch screen interface. Record
features record a digital clip of video on a selected monitor for a
preset period of time, or acquire an image of the video on a
selected monitor. Camera controls enable the operator to pan or
zoom an image featured on a display.
[0338] Referring to FIGS. 229-233D, a touchscreen interface
provides a palate for virtually unlimited control configuration.
Various embodiments of patient data setup, operator preset, data
storage and retrieval, and operational procedure aspects may be
coded into the touch screen interface for easy access during an
operation.
[0339] Referring to FIGS. 400A-404C, several embodiments of
minimally invasive instruments and kits thereof which may be
preferred for a cardiac ablation procedure in accordance with the
present invention are depicted.
[0340] Referring to FIGS. 400A-401B, various aspects of one
embodiment of a sheath instrument 227 are depicted. The finished
assembly of the depicted embodiment preferably has an inner lumen
of about 145 mils and 158 mils (noncircular x-section, the former
being the smaller inner lumen diameter, or "I.D.", the latter being
the larger I.D.) which is configured to fit the outer finish
diameter, or "O.D.", of a guide instrument such as that described
in reference to FIGS. 402A-402C, which has an inner diameter of
approximately 8 French--a size configured to fit several approved
off-the-shelf ablation catheters, as well as needle/dilator sets
such as those described below.
[0341] Referring to FIG. 400A, the depicted sheath instrument
embodiment (227) comprises a sheath catheter member (208) which is
proximally coupled to a sheath instrument base (46) which is
coupled to a control element interface assembly (147) and Luer
assembly (225). The control element interface assembly (147),
similar to those described in reference to FIGS. 103.5 and 103.6,
for example, has a splined axle (157) configured to interface with
an instrument driver interface socket (not shown, see item 44 of
FIG. 6, for example). The total working length of the portion of
the catheter member (208) distal of the sheath instrument base (46)
is approximately 78 centimeters in the depicted embodiment.
Approximately 2.5 inches from the distal tip (237), a proximal ring
(233) is integrated into the assembly to provide not only
radio-opacity for fluoroscopy, and also conductivity for a
potential difference type localization integration as discussed
above, but also for termination and return of a proximal control
element (not shown in FIG. 400A) which, in the depicted embodiment,
is configured to extend from the one or more pulleys (not shown in
FIG. 400A) associated with the manual adjustment knob (229) to the
proximal ring (233) and back to the one or more pulleys (not shown
in FIG. 400A) associated with the manual adjustment knob (229).
Approximately 2 millimeters from the distal tip (237), a distal
ring (231) is positioned to function similarly to the proximal ring
(233), but for a distal control element which, in the depicted
embodiment, preferably is looped from the one or more pulleys (not
shown in FIG. 400A) comprising the control element interface
assembly (147), which is configured to be servo-robotically
actuated from an instrument driver to which it may be coupled. The
looping configuration of the control elements preferably provides
greater break strength, in the range of twice the break strength of
a single strand of the same control element wire material under
tension, because with the both-side-soldered (325) and looping
configuration around the proximal (233) or distal (231) ring, as
depicted in FIG. 400D, each of the two strands of the continuous
control element is configured to share loads as separate tension
elements. The portion approximately two inches proximal of the
distal ring (231) is configured to have relatively high, yet
controllable flexibility, as controlled by catheter member
reinforcing structures or "ribs" discussed in reference to FIG.
400B.
[0342] Referring to FIG. 400B, a cross sectional view of a distal
portion of the sheath embodiment (227) depicted in FIG. 400A is
depicted. As shown in FIG. 400B, the assembly is created around a
mandrel (243) which is removed after assembly, which has a
rounded-cornered-square cross section having a maximum diameter
(257) of approximately 158 mils. Several layers are formed over the
mandrel (243), as described in reference to FIG. 400E, including an
inner layer (249), a distal control element (239) liner set, a
braided layer (251), structural rib elements (245), and an outer
jacket layer (255). The structural rib elements (245) function like
small beams integrated into the walls of the construct and are
configured to resist homogeneous omnidirectional cantilevered
bending of the distal end of the sheath.
