U.S. patent application number 13/355304 was filed with the patent office on 2012-07-26 for system and method for endoluminal and translumenal therapy.
This patent application is currently assigned to Hansen Medical, Inc.. Invention is credited to David C. Lundmark, Frederic H. MOLL, Farzad Soleimani.
Application Number | 20120191079 13/355304 |
Document ID | / |
Family ID | 45554899 |
Filed Date | 2012-07-26 |
United States Patent
Application |
20120191079 |
Kind Code |
A1 |
MOLL; Frederic H. ; et
al. |
July 26, 2012 |
System and method for endoluminal and translumenal therapy
Abstract
A system for conducting a denervation of the neural plexus
adjacent the renal artery of a patient comprises a first elongate
member operatively coupled to a testing element, a second elongate
member having a distal portion coupled to an ablative element, and
a controller configured to: activate an ablative element to
selectively denervate a portion of the neural plexus which is
positioned adjacent the ablative element; monitor a level of a
compound in blood sampled from the testing element of the first
elongate member; and modulate the activation of the ablative
element based at least in part upon the level of renin monitored
using the testing element.
Inventors: |
MOLL; Frederic H.; (San
Francisco, CA) ; Soleimani; Farzad; (San Francisco,
CA) ; Lundmark; David C.; (Los Altos, CA) |
Assignee: |
Hansen Medical, Inc.
Mountain View
CA
|
Family ID: |
45554899 |
Appl. No.: |
13/355304 |
Filed: |
January 20, 2012 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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61434797 |
Jan 20, 2011 |
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|
Current U.S.
Class: |
606/14 ; 606/21;
606/33; 606/41 |
Current CPC
Class: |
A61B 2034/301 20160201;
A61B 5/0084 20130101; A61B 34/10 20160201; A61B 5/062 20130101;
A61B 2034/303 20160201; A61B 2017/00256 20130101; A61B 2018/00839
20130101; A61B 1/307 20130101; A61B 2090/364 20160201; A61B 5/065
20130101; A61B 2034/2061 20160201; A61B 5/0066 20130101; A61B
2018/00434 20130101; A61B 2018/00577 20130101; A61B 2017/00292
20130101; A61B 5/201 20130101; A61B 2018/00267 20130101; A61B 34/30
20160201; A61B 2034/2046 20160201; A61B 18/1492 20130101; A61B
34/20 20160201; A61B 2018/00285 20130101; A61B 2018/1475 20130101;
A61B 2034/105 20160201; A61B 2034/302 20160201; A61B 2018/00511
20130101; A61B 2018/0212 20130101; A61M 25/10 20130101; A61B
5/02007 20130101; A61B 2018/00517 20130101; A61B 2018/00404
20130101; A61B 2018/1405 20130101; A61B 2018/1861 20130101; A61B
18/24 20130101; A61B 5/14546 20130101; A61B 2017/00053
20130101 |
Class at
Publication: |
606/14 ; 606/41;
606/33; 606/21 |
International
Class: |
A61B 18/14 20060101
A61B018/14; A61B 18/20 20060101 A61B018/20; A61B 18/02 20060101
A61B018/02; A61B 18/18 20060101 A61B018/18 |
Claims
1. A system for conducting a denervation of the neural plexus
adjacent the renal artery of a patient, comprising: a. a first
elongate member operatively coupled to a testing element; b. a
second elongate member having a distal portion coupled to an
ablative element; and c. a controller configured to: 1) activate an
ablative element to selectively denervate a portion of the neural
plexus which is positioned adjacent the ablative element; 2)
monitor a level of a compound in blood sampled from the testing
element of the first elongate member; and 3) modulate the
activation of the ablative element based at least in part upon the
level of renin monitored using the testing element.
2. The system of claim 1, wherein the ablative element is selected
from the group consisting of: an RF ablation element, a
cryo-ablation element, a laser ablation element, a microwave
ablation element and an ultrasound ablation element.
3. The system of claim 1, wherein modulate the activation comprises
modulating the energy passed through the ablative element.
4. The system of claim 1, wherein the compound comprises renin.
5. The system of claim 1, wherein the testing element comprises a
lumen defined through the first elongate member.
6. The system of claim 1, wherein the first elongate member
comprises a distal portion sized to be inserted into the renal vein
of the patient.
7. The system of claim 1, wherein the second elongate member
comprises an electromechanically steerable catheter having at least
one pitch/yaw degree of freedom using one or more motors
operatively coupled to the distal portion.
8. The system of claim 1, further comprising an imaging device
configured to capture and relay image information to the
controller.
9. The system of claim 8, wherein the imaging device is selected
from the group consisting of: an ultrasound device, a fluoroscopy
device, a radiography device, and an OCT interferometry device.
10. The system of claim 8, wherein the imaging information is used
either to identify ablative loci or modulate the activation of the
ablative element.
11. A method for conducting a denervation process upon the neural
plexus adjacent the renal artery, comprising: a. navigating an
ablative element adjacent to a portion of the neural plexus; b.
navigating a testing element into the renal vein; c. controllably
denervating the portion of the neural plexus; d. utilizing the
testing element to detect a compound secreted by a kidney into the
renal vein; and e. determining whether further denervation of the
portion of the neural plexus is required based at least in part
upon the detection of the compound.
12. The method of claim 11, wherein the ablative element is
selected from the group consisting of: an RF ablation element, a
cryo-ablation element, a laser ablation element, a microwave
ablation element and an ultrasound ablation element.
13. The method of claim 11, wherein the compound comprises
renin.
14. The method of claim 11, wherein navigating an ablative element
comprises inserting a steerable elongate member coupled to the
ablative element relative to the renal artery.
15. The method of claim 11, wherein the testing element comprises a
blood sampling lumen, and wherein navigating the testing element
comprises inserting an elongate member comprising the testing
element relative to the renal vein.
16. The method of claim 11, further comprising imaging targeted
portions of the neural plexus to create an anatomic map of the
targeted portions.
17. The method of claim 16, wherein imaging utilizes a modality
selected from the group consisting of: ultrasound, fluoroscopy,
radiography, and OCT interferometry.
18. The method of claim 14, wherein inserting comprises
electromechanically inserting the steerable elongate member in
response to a command created by an operator with a master input
device.
19. A method for conducting a denervation of the neural plexus
adjacent the renal artery, comprising: a. creating a neural plexus
anatomical map by repeatedly moving, capturing, and assembling
image data from an OCT fiber adjacent various portions of the renal
artery adjacent the neural plexus; b. navigating an ablative
element adjacent to a targeted portion of the neural plexus that is
targeted, at least in part, based upon the neural plexus anatomical
map; and c. controllably denervating the targeted portion of the
neural plexus by activating the ablative element.
20. The method of claim 19, wherein the ablative element is
selected from the group consisting of: an RF ablation element, a
cryo-ablation element, a laser ablation element, a microwave
ablation element and an ultrasound ablation element.
21. The method of claim 19, wherein creating a neural plexus
anatomical map further comprises conducting interferometry on the
captured image data to create one or more images.
22. The method of claim 19, wherein creating a neural plexus
anatomical map further comprises placing a distal portion of the
OCT fiber immediately adjacent a portion of a wall of the
artery.
23. The method of claim 19, wherein assembling image data comprises
creating an image based upon image data from various smaller
captures of image data.
24. The method of claim 19, wherein repeatedly moving comprises
operating an electromechanically steerable elongate member coupled
to the OCT fiber.
25. The method of claim 19, wherein navigating an ablative element
comprises operating an electromechanically steerable elongate
member coupled to the ablative element.
26. The method of claim 25, wherein operating an
electromechanically steerable elongate member comprises
electromechanically inserting the steerable elongate member in
response to a command created by an operator with a master input
device.