[0343] Referring to FIG. 400C, a cross sectional view of a more
proximal portion of the sheath embodiment (227) depicted in FIG.
400A is depicted. The same mandrel (243) is utilized to contruct
the proximal portion, over which an inner layer (249) is placed,
followed by a liner (247) sets for each of the subsequently
introduced proximal and distal control elements (241, 239), a
braided layer (251), a second braided layer (254), and an outer
jacket layer (253) different from the outer jacket layer (255) of
the distal portion of the sheath embodiment (227).
[0344] Referring to FIG. 400E, one embodiment of a method of
constructing the embodiment depicted in FIGS. 400A-400D is
illustrated with illustrative steps "A" through "L". The first step
("A") comprises placing a nylon 12 jacket approximately 2-3 mils
thick over the entire length (proximal and distal) of the mandrel.
Next ("B"), polyimide tubes lined with PTFE are stuffed with
rectangular mandrels 4 mil by 12 mil. These small mandrels are
placeholders for the tension elements, to be installed later with
the pertinent ring element to which they are pre-soldered. The
polyimide, PTFE-lined, mandrels are heat shrink bonded to the nylon
jacket, subsequent to which ("C") the proximal portion (proximal to
the approximately two-inch more flexible distal section) is braided
with 1.times.3 mil rectangular wire at 75 ppi (picks per inch)
diamond pattern; the braiding is loosened in pattern over the
distal section to 60 ppi. Next ("C+"), the distal section is
covered with a later-to-be-removed heat shrink tubing layer,
subsequent to which ("D"), the entire length of the construct is
braided again with the same wire at a 40 ppi rate. Next ("E") a 3
mil thick nylon 12 jacket is applied over the proximal portion
(proximal of the subsequent position of the proximal ring), and the
structure is heat fused ("F") through a vertical heat shrinking
device. Next ("G") the distal heat shrink (from step "C+") is
removed along with any materials over it, and the pre-soldered
proximal ring with looped proximal control element is installed
("H") by pulling the small mandrels out and pushing/pulling the
looped control element into the same positions, and subsequently
encapsulating the proximal ring into place with a small cuff of
nylon 12 material. Next ("I") rectangular reinforcing ribs
(approximately 0.016.times.0.40 inches) are heat tacked into place
along the sides of the portion of the sheath approximately two
inches proximal to the position of the distal ring, and
subsequently ("J") a low-durometer jacket, preferably 40d Pebax, is
heat fused over the portion of the sheath distal to the proximal
ring. Subsequently ("K") the distal ring and associated tension
elements are installed similar to the installation of the proximal
ring and tension elements, and ("L") a short (approximately 1-2 mm
long) soft tip section, preferably 35 d, is heat welded to the
distal end, followed by installation of a Luer assembly proximally,
and final assembly instrument base, including exposure of the two
looped control elements through the wall of the proximal portion of
the catheter member, installation of termination balls, preferably
by mechanical crimp, upon the proximal ends of the control
elements, and winding about the pertinent pulleys of the control
element interface assembly and manual-knob-driven proximal element
pulley.
[0345] Referring to FIGS. 401A and 401B, isometric views of the
sheath instrument base (259) assembly are depicted to illustrate
that the distal control element loop (239) in the embodiment
depicted in FIGS. 400A-E may be servorobotically driven through a
control element interface assembly (147) configured to interface
with an instrument driver interface socket (not shown), while the
proximal control element loop (241) may be actuated with a worm
screw mechanism associated with a manual tensioning knob (229).
FIG. 401B depicts an exploded view of the assembly of FIG. 401A.
With the top plate (267) removed from the sheath instrument base
(259), where it is fastened with fasteners (269) such as screws
when fully assembled, the work gear (261) coupled to the manual
tensioning knob (229) and the associated control element drive gear
(263) and associated control element pulley (265) is depicted. A
track (266) is depicted, formed in the sheath instrument base
(259), to provide a pathway for the proximal control element loop
to exit the wall of the proximal catheter member and spool into the
control element pulley (265).