27. A system for conducting a denervation of the neural plexus
adjacent the renal artery, comprising: a. an OCT imaging fiber
having a proximal end coupled to an interferometer and a distal end
configured to capture image information pertinent to nearby tissue
structures; b. an elongate member configured to be navigated into
the renal artery, the elongate member having a distal portion that
is coupled to both the distal end of the OCT imaging fiber and an
ablative element configured to controllably ablate nearby tissue
structures when activated by an operator; wherein the
interferometer is configured to receive signals from the OCT
imaging fiber and present images to an operator based at least in
part upon the signals, the images being indicative of location and
depth of the nearby tissue structures relative to the distal end of
the OCT imaging fiber.
28. The system of claim 27, further comprising a lens interposed
between the distal end of the OCT imaging fiber and the nearby
tissue structures.
29. The system of claim 27, wherein the elongate member is
controllably steerable by an operator.
30. The system of claim 29, wherein the elongate member is
steerable by an operator in response to operator commands through a
master input device.
31. The system of claim 30, wherein the elongate member is
operatively coupled to one or more motors configured to
controllably induce at least one pitch/yaw degree of freedom.
32. The system of claim 27, further comprising a controller
configured to aggregate one or more images from the interferometer
into a larger aggregation image.
33. The system of claim 27, further comprising an illumination
light source configured to send light through the OCT imaging fiber
that may be scattered and received by the OCT imaging fiber to
create the image information pertinent to nearby tissue structures.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] The present application claims the benefit under 35 U.S.C.
.sctn.119 to U.S. Provisional Patent Application No. 61/434,797,
filed Jan. 20, 2011. The foregoing application is hereby
incorporated herein by reference in its entirety.
FIELD OF THE INVENTION
[0002] The invention relates generally to minimally invasive
medical techniques, and more particularly to therapeutic
denervation treatments using endolumenal or translumenal
instruments such as electromechanically or robotically operated
catheters.
BACKGROUND
[0003] Elongate medical instruments, such as catheters, are
utilized in many types of medical interventions. Many such
instruments are utilized in what have become known as "minimally
invasive" diagnostic and interventional procedures, wherein small
percutaneous incisions or natural orifices or utilized as entry
points for instruments generally having minimized cross sectional
profiles, to mitigate tissue trauma and enable access to and
through small tissue structures. One of the challenges associated
with minimizing the geometric constraints is retaining
functionality and controllability. For example, some minimally
invasive instruments designed to access the cavities of the blood
vessels and/or heart have steerable distal portions or steerable
distal tips, but may be relatively challenging to navigate through
tortuous vascular pathways with varied tissue structure terrain due
to their inherent compliance. Even smaller instruments, such as
guidewires or distal protection devices for certain vascular and
other interventions, may be difficult to position due to their
relatively minimal navigation degrees of freedom from a proximal
location, and the tortuous pathways through which operators attempt
to navigate them. To provide additional navigation and operational
functionality options for minimally invasive interventions, it is
useful to have an instrument platform that may be remotely
manipulated with precision, such as the robotic catheter system
available from Hansen Medical, Inc. under the tradename
Sensei.RTM.. The elongate instruments associated with such a system
may be navigated not only within the cardiovascular system, but
also within other body lumens and cavities, such as those of the
respiratory, gastrointestinal, urinary, and reproductive systems to
address various maladies of the body, including but not limited to
various paradigms cardiovascular disease. One such cardiovascular
disease area of interest is hypertension, or high blood pressure,
and it has been found that aspects of hypertension may be
controlled with denervation therapy of the nerves of the renal
plexus adjacent the renal artery. It would be valuable to have
further interventional options than are presently available to
address renal plexus denervation therapy.
SUMMARY
[0004] One embodiment is directed to a system for conducting a
denervation of the neural plexus adjacent the renal artery of a
patient, comprising: a first elongate member operatively coupled to
a testing element; a second elongate member having a distal portion
coupled to an ablative element; a controller configured to:
activate an ablative element to selectively denervate a portion of
the neural plexus which is positioned adjacent the ablative
element; monitor a level of a compound in blood sampled from the
testing element of the first elongate member; and modulate the
activation of the ablative element based at least in part upon the
level of renin monitored using the testing element. The ablative
element may be selected from the group consisting of: an RF
ablation element, a cryo-ablation element, a laser ablation
element, a microwave ablation element and an ultrasound ablation
element. Modulating the activation may comprise modulating the
energy passed through the ablative element. The compound may
comprise renin. The testing element may comprise a lumen defined
through the first elongate member. The first elongate member may
comprise a distal portion sized to be inserted into the renal vein
of the patient. The second elongate member may comprise an
electromechanically steerable catheter having at least one
pitch/yaw degree of freedom using one or more motors operatively
coupled to the distal portion. The system further may comprise an
imaging device configured to capture and relay image information to
the controller. The imaging device may be selected from the group
consisting of: an ultrasound device, a fluoroscopy device, a
radiography device, and an OCT interferometry device. The imaging
information may be used either to identify ablative loci or
modulate the activation of the ablative element.
[0005] Another embodiment is directed to a method for conducting a
denervation process upon the neural plexus adjacent the renal
artery, comprising: navigating an ablative element adjacent to a
portion of the neural plexus; navigating a testing element into the
renal vein; controllably denervating the portion of the neural
plexus; utilizing the testing element to detect a compound secreted
by a kidney into the renal vein; and determining whether further
denervation of the portion of the neural plexus is required based
at least in part upon the detection of the compound. The ablative
element may be selected from the group consisting of: an RF
ablation element, a cryo-ablation element, a laser ablation
element, a microwave ablation element and an ultrasound ablation
element. The compound may comprise renin. Navigating an ablative
element may comprise inserting a steerable elongate member coupled
to the ablative element relative to the renal artery. The testing
element may comprise a blood sampling lumen, and navigating the
testing element may comprise inserting an elongate member
comprising the testing element relative to the renal vein. The
method further may comprise imaging targeted portions of the neural
plexus to create an anatomic map of the targeted portions. Imaging
may utilize a modality selected from the group consisting of:
ultrasound, fluoroscopy, radiography, and OCT interferometry.
Inserting may comprise electromechanically inserting the steerable
elongate member in response to a command created by an operator
with a master input device.
[0006] Another embodiment is directed to a method for conducting a
denervation of the neural plexus adjacent the renal artery,
comprising: creating a neural plexus anatomical map by repeatedly
moving, capturing, and assembling image data from an OCT fiber
adjacent various portions of the renal artery adjacent the neural
plexus; navigating an ablative element adjacent to a targeted
portion of the neural plexus that is targeted, at least in part,
based upon the neural plexus anatomical map; and controllably
denervating the targeted portion of the neural plexus by activating
the ablative element. The ablative element may be selected from the
group consisting of: an RF ablation element, a cryo-ablation
element, a laser ablation element, a microwave ablation element and
an ultrasound ablation element. Creating a neural plexus anatomical
map further may comprise conducting interferometry on the captured
image data to create one or more images. Creating a neural plexus
anatomical map further may comprise placing a distal portion of the
OCT fiber immediately adjacent a portion of a wall of the artery.
Assembling image data may comprise creating an image based upon
image data from various smaller captures of image data. Repeatedly
moving may comprise operating an electromechanically steerable
elongate member coupled to the OCT fiber. Navigating an ablative
element may comprise operating an electromechanically steerable
elongate member coupled to the ablative element. Operating an
electromechanically steerable elongate member may comprise
electromechanically inserting the steerable elongate member in
response to a command created by an operator with a master input
device.
[0007] Another embodiment is directed to a system for conducting a
denervation of the neural plexus adjacent the renal artery,
comprising: an OCT imaging fiber having a proximal end coupled to
an interferometer and a distal end configured to capture image
information pertinent to nearby tissue structures; an elongate
member configured to be navigated into the renal artery, the
elongate member having a distal portion that is coupled to both the
distal end of the OCT imaging fiber and an ablative element
configured to controllably ablate nearby tissue structures when
activated by an operator; wherein the interferometer is configured
to receive signals from the OCT imaging fiber and present images to
an operator based at least in part upon the signals, the images
being indicative of location and depth of the nearby tissue
structures relative to the distal end of the OCT imaging fiber. The
system further may comprise a lens interposed between the distal
end of the OCT imaging fiber and the nearby tissue structures. The
elongate member may be controllably steerable by an operator. The
elongate member may be steerable by an operator in response to
operator commands through a master input device. The elongate
member may be operatively coupled to one or more motors configured
to controllably induce at least one pitch/yaw degree of freedom.
The system further may comprise a controller configured to
aggregate one or more images from the interferometer into a larger
aggregation image. The system further may comprise an illumination
light source configured to send light through the OCT imaging fiber
that may be scattered and received by the OCT imaging fiber to
create the image information pertinent to nearby tissue
structures.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] FIG. 1 illustrates certain aspects of renal vascular and
neuroanatomy.
[0009] FIG. 2 illustrates a close-up view of a portion of a renal
artery as well as certain portions of an associated renal nerve
plexus.
[0010] FIG. 3 illustrates a robotic catheter system configured for
conducting minimally invasive medical interventions.
[0011] FIG. 4 illustrates an instrument driver and instrument
assembly of a robotic catheter system configured for conducting
minimally invasive medical interventions.
[0012] FIGS. 5A-5D illustrate various aspects of an instrumentation
system for conducting a trans-lumenal renal plexus denervation
procedure with one or more controllably steerable instruments and
one or more controllably expandable members.
[0013] FIGS. 6A-6B illustrate various aspects of a trans-ureteral
renal nerve plexus intervention utilizing the subject remotely
steerable instrument system.
[0014] FIG. 7 depicts a close up partial view of renal,
cardiovascular, and associated neuroanatomy in the abdomen adjacent
the kidney.
[0015] FIG. 8 illustrates various aspects of a trans-ureteral renal
plexus denervation intervention.
[0016] FIG. 9 illustrates various aspects of a trans-arterial renal
plexus denervation intervention wherein instrumentation is taken
across a portion of a wall of the celiac trunk artery.
[0017] FIG. 10 illustrates various aspects of a trans-arterial
renal plexus denervation intervention wherein instrumentation is
taken across a portion of a wall of the superior mesentary
artery.
[0018] FIG. 11 illustrates various aspects of a trans-venous renal
plexus denervation intervention wherein instrumentation is taken
across a portion of a wall of the vena cava.
[0019] FIG. 12 illustrates various aspects of a trans-venous renal
plexus denervation intervention wherein instrumentation is taken
across a portion of a wall of the renal vein.
[0020] FIG. 13 illustrates various aspects of a process for
creating a trans-lumenal access port from inside of a subject
tissue lumen or structure, utilizing the access port for a
diagnostic or interventional procedure, and closing the access port
from inside of the subject tissue lumen.
[0021] FIGS. 14A-14G illustrate various aspects of a system for
renal neuroplexus diagnostics and intervention in accordance with
the present invention.
[0022] FIGS. 15A-15D illustrate various aspects of a system for
renal neuroplexus diagnostics and intervention in accordance with
the present invention, wherein OCT imaging techniques may be
employed.
[0023] FIGS. 16-21 illustrate process embodiments in accordance
with the present invention.
[0024] FIG. 22 illustrates an embodiment wherein a longitudinally
displaced pattern may be used in a denervation treatment.
[0025] FIGS. 23A-23C illustrate an embodiment wherein a pullback
technique may be utilized in a denervation treatment with a
pre-shaped spiral instrument.
[0026] FIG. 24 illustrates an embodiment wherein an evacuated
volume may be utilized to assist with a denervation treatment
wherein an expandable device comprising one of more circuit
elements is utilized in a denervation treatment.
[0027] FIGS. 25A and 25B illustrate embodiments wherein two or more
guide instrument assemblies may be utilized to conduct a
denervation treatment.
[0028] FIGS. 26A-26C illustrate an embodiment wherein a pullback
technique may be utilized in a denervation treatment with a
pre-shaped J-curve instrument.
[0029] FIGS. 27A-27C illustrate various aspects of manufacturing
and behavior details of a pre-shaped spiral instrument
embodiment.
[0030] FIGS. 28A and 28B illustrate various details of a pre-shaped
J-curve instrument embodiment.
[0031] FIGS. 29-34 illustrate process embodiments in accordance
with the present invention.
DETAILED DESCRIPTION
[0032] Referring to FIG. 1, the kidneys (2) are shown in relation
to the aorta (4), vena cava (6), ureters (8), renal veins (12) and
portions of the neural anatomy of the renal plexus (14), which is
coupled to the renal arteries (10). Referring to FIG. 2, a close-up
orthogonal view of a portion of a renal artery (10) is shown, with
bands of contractile smooth muscle tissue (18) surrounding the
longitudinal axis (16) circumferentially, and with strands of renal
nerves (20) coupled to the renal artery (10), generally
longitudinally along the renal artery (10). These strands of renal
nerves (20) comprise the renal nerve plexus, or renal plexus, which
may be embedded within the adventitia of the renal artery (10).
This nerve plexus extends along the renal artery until it joins the
parenchyma of the kidney (2). As briefly described above,
hypertension and other diseases such as heart failure and chronic
kidney disease are a few of the disease states that result from
chronic activation of the sympathetic nervous system, especially
the renal sympathetic nervous system, which comprises the renal
plexus. Chronic activation of the sympathetic nervous system is a
maladaptive response that drives the progression of these disease
states. Indeed, the renal sympathetic nervous system has been
identified as a major contributor to the complex pathophysiology of
hypertension, various states of volume overload (such as congestive
heart failure), and progressive heart disease, in experimental and
clinical research studies. Given the knowledge that hypertension is
commonly neurogenic, there are new clinical intervention paradigms
evolving whereby an attempt is made to locate and ablate strands of
renal nerves (20) comprising the renal plexus from the inside of
the renal artery, via an endovascular approach. Various challenges
are presented with such an approach, including locating and
appropriately denervating the nerve strands without damaging or
necrosing the tissue of the renal artery wall. In investigating
extravascular approaches (i.e., approaching the renal plexus from
outside of the walls of the renal artery), it has been determined
that one of the key challenges is controllably navigating and
operating an instrument to a retroperitoneal location whereby the
renal plexus may be more directly denervated via radiofrequency
ablation or other techniques. An electromechanically, or
"robotically", operated elongate instrument control system provides
important functionality for such a challenge.
[0033] Referring to FIG. 3, a robotic catheter system is depicted
having an operator workstation (210) comprising a master input
device (206), control button console (208), and a display (204) for
the operator (202) to engage. In the depicted embodiment, a
controller or control computer configured to operate the various
aspects of the system is also located near the operator (202). The
controller (212) comprises an electronic interface, or bus (248),
configured to operatively couple the controller (212) with other
components, such as an electromechanical instrument driver (164),
RF generator (214), localization system (216), or fiber bragg shape
sensing and/or localization system (218), generally via electronic
leads (232, 230, 236, 234, 240, 238, 242, 244, 246, 226).