[0346] Referring to FIGS. 402A-C, a guide instrument embodiment
(275) configured to coaxially interface with the sheath instrument
embodiment (227) described in reference to FIGS. 400A-401B is
depicted. The working length (277) of the depicted guide instrument
catheter member (90) is about 92 centimeters, the most distal 122
millimeters of which (273, 271) are significantly more flexible or
bendable than the proximal portions. The very distal 2 mm (271)
comprises a soft tapered distal tip of an even more plyable
polymeric material. This embodiment of the guide instrument has
four control elements fastened to a single distal ring (295) and
configured to facilitate omnidirectional distal tip navigation from
a proximal interface to a servorobotic instrument driver, such as
those described above. A guide instrument base (141) and two
associated control element interface assemblies (147) and axles
(157) are depicted in a configuration similar to that described in
reference to FIGS. 103.1-103.6. In another embodiment, the guide
instrument base may comprise a configuration such as that depicted
in FIG. 6 (48) and be configured for a four-interface-socket (44)
instrument driver (16) configuration such as that depicted in FIG.
6.
[0347] Referring to FIG. 402B, a proximal cross section of the
guide instrument catheter member (90) depicted in FIG. 402A is
depicted. Starting with an approximately circular mandrel (279)
with a diameter of approximately 8 French, an inner layer (281) of
nylon may be formed, followed by a metal hypotube layer (283)
friction fit onto the most proximal eight inches of the construct,
the metal hypotube layer (283) being about 5 mils in thickness. A
braid layer (285) is subsequently added, followed by a second
braiding layer (291) into which small mandrels (289) and liners
(287) are woven, followed by installation of an outer jacket (293).
Other details regarding this construction are described in
reference to FIG. 402C.
[0348] Referring to FIG. 402C, steps for constructing a guide
instrument embodiment such as that (275) depicted in FIG. 402A are
illustrated. Over an 8 French mandrel ("A"), a 113 ID 117 OD (mils)
thin nylon 12 jacket is placed ("B"), then an approximately 8''
long 5 mil thick metal hypotube is fit over that proximally with a
friction fit ("C"), then the entire length is braided with diamond
pattern (same wire as with above sheath) at 70 ppi ("D"); then
another braid layer is installed at 20 ppi into which is woven four
10 mil-ID, 12 mil-OD, PTFE-lined, polyimide tubes with 9.5mil
PTFE-coated mandrels inside ("E"); then ("F") a distal control ring
is installed with four pre-soldered (with gold/tin) control
elements or loops of control elements--which are fed into the
positions of the small mandrels as woven into the second layer of
braid; then ("G") a keying extrusion is placed proximally (not over
the distal 122 mm) which has a circular inner lumen and
substantially rectangular outer cross sectional shape for keying
with a coaxially-positioned sheath lumen such as those depicted in
FIGS. 400B and C, to prevent relative rotation between such sheath
instrument and guide instrument when coaxially interfaced; the
distal 122 mm section gets a 40 durometer pebax jacket ("H"); then
("I") the distal ring is encapsulated with a nylon 12 cuff, a 35
durometer soft distal tip is installed, and ("J") the entire
construct is heat shrinked and pressed into a rectangular cross
sectional mold to keep the keyed cross section in place (primarily
proximally, about the region of the metal hypotube layer); then
("K") the proximal pullwires are exposed for instrument base
installation, a Luer assembly is added ("L"), and the proximal
instrument base is installed ("M"). The final construct of the
depicted embodiment has an ID of approximately 8 French and an OD
of approximately 152 mils long axis, and 138 mils short axis.
[0349] Although both the guide and sheath instruments described in
reference to FIGS. 400A-402B utilize braiding for added
torquability and kink resistance, spiral winds or spine constructs,
such as those described above in reference to FIGS. 25-32 may also
be utilized or similar purpose.