Electromechanically or robotically controlled catheter systems
similar to that depicted in FIG. 3 are available from Hansen
Medical, Inc. under the tradename Sensei.RTM., and described, for
example, in U.S. patent application Ser. Nos. 11/481,433,
11/073,363, 11/678,001 ("Intellisense") and 11/637,951, each of
which is incorporated by reference in its entirety. In the depicted
embodiment, the controller (212) preferably is operatively coupled
(232) to the RF generator (214) and configured to control outputs
of the RF generator (214), which may be dispatched via electronic
lead (230) to the disposable instrument assembly (166). Similarly,
the controller (212) preferably is operatively coupled (236) to a
localization system, such as an electromagnetic or potential
difference based localization system (216), such as those available
under the tradenames CartoXP.RTM. and EnSite.RTM. from Biosense
Webster, Inc., and St. Jude Medical, Inc., respectively. The
localization system (216) preferably is operatively coupled via one
or more leads (234) to the instrument assembly (166), and is
configured to determine the three dimensional spatial position, and
in certain embodiments orientation, of one or more sensors coupled
to a distal portion of the instrument assembly relative to a
coordinate system relevant to the controller and operator, such as
a world coordinate system. Such position and/or orientation
information may be communicated back to the controller (212) via
the depicted electronic lead (236) or other signal communication
configuration such as a wireless data communication system (not
shown), to enable the controller (212) and operator (202) to
understand where the distal portion of the instrument assembly
(166) is in space--for control and safety purposes. Similarly, a
fiber opticlocalization and/or shape sensing system (218) may be
coupled between the controller (212) and instrument assembly (166)
to assist with the determination of position and shape of portions
of the instrument assembly, thermal sensing, contact sensing, and
load sensing, as described, for example, in the aforementioned
incorporated patent applications.
[0034] Various types of shape sensing fibers may be used in the
fiber optic localization and/or shape sensing system (218). It is
well known that by applying the Bragg equation
(wavelength=2*d*sin(theta)) to detect wavelength changes in
reflected light, elongation in a diffraction grating pattern
positioned longitudinally along a fiber or other elongate structure
maybe be determined. Further, with knowledge of thermal expansion
properties of fibers or other structures which carry a diffraction
grating pattern, temperature readings at the site of the
diffraction grating may be calculated. "Fiberoptic Bragg grating"
("FBG") sensors or components thereof, available from suppliers
such as Luna Innovations, Inc., of Blacksburg, Va., Micron Optics,
Inc., of Atlanta, Ga., LxSix Photonics, Inc., of Quebec, Canada,
and Ibsen Photonics AIS, of Denmark, have been used in various
applications to measure strain in structures such as highway
bridges and aircraft wings, and temperatures in structures such as
supply cabinets.
[0035] The use of such technology in shapeable instruments is
disclosed in commonly assigned U.S. patent application Ser. Nos.
11/690,116; 11/176,598; 12/012,795; 12/106,254; 12/507,727;
12/192,033; 12/236,478; and 12/837,440. The entirety of each of the
above applications is incorporated by reference herein.
[0036] In an alternative variation, a single mode optical fiber is
drawn with slight imperfections that result in index of refraction
variations along the fiber core. These variations result in a small
amount of backscatter that is called Rayleigh scatter. Changes in
strain or temperature of the optical fiber cause changes to the
effective length of the optical fiber. This change in the effective
length results in variation or change of the spatial position of
the Rayleigh scatter points. Cross correlation techniques can
measure this change in the Rayleigh scattering and can extract
information regarding the strain. These techniques can include
using optical frequency domain reflectometer techniques in a manner
that is very similar to that associated with low reflectivity fiber
gratings. A more complete discussion of these methods can be found
in M. Froggatt and J. Moore, "High-spatial-resolution distributed
strain measurement in optical fiber with Rayleigh scatter", Applied
Optics, Vol. 37, p. 1735, 1998 the entirety of which is
incorporated by reference herein.
[0037] Methods and devices for calculating birefringence in an
optical fiber based on Rayleigh scatter as well as apparatus and
methods for measuring strain in an optical fiber using the spectral
shift of Rayleigh scatter can be found in PCT Publication No.
WO2006099056 filed on Mar. 9, 2006 and U.S. Pat. No. 6,545,760
filed on Mar. 24, 2000 both of which are incorporated by reference
herein. Birefringence can be used to measure axial strain and/or
temperature in a waveguide. Using Rayleigh scatter to determine
birefringence rather than Bragg gratings offers several advantages.
First, the cost of using Rayleigh scatter measurement is less than
when using Bragg gratings. Rayleigh scatter measurement permits
birefringence measurements at every location in the fiber, not just
at predetermined locations. Since Bragg gratings require insertion
at specific measurement points along a fiber, measurement of
Rayleigh scatter allows for many more measurement points. Also, the
process of physically "writing" a Bragg grating into an optical
fiber can be time consuming as well as compromises the strength and
integrity of the fiber. Such drawbacks do not occur when using
Rayleigh scatter measurement.
[0038] In one embodiment, an optical fiber sensor (238), which may
or may not include Bragg gratings, may be positioned between the
distal tip of one or more instruments in the assembly and coupled
proximally to the optical fiber sensor interrogator (218) in a
manner described in U.S. Provisional Patent application No.
61/513,488 the entirety of which is incorporated by reference
herein, and outputs from such system may be electronically
communicated (240) to the controller (212) to facilitate control
and safety features, such as closed loop shape control of one or
more portions of the instrument assembly, as described, for
example, in the aforementioned incorporated references. A feedback
and control lead (226) is utilized to operatively couple the
instrument driver (164) to the controller. This lead (226) carries
control signals from the controller (212) to various components
comprising the instrument driver (164), such as electric motors,
and carries control signals from the various components of the
instrument driver (164), such as encoder and other sensor signals,
to the controller (212). The instrument driver (164) is coupled to
the operating table (222) by a setup structure (220) which may be a
simple structural member, as depicted, or a more complicated
movable assembly, as described in the aforementioned incorporated
references. A bus configuration (248) couples the various depicted
leads (226, 246, 244, 242, 240, 236, 232) with the controller
(212). Alternatively, wireless configurations may be utilized.
[0039] Referring to FIG. 4, an orthogonal view of an instrument
driver (164) and instrument assembly (166) is depicted, this
configuration having the ability to monitor loads applied to
working members or tools placed through a working lumen defined by
the instrument assembly (166). In this embodiment, such loads are
determined with load sensors (168) located within the housing of
the instrument driver, as described in the aforementioned
incorporated references. In other embodiments, loads imparted to
various tools or aspects of the instrument assembly (166) may be
monitored using load sensors or components thereof which are
embedded within or coupled to distal portions (170) of such tools
or instrument assembly portions.
[0040] Referring to FIGS. 5A-5D, various closer views of aspects of
instrument embodiments in accordance with the present invention are
shown. Referring to FIG. 5A, a steerable sheath instrument (22) is
depicted having a proximal interface (shown in the aforementioned
incorporated by reference disclosures in reference to robotic
sheath instrument embodiments) configured to be removably and
driveably coupled to an instrument driver (164) such as that
depicted in FIG. 4. The distal portion of the sheath instrument
(22) comprises an expandable member such as a balloon, which may be
controllably expanded via an inflation lumen (42), as shown in the
detail view of FIG. 5B. Also shown in FIGS. 5A and 5B is an
elongate steerable guide instrument (24) which may be proximally
coaxially positioned through a guide insertion lumen (44) defined
into the sheath instrument (22), and distally directed out through
a side port formed through the balloon member (26), after being
routed through an arcuate portion (46) of the guide insertion lumen
(44). With the balloon member (26) in an inflated or deflated
state, the depicted instrument assembly may be placed through a
lumen and utilized to create a side port across the wall of the
lumen. In one embodiment, a needle may initially be advanced
through the sheath instrument lumen (44, 46) and across the subject
tissue wall, followed by a dilator instrument and/or guidewire,
which may be followed by the guide instrument (24) in an
over-the-wire type technique using a working lumen defined into the
guide instrument (24). As shown in FIGS. 5A and 5B, the distal
portion of the elongate guide instrument (24) may be outfitted with
one or more ultrasound transducers (28), one or more localization
sensors (30), and one or more treatment elements (such as a
radiofrequency electrode, a cryoablation reservoir, a high
intensity focused ultrasound treatment transducer, a laser or other
radiation emitter, or the like 32) which may be utilized to
denervate nerve strands, such as those of the renal plexus. In
another embodiment, the distal portion of the guide instrument (24)
may be operatively coupled to an antenna, such as a microwave
antenna, to sense reflected radiation, such as blackbody radiation,
which may be correlated to the temperature of nearby tissues, as
described, for example, in U.S. patent application Ser. No.
12/833,927, which is incorporated by reference herein in its
entirety. Such an embodiment allows for direct sensing of thermal
conditions in nearby tissue structures of interest--as opposed to
other competing techniques such as thermocouples placed adjacent RF
heating electrodes, which are more aptly configured to read the
temperature of the electrodes rather than nearby tissues.
[0041] Referring to the close-up view of FIG. 5B, the side port of
the balloon member (26) comprises a lumen port closure
configuration having one or more closure clip elements (34)
constrained in an open configuration by the geometry of the balloon
member (26) to which it is coupled. Upon controllable inflation of
a small clip deployment bladder (38) coupled to the balloon member
(26) using an inflation lumen (40), the clip (34) may be advanced
outward, and small barb-like fastening members (36) configured to
fasten to nearby tissue structures upon exposure and mild
advancement load from the deployment bladder (38) and/or balloon
member (26) inflation will engage nearby tissue structures, while
the clip (34) simultaneously will become unconstrained from its
coupling with the structure of the balloon member (26) and will be
free to resume an unloaded configuration, preferably configured to
coapt the tissue around the circumference of the access port toward
itself. Suitable clips made from bioinert metals such as nitinol
are available from Medtronic Corporation and were invented by
Coalescent Surgical, Inc. and cleared by the FDA for a different
medical application (closure of vascular anastomosis). The
fastening features (36) may be sintered onto the clips, welded,
coupled with a preferably bioinert adhesive, or formed or etched
into the same structure that comprises the fastening element (36).
Referring ahead to FIG. 13, a process for utilizing a configuration
such as that depicted in FIGS. 5A and 5B to create and subsequently
close a lumen side port is illustrated.
[0042] Referring to FIG. 13, after positioning an expandable
balloon member in a contracted form to a desired insertion location
and orientation (i.e., roll orientation relative to the
longitudinal axis commonly associated with a lumen) (148), the
expandable balloon member maybe controllably inflated to
substantially occlude the body lumen (with the exception of flow
which may be facilitated through a working through-lumen of a
subject sheath instrument) and create a relatively low-level hoop
tension in portions of the body lumen adjacent to the expanded
balloon member (150). An elongate diagnostic and/or interventional
instrument may then be advanced out of a side port of the
expandable balloon member (in one embodiment, as described above,
in an over-the-needle, wire, or dilator configuration), creating a
trans-lumenal access port (152). Using this access port, a
diagnostic and/or interventional procedure may be conducted
translumenally with one or more elongate instruments (154). When
the interventional procedure has been completed, the elongate
instruments may be retracted (156) and a controlled closure of the
translumenal access port executed by urging the one or more closure
clips away from a housing depression formed in the balloon member,
and into at least a portion of the tissue structure adjacent the
translumenal access port, with the one or more clips maintaining
their constrained (i.e., constrained until they are uncoupled from
the balloon member housing interface) configurations as they are
fastened to the nearby tissue (158). A bladder and associated
pressure control lumen, as shown in FIG. 5B, for example, may be
utilized to controllably advance the one or more clips outward, as
described above. With the one or more closure clips fastened to the
subject tissue structure, preferably in a pattern about the annulus
of the translumenal access port, incremental pressure in the
bladder or other mechanism may be utilized to uncouple the one or
more closure clips from the balloon member, allowing them to assume
an unloaded configuration preferably selected to cause tissue
coaptation about the previous location of the translumenal access
port to urge the port closed (160). With the port closed, the
instruments may be withdrawn (162).
[0043] Referring back to FIG. 5C, an embodiment similar to that of
FIG. 5B is depicted, with the exception that an elongate treatment
probe (58), such as a bendable or steerable needle, comprising a
series plurality (59) of distally-located treatment elements (akin
to element 32) coupled to a helically shaped (48) treatment probe
distal portion that is configured to be inserted and/or wrapped
around a given tissue structure for discrete, controlled ablation
of such tissue structure. The helical shape (48) is selected to
minimize the risk of stenosis by longitudinally stretching out a
circumferential lesion (i.e., a non-stretched purely
circumferential lesion may have scar tissue expansion inward from
directly opposing tissue structure portions, leaving it more
vulnerable to stenosis by such scarring; the helical pitch shape 48
is configured to avoid this). An orthogonal view is depicted in
FIG. 5D.
[0044] Referring to FIGS. 6A, 6B, and 8, a trans-ureteral renal
nerve plexus denervation procedure is illustrated. As shown in FIG.
6A, a guide and sheath instrument assembly similar to that depicted
in FIGS. 5A and 5B may be inserted through the urethra (52) and
into the bladder (50) where it may be navigated to cannulate one of
the ureters (8) and be directed toward the kidney (2), as shown in
FIG. 6B. Referring to FIG. 6B, with the sheath instrument (22)
desirably located and oriented relative to the renal artery (10)
(confirmation of which may be assisted using ultrasound,
fluoroscopy, and other imaging modalities), a transcutaneous access
port may be created through an expanded balloon member (26) to
provide an elongate guide instrument, such as a robotically
steerable guide instrument (24) with relatively immediate
retroperitoneal access to the outside of the renal artery, and
therefore the renal plexus. Such access may be utilized to directly
ablate and/or otherwise denervate selected portions of the renal
plexus. A similar configuration may be utilized to conduct a
trans-lumenal diagnostic and/or interventional procedure via
various other anatomical situations. For example, in an embodiment
similar to that described in reference to FIGS. 5A-5D and 6A-6B, an
elongate steerable instrument configuration may be utilized to move
through the lower gastrointestinal tract, up into the intestine,
and be utilized to cross the intestine closely adjacent the renal
plexus to conduct a similar denervation procedure from a different
anatomic platform. One or more stents or stentlike members may be
left behind to bolster or replace the closure provided by the
clip-like elements (34), and such stent or stentlike member may be
subsequently removed, as directed by the physician, in a manner
similar to that conducted in certain conventional ureter wound
closure scenarios.
[0045] Referring to FIG. 8, a process flow for such a procedure is
illustrated. With a sheath instrument advanced across a urethra and
into the bladder (60), steerability and navigation capabilities of
the sheath instrument may be utilized to cannulate a ureter
(potentially using an over-the-wire technique) (62). The distal
portion of the sheath instrument may be advanced into an optimal
position and orientation for accessing the retroperitoneal space
adjacent the renal artery and renal plexus (64). A balloon member
may be expanded into a guide instrument deployment configuration
wherein ureter portions adjacent the balloon are slightly tensioned
in an expansive manner from the balloon inflation; the kidneys may
continue to drain using a lumen defined through at least a portion
of the balloon and/or sheath member (68). A guide member may be
advanced out of a side port formed in the balloon member to create
a translumenal access port (in some embodiments utilizing over the
wire or over the needle techniques) (70). With the translumenal
access created, the guide instrument may be advanced toward the
desired neuroanatomy (72) from the outside of the renal artery, and
controlled denervation accomplished using radiofrequency energy
emission or other denervation modalities, as described above (74).