[0350] Referring to FIGS. 403A-403C, various views of one
embodiment of a dilator compatible with the guide and sheath
instruments described in reference to FIGS. 400A-402C are depicted.
The depicted dilator embodiment (297) may be created by placing a
thin polyimide liner (301 in FIG. 403C), which may be coated on the
interior, mandrel-facing, lumen with a lubricious surface such as
PTFE, over a PTFE-coated mandrel (not shown), then butt-welding a
relatively long section of relatively rigid polymeric material,
such as 72 durometer Pebax, to a relatively short distal section
(311 in FIG. 403A) of relatively flexible polymeric material, such
as 45 durometer Pebax, to form a main tubular body (299) which is
more flexible distally than proximally. Proximally a Luer assembly
(305) and hemostasis valve (307) are installed. A small
platinum/iridium radio-opaque marker band (303) is installed
distally, adjacent to which a 9-degree tapered end is created with
a glass mold for tissue dilation at the distal tip of the dilator
instrument embodiment (297). The inner lumen (309) diameter at the
distal tip is configured to be very close to the outer diameter of
the needle for which the dilator is configured to be used, while
the outer diameter of the dilator is configured to fit within the
inner diameter of the guide instrument with which is it configured
to be utilized. In other words, each of the needle, dilator, guide,
and sheath instruments preferably are configured for coaxial
interfacing during a procedure.
[0351] Referring to FIGS. 404A-404C, various views of one
embodiment of a needle compatible with the guide, sheath, and
dilator instruments described in reference to FIGS. 400A-403C are
depicted, wherein a flexible section near the distal tip
facilitates passage of the needle around tight turns within a
constraining lumen. An instrument set comprising a coaxial coupling
of a sheath instrument, a guide instrument, a dilator instrument,
and a needle instrument such as those described herein may be
utilized to conduct a trans-septal puncture, as described above in
reference to FIGS. 163-167. Subsequently, the needle and dilator
may be withdrawn, and an ablation or mapping catheter inserted down
the working lumen of the guide catheter to conduct a
robotically-controlled ablation or mapping procedure, as described
above in reference to FIGS. 167-174, within the chambers of the
heart.
[0352] At the heart of the needle embodiment (313) depicted in
FIGS. 404A-C is an intermediate section (319) of greater
flexibility positioned proximally adjacent the distal non-coring
needle point (318) of the needle to enable the distal end (318,
320) of the needle to navigate around small radius of curvature
turns more easily than a conventional needle without the highly
flexible section (319). The distal end (318, 320) preferably is
soldered with gold or platinum material to provide radio-opacity,
thereby facilitating placement and positioning of the distal end
(318, 320) during a procedure. Proximal of the highly flexible
section (319), the proximal needle shaft (321) preferably comprises
stainless steel, and may be coupled to a pin vise (317). Proximally
a Luer assembly (315) is installed upon the proximal needle shaft
(321).
[0353] Referring to FIGS. 404B and 404C, two embodiments of the
distal end (318, 320) and highly flexible sectiori (319) are
depicted in close up cross sectional view. In both embodiments, to
prevent kinking, a prefabricated construct of polyimide and wire
(322), the wire embedded into the polyimide in a braided or spiral
wound pattern, is placed over the highly flexible section (319).
Proximal of the highly flexible section (319), both proximal shaft
sections (321) preferably comprise stainless steel. In the
embodiment of FIG. 404C, the distal section (320) comprises
stainless steel, while the section in between the distal section
(320) and proximal section (321) which lies at the center of the
highly flexible section (319), also termed the flexible shaft
portion (326), comprises nitinol. In the embodiment of FIG. 404D,
the flexible shaft portion (326) and distal section (320) comprise
the same nitinol tube member. The depicted junctions between
nitinol tubing and stainless steel tubing preferably are held
together with an adhesive (323) such as epoxy, as depicted in FIGS.
404C-D. The distal section of the embodiment depicted in FIG. 404D
may be created by merely necking down the anti-kink
metal-reinforced polyimide layer and creating a needle tip (318).
With nitinol extending distally from the proximal section (321),
the entire distal portion of the embodiment of FIG. 404D is highly
flexible--facilitating tight turn radii through tortuous paths of
constraining lumens such as catheters or vessels. The embodiment of
FIG. 404C, also having a highly flexible section (319) due in part
to a nitinol flexible shaft portion (326), has a less flexible
distal end (318, 320), complements of the stainless steel material
comprising it, which may be desirable when the more dramatic
flexibility of the embodiment of FIG. 404D is not desired.
[0354] Many tools and sets of tools besides needles and dilators
may be controllably delivered and actuated with the help of a
guide, or guide+sheath instrument combination similar to those
described in reference to the needle/dilator/guide/sheath
instrument arrangement. For example, in another embodiment, a
remotely-actuated grasper, such as those available from Intuitive
Surgical, Inc., or described in U.S. patent application Ser. No.
10/011,371 to endoVia Medical, Inc., may be used in concert with a
remotely steerable guide instrument system sized appropriately for
the application. In another embodiment, a remotely steerable guide
instrument system such as those described herein may be utilized to
place a guidewire, inject with a needle gene or cell therapy into
the heart wall, the parenchyma of an organ, etc. In another
embodiment, a remotely steerable guide instrument system such as
those described herein may be utilized to carry a camera and/or a
radiation source (such as a light, or infrared source for cameras
such as those available from CardioOptics, Inc.). In another
embodiment, a remotely steerable guide instrument system such as
those described herein may be utilized to carry a cryo-ablation
system or laser ablation system to a precise location adjacent an
organ, inside the heart, etc. In another embodiment, a remotely
steerable guide instrument system such as those described herein
may be utilized to place a pacing lead into the coronary sinus, or
place a sensor within the heart or vessels for monitoring, for
example, pressure within the left ventricle. Such pressure
monitoring may be used, for example, to closely watch heart failure
patients and adjust medicine, diuretics, fluid intake, etc. In
another embodiment, a remotely steerable guide instrument system
such as those described herein may be utilized to deploy an
expandable or expanded medical device, such as a stent or stent
graft, into a vessel or other lumen with a high degree of precision
and visualization. In another embodiment, multiple remotely
steerable guide instrument systems such as those described herein
may be utilized in a procedure. For example, one guide instrument
could be used for precisely positioning a camera and light source
while another guide instrument could be used for precisely
positioning an interventional instrument such as a grasper,
ablation tool, injection needle, etc. Many tools may be utilized
with the subject high-precision robotic catheter system, including
but not limited to: Graspers, 2DOF articulating guidewires
(roll+bend), biopsy forceps, high energy directed ultrasound
probes, biopsy needles, lasers, aspiration needles, UV light
sources, guides for pacing or other lead delivery, needles for drug
delivery and biopsy, scissors, RF ablation probes/tools/needles,
clamp and stitch tools, cryo ablation devices, pledget placement
devices, ultrasound ablation tools, clip delivery tools, ultrasound
tissue welding probes, flow transducers, RF tissue welding tools,
and Pressure transducers.
[0355] While multiple embodiments and variations of the many
aspects of the invention have been disclosed and described herein,
such disclosure is provided for purposes of illustration only. Many
combinations and permutations of the disclosed system are useful in
minimally invasive surgery, and the system is configured to be
flexible. For example, depending upon the medical application, it
may be desirable to have a guide instrument with less than four
control elements, combined with a sheath instrument, or perhaps
combined with a prebent, unsteerable sheath, or perhaps with no
sheath at all. The instrument driver may be tailored to match the
instrument configuration, with less motors and gearboxes for less
control elements, or variation in the configuration for actuating a
given control element interface assembly, and associated variation
in the tensioning mechanism and number of control element pulleys
associated with the pertinent control element interface assembly
(one pulley and one cable per control element interface assembly,
two pulleys and two cables per control element interface assembly,
slotted, split carriage, and winged split caniage embodiments,
various tensioning embodiments, etc).
* * * * *