Subsequently, the instrumentation may be retracted, the access port
closed (for example, as described above), the balloon deflated, and
normal function returned without the endolumenal instrumentation in
place (76).
[0046] Referring to FIG. 7, various aspects of the cardiovascular
and neurological anatomy around the renal system are depicted to
illustrate that there are several translumenal access opportunities
to the retroperitoneal region of the renal plexus, including but
not limited to the vena cava (6), the renal veins (12), the celiac
trunk artery (54), and the superior mesentery artery (56).
Referring to FIG. 9, a process for implementing a translumenal
renal plexus denervation with a trans-celiac approach is
illustrated. A sheath instrument is advanced up the aorta and into
the celiac trunk artery (78). An over the wire process may be
utilized to gain full access to the celiac trunk for the distal
portion of the sheath instrument (80). The distal portion of the
sheath may be adjusted in position and orientation to optimize a
translumenal approach toward the renal plexus (82). A balloon
member coupled to the distal portion of the sheath member may be
expanded to slightly tension the celiac trunk portions adjacent the
balloon member, and blood may continue to flow past the balloon
member using a lumen formed through the balloon member (86). A
guide instrument may be advanced out of a side port of the sheath
instrument to create a transvascular access port (88). In one
embodiment, a sharpened needle may be utilized for the initial
advancement, followed by the guide instrument in an over the needle
interfacing relationship. The distal portion of the guide
instrument may be positioned adjacent the renal plexus (90), and
one or more RF electrodes may be utilized to controllably denervate
portions of the renal plexus (92). Subsequently the guide
instrument may be retracted, the transvascular access port closed
(for example, using one or more clip members as described above in
reference to FIG. 5B), the sheath balloon member deflated, and the
sheath instrument retracted to leave a complete closure (94).
[0047] Referring to FIG. 10, a process for implementing a
translumenal renal plexus denervation with a trans-mesentary
approach is illustrated. A sheath instrument is advanced up the
aorta and into the superior mesentary artery (96). An over the wire
process may be utilized to gain full access to the celiac trunk for
the distal portion of the sheath instrument (98). The distal
portion of the sheath may be adjusted in position and orientation
to optimize a translumenal approach toward the renal plexus (100).
A balloon member coupled to the distal portion of the sheath member
may be expanded to slightly tension the superior mesentery artery
portions adjacent the balloon member, and blood may continue to
flow past the balloon member using a lumen formed through the
balloon member (104). A guide instrument may be advanced out of a
side port of the sheath instrument to create a transvascular access
port (106). In one embodiment, a sharpened needle may be utilized
for the initial advancement, followed by the guide instrument in an
over the needle interfacing relationship. The distal portion of the
guide instrument may be positioned adjacent the renal plexus (108),
and one or more RF electrodes may be utilized to controllably
denervate portions of the renal plexus (110). Subsequently the
guide instrument may be retracted, the transvascular access port
closed (for example, using one or more clip members as described
above in reference to FIG. 5B), the sheath balloon member deflated,
and the sheath instrument retracted to leave a complete closure
(112).
[0048] Referring to FIG. 11, a process for implementing a
translumenal renal plexus denervation with a trans-vena-cava
approach is illustrated. A sheath instrument is advanced up into
the vena cava from a femoral or other access point (114). The
distal portion of the sheath may be adjusted in position and
orientation to optimize balloon member positioning for a
translumenal approach toward the renal plexus (116). A balloon
member coupled to the distal portion of the sheath member may be
expanded to slightly tension the celiac trunk portions adjacent the
balloon member, and blood may continue to flow past the balloon
member using a lumen formed through the balloon member (120). A
guide instrument may be advanced out of a side port of the sheath
instrument to create a transvascular access port (122). In one
embodiment, a sharpened needle may be utilized for the initial
advancement, followed by the guide instrument in an over the needle
interfacing relationship. The distal portion of the guide
instrument may be positioned adjacent the renal plexus (124), and
one or more RF electrodes may be utilized to controllably denervate
portions of the renal plexus (126). Subsequently the guide
instrument may be retracted, the transvascular access port closed
(for example, using one or more clip members as described above in
reference to FIG. 5B), the sheath balloon member deflated, and the
sheath instrument retracted to leave a complete closure (128).
[0049] Referring to FIG. 12, a process for implementing a
translumenal renal plexus denervation with a renal vein approach is
illustrated. A sheath instrument is advanced up the vena cava and
into the renal vein (130). An over the wire process may be utilized
to gain full access to the renal vein for the distal portion of the
sheath instrument (132). The distal portion of the sheath may be
adjusted in position and orientation to optimize a translumenal
approach toward the renal plexus (134). A balloon member coupled to
the distal portion of the sheath member may be expanded to slightly
tension the celiac trunk portions adjacent the balloon member, and
blood may continue to flow past the balloon member using a lumen
formed through the balloon member (138). A guide instrument may be
advanced out of a side port of the sheath instrument to create a
transvascular access port (140). In one embodiment, a sharpened
needle may be utilized for the initial advancement, followed by the
guide instrument in an over the needle interfacing relationship.
The distal portion of the guide instrument may be positioned
adjacent the renal plexus (142), and one or more RF electrodes may
be utilized to controllably denervate portions of the renal plexus
(144). Subsequently the guide instrument may be retracted, the
transvascular access port closed (for example, using one or more
clip members as described above in reference to FIG. 5B), the
sheath balloon member deflated, and the sheath instrument retracted
to leave a complete closure (146).
[0050] Referring to FIGS. 14A-14G, various aspects of
configurations selected to controllably denervate portions of a
renal plexus or fibers thereof are illustrated. As shown in FIG.
14A, a robotic sheath instrument (22) and guide instrument (24)
assembly is depicted being advanced up the aorta (4) and into the
renal artery (10). The coaxial slidable coupling of the two robotic
instruments is useful in the depicted embodiment for telescoping
the smaller instrument relative to the larger, as depicted in FIGS.
14B and 14C, for example. In another embodiment, a single robotic
guide type instrument may be utilized without the load-shielding
and related fine-control benefits of having a "home base" sheath
structure (22) positioned at the aorta (4) as shown, for example,
in FIGS. 14B and 14C. In another embodiment, a non-robotic sheath
may be utilized along with a robotic guide instrument (24). In yet
another embodiment, two non-robotic instruments may be utilized,
such as steerable catheters or sheaths that are responsive to
non-electromechanical pullwire or pushwire loading for
steerability.
[0051] Referring again to FIG. 14A, several nerve tissue strands
(20) are depicted surrounding portions of the renal artery (10), as
are groups of juxtaglomerular apparatus (or "JGA") cells (198),
which are known to be responsible, at least in part, for the
production of renin in response to efferent neural signals through
the fibers (20) of the renal plexus, and thereby correlated with
increases in blood pressure. Also shown are several arterioles
(196) where the renal artery (4) branches down to meet the
kidney.
[0052] Referring to FIG. 14B, the larger sheath instrument (22) is
positioned at the mouth of the renal artery (10) while the smaller
guide instrument (24) preferably is electromechanically advanced,
and navigated to avoid local tissue trauma. As described above in
reference to FIGS. 5A-5D, the distal portion of the guide
instrument (24) may be equipped with various sensors (i.e., such as
ultrasound transducers, localization sensors, thermocouples, and/or
radiation antennae such as microwave antennae for blackbody
radiation sensing) and/or treatment elements (i.e., such as high
intensity focused ultrasound transducers, RF electrodes, laser
emission elements, fluid emission elements, and the like).
Referring to FIG. 14C, further insertion of the guide instrument
(24) into the renal artery is facilitated by the electromechanical
control of a robotic catheter system, the navigation of which may
be facilitated by imaging modalities such as transcutaneous
ultrasound, transvascular ultrasound, intravascular ultrasound,
fluoroscopy, and navigation within a registered three-dimensional
virtual environment created using images from modalities such as
computed tomography, 3-dimensional computed tomography, magnetic
resonance, X-ray, fluoroscopy, and the like, as described, for
example, in the aforementioned incorporated references. For
example, in one embodiment, a "no touch" insertion may be
accomplished utilizing the stability provided by the placement of
the sheath instrument (22), along with the navigability of a
registered and real-time (or near real-time) imaged robotically
steerable guide instrument (24).
[0053] Referring to FIG. 14D, subsequent to cannulation of the
renal artery (10) to a position approximately adjacent the renal
arterioles (196), a brief mapping study or investigation may be
executed. This mapping study may be preceded by preoperative or
intraoperative imaging to determine at least some information
regarding the positions, or likely positions, of aspects of the
renal plexus. Referring again to FIG. 14D, in one embodiment, a
flexible, expandable device (292), such as a controllably
expandable balloon or stentlike structure, may be controllably
deployed from the guide instrument (24) and expanded to provide a
direct interface between the tissues of the subject lumen and
circuit elements (294) of the expandable device (292), the circuit
elements being configured to detect nearby electrical signals, and
in one embodiment to be alternatively be utilized to treat the
nearby tissues through the controllable flow of current
therethrough. In one embodiment, a conformal electronics polymer
material, such as that available under the tradename MC10.RTM. by
MC10 Corporation of Cambridge, Mass., may be utilized to embed
radiofrequency ("RF") or other electrode circuitry within an
inflatable or expandable substrate, as depicted in FIGS. 14D and
14E. Referring to the close up view of FIG. 14F, the circuit
elements (294) may have sharpened probing portions (296) configured
to protrude into nearby tissues, such as the walls of the renal
artery (4), to gain closer proximity to signals passing through
nearby neural structures, such as the depicted renal plexus fibers
(20), and/or to gain closer proximity to structures to be
denervated or altered in a treatment phase, such as by applying RF
energy for selective denervation by heating. Full inflation or
expansion of the associated expandable device (292) may be required
to seat the probing portions (296) across portions of the nearby
tissue structures, and the assembly of the expandable device (292),
circuit elements (294), and probing portions (296) preferably is
configured to be retractable back into the delivery instrument (24)
without damage to nearby structures. In the embodiment depicted in
FIGS. 14D-14F, deflation or controlled outer geometry shrinking of
the expandable device (292), concomitant with incremental insertion
of the guide instrument (24) and slight retraction of the
expandable device (292), may be utilized to safely retract the
expandable device after mapping and/or treatment.
[0054] Referring to FIG. 14G, in another embodiment, an individual
probe member (298), such as an RF needle tip, may be utilized to
selectively probe pertinent tissue structures for both mapping and
treatment steps. Preferably the controller of the robotic catheter
system is configured to not only controllably navigate the probe
member (298) to locations of interest with a desirable insertion
vector and insertion location, but also to store trajectory, path,
location, and other information pertinent to each diagnostic and/or
treatment step for constant monitoring of the procedure, and also
ease of repeatability--or ease of avoiding repeatability (i.e., in
scenarios wherein it is not desirable to conduct two RF heating
bouts on the same tiny volume of tissue).
[0055] Referring to FIG. 14H, in one embodiment, a probe member
(298) may be navigated directly to discrete JGA cells (198) or
lesions of JGA cells to selectively destroy these directly. Any of
the embodiments described herein may incorporate load sensing
capabilities of the subject robotic catheter system, along with
haptic input device features, to facilitate fine, atraumatic,
predictable navigation of the diagnostic and/or treatment
tools.
[0056] Referring to FIG. 15A, in another embodiment, an optical
coherence tomography (or "OCT") fiber (300) may be coupled between
a distal lens (302) and a proximal emitter/interferometer (not
shown; available from sources such as ThorLabs, Inc., of Newton,
N.J.) to facilitate OCT tissue structure threshold sensing (i.e.,
the sensing and/or visualization of boundaries of nearby tissue
structures, such as the renal artery (10) wall thresholds, nerve
fiber 20 structure thresholds, and the like) with a virtual field
of view (304) dependent upon the lens (302) and emissions
parameters. Such OCT imaging analysis may be utilized not only to
locate structures of interest, but also to treat such
structures--with near-real-time analysis of not only the tissue
structure thresholds, but also thresholds of other objects, such as
RF electrode probe tips and the like. The embodiment of FIG. 15A
features an OCT configuration wherein the lens (302) is located on
a distal face of the guide instrument (24). Referring to FIG. 15B,
an arcuate configuration of the OCT fiber (300) proximal to the
side-oriented lens (302) and field of view (304) may be utilized
for a side-capturing configuration. Referring to FIG. 15C, another
side-capturing configuration is facilitated by a mirror or
reflector (306) configured to reflect outgoing and incoming light
signals as shown.
[0057] Referring to FIG. 15D, an embodiment is shown wherein a
working volume (318) is evacuated of blood to facilitate greater
flexibility with light-based imaging technologies, such as video
and OCT. In other words, the embodiments of FIGS. 15A-15C showed
the lens (302) purposefully in almost direct opposition to nearby
tissue structures, to avoid scattering and other effects of red
blood cells and other elements of flowing blood which may
negatively impact such imaging. The embodiment of FIG. 15D
addresses this concern by temporarily (i.e., for a short period of
time, as dictated by the pathophysiology of the associated kidney
and other tissue structures) evacuating the working volume (318) of
blood. This is accomplished in the depicted embodiment by inflating
two expandable occlusive elements (308, 310), such as balloons, and
evacuating the captured blood using simple vacuum proximally
through the sheath (22) and associated instruments. A larger
delivery member (314) accommodates coupling of the guide instrument
(24) and also the volume capture assembly, which comprises the two
expandable occlusive elements (308, 310) and a coupling member
(312). A guide instrument port (316) allows for slidable coupling
of the proximal expandable occlusive element (310) and the guide
instrument (24). With such a configuration, various imaging devices
may be utilized to create images of nearby anatomy, such as
ultrasound (in which case a transmissive medium, such as saline,
may be pumped into the working volume for sound wave transmission
enhancement and subsequently removed), CCD cameras, CMOS cameras,
fiberscopes, and the like, in addition to the aforementioned
imaging configurations such as OCT.
[0058] Referring to FIGS. 16-21, various process embodiments are
illustrated wherein one or more minimally invasive instruments may
be utilized in diagnostic and/or interventional medical procedures.
Referring to FIG. 16, after a remotely steerable sheath catheter
instrument is inserted into the aorta and navigated toward the
renal artery (175), the renal artery may be cannulated, for example
with a coaxially associated remotely steerable guide instrument
that is movably coupled to the sheath instrument (174). An
interactive imaging study, or steps thereof, may be conducted of
the renal artery and associated neural anatomy using one or more
minimally invasive imaging modalities, such as ultrasound,
fluoroscopy, and/or OCT (176), as described above. The results of
the imaging study may be utilized to create a mapping
representation of the neural anatomy relative to the renal artery
anatomy, for example, by stimulating one or more of the associated
nerve fibers and observing resulting signal conduction (178). In
other words, referring back to FIGS. 14E and 14F, in one
embodiment, one or more of the proximal (i.e., closer to the aorta
in the variation of FIG. 14E) circuit elements and/or associated
probing portions (element 296 of FIG. 14F) may be used to stimulate
or electrify adjacent nerve fiber (20) portions at such proximal
position, and the conduction of such stimulation may be detected
with each of the other circuit elements (294) to monitor or "map"
the associated conduction pathways. The results of such mapping may
be utilized in the selective denervation of portions of the renal
plexus, for example, by transmitting current to heat and denervate
such portions (180). The mapping configuration may then be utilized
to confirm that the denervation was, indeed, successful, or to what
extent, with further stimulation of the pertinent fibers and
monitoring of the results. Further, renin levels, such as in the
renal vein, may be monitored to determine a level of treatment
success associated with the thermal denervation treatment.
Similarly, alcohol and other fluids may be utilized and monitored
for denervation. Ultimately, the pertinent instruments may be
retracted and the vascular access closed (182).
[0059] Referring to FIG. 17, a process similar to that of FIG. 16
is depicted, with the exception that a venous route is utilized to
conduct denervation near the renal artery. This is believed to be
less clinically complicated in certain scenarios. The catheter
instrumentation is inserted into the inferior vena cava and
navigated toward the renal vein (184). The renal vein is cannulated
with a guide instrument movably coupled to the sheath instrument
(186). The imaging study is conducted not only on the neural
anatomy, but also on the renal vein anatomy and renal artery
anatomy to understand the relationships of these three and other
nearby tissue structures (188). The results of the imaging study
may be utilized as inputs in a mapping subprocess, wherein one or
more nerve fibers may be stimulated and the resulting signal
conduction observed (190). The neural anatomy map resulting from
the mapping efforts may be utilized for selective denervation
treatment of the renal plexus (192), as well as in generating
feedback to an operator regarding the effectiveness of various
denervation attempts (as described above, renin levels also may be
monitored). Subsequently the instruments may be retracted and the
vascular access closed (194).
[0060] The embodiment of FIG. 18 illustrates that process
configurations such as those described above in reference to FIGS.
16 and 17 may be broadly applied to many tissue structures that
define one or more lumens through which the pertinent
instrumentation may be advanced and utilized. Referring to FIG. 18,
a catheter instrument may be inserted into the tissue structure
defining a lumen believed to be associated with targeted neural
tissue (252). The lumen may be cannulated with the catheter
instrument (254). An interactive imaging study may be conducted to
create an image-based anatomic mapping representation of the neural
anatomy and other pertinent tissue structures (256), and an
expandable device such as that described in reference to FIGS. 14E
and 14F may be utilized to observe signal conduction (258) and
create an electrical mapping which may be utilized to monitor the
effectiveness of the treatment steps (260). Subsequently the
instrumentation may be removed and access to the pertinent lumens
and/or tissue structures discontinued (262).
[0061] FIG. 19 illustrates aspects of an embodiment wherein a
robotically-steerable catheter instrument specifically is utilized
(as described above, the aforementioned catheter instruments may or
may not be remotely electromechanically navigable). With the
robotic catheter instrumentation inserted into the pertinent lumen,
such as an aorta in this example (264), precision navigation and
control features of the robotic instrument may be utilized during
the insertional navigation (266), anatomic imaging may be conducted
(268), electrical mapping may be conducted (270), and selective
denervation may be conducted (272), followed by removal of the
pertinent instrumentation and closure of the vascular access (274).
FIG. 21 illustrates a related embodiment with the additional step
depicted (290) of observing feedback indicators, such as renin
levels in blood exiting the renal vein and/or neural conduction
paradigms with the mapping configuration, as confirming techniques
for monitoring and/or adjusting treatment in a closed loop type of
configuration.
[0062] Referring to FIG. 20, a robotic catheter system such as that
described and incorporated above may be utilized to operate an
off-the-shelf treatment head such those available on instruments
from the Ardian division of Medtronic Corporation, to improve the
navigability of such treatment head, and combine the treatment
capabilities of such treatment head with additional diagnostic and
treatment capabilities, such those described herein. As shown in
FIG. 20, after a renal plexus denervation treatment head has been
coupled to a distal portion of a robotic catheter instrument (276),
the instrument may be inserted into an aorta or other lumen and
navigated toward the renal artery or other targeted tissue
structure (278). In the depicted renal intervention embodiment, the
renal artery may be cannulated using the navigation control of the
robotic instrumentation (280), after which an anatomic imaging
study may be conducted (282), an electrical mapping study conducted
(284), selective denervation attempted with feedback from the
mapping configuration (286), and subsequent removal of the
instruments and closure of the access (288).
[0063] Referring to FIG. 22, in another embodiment, a configuration
similar to that depicted in FIG. 14G is depicted, and in the
embodiment of FIG. 14G, is being operated to create a pattern of
treatments (200) that is substantially elliptical, and that is
configured to reduce the chances of post-intervention stenosis or
other complications, due to the fact that the treatment contacts
forming the pattern are spread over a larger length,
longitudinally, of the targeted tissue structure (here a renal
artery 10). Other patterns may be created within the defined lumen
space, such as sets of curves, portions of circumferential lines,
and the like.
[0064] Referring to FIGS. 23A-23C, a configuration is illustrated
wherein a substantially helical treatment element (320) configured
to conform to the targeted lumen (here a renal artery 10 lumen) may
be pushed out the distal end of the delivery system (here a robotic
sheath instrument 24), and then pulled back (322) proximally as the
instrument (24) is withdrawn proximally, creating an opportunity to
cause RF electrodes or other treatment elements coupled to the
helical member (320) to create a longitudinal lesion configured to
denervate targeted nerve fibers (20) which may be disposed about
the targeted lumen. The treatment elements coupled to the helical
member (320) may be configured or operated to remain in an "on"
mode (i.e., treatment inducing; such as current flow mode with RF
electrode treatment elements) during pullback (322), or may be
configured to switch on and off intermittently with various
patterns over time, such patterns being pre-programmable. FIGS. 23B
and 23C illustrate further pullback (322) of the treatment assembly
(24, 320), which may be automated using an "autoretract"
functionality of the robotic guide/sheath catheter systems,
descriptions of which are incorporated by reference herein.
[0065] Referring to FIG. 24, a set of expandable members (308, 310,
such as a set of two balloons) may be used to isolate the nearby
treatment environment for a diagnostic/treatment configuration
(292, 294) such as that depicted in FIGS. 14D-14F. As shown in FIG.
24, a distal expandable balloon member (308), coupled to a proximal
expandable balloon member (310) by a coupling member (312) that
preferably defines an inflation lumen for the distal expandable
balloon member (310), may be inserted in a collapsed form (not
shown) through a lumen defined through the guide instrument (24),
expanded (as illustrated), and utilized to vacuum away blood
captured in the capture volume (318) for diagnostic and/or
treatment steps. With the capture volume isolated, carbon dioxide
or other bioinert gases, or saline, may be infused through an
infusion lumen fluidly coupled to the capture volume (318) through
one or more of the elongate proximal instruments (24, 22, 312) to
facilitate diagnostic and/or treatment steps, such as improved
tissue apposition, improved electrical conduction, and/or improved
imaging and/or visualization, such as direct visualization using an
associated fiber imaging bundle or imaging chip configured to have
a field of view within or adjacent to the capture volume, or an
ultrasound or OCT imaging configuration as described above.
[0066] Referring to FIGS. 25A and 25B, in another embodiment, two
or more elongate steerable instruments (24, 25) may be utilized
simultaneously from the same sheath instrument (23) configured to
host and stabilize both guide instruments (24, 25) and advance a
plurality of diagnostic and/or interventional probe members (298,
299). Such a sheath/guide configuration is described in the
aforementioned incorporated by reference disclosures, and may be
utilized herein to expedite and improve upon diagnostic and
treatment steps as described above. For example, such a
configuration may be utilized to create diametrically opposed
lesions, to facilitate faster pattern creation, as described in
reference to FIG. 22, and to assist with load-counterload
relationships in delicate tissue intervention. FIG. 25B illustrates
an embodiment emphasizing that the sheath instrument (23, or 24 in
other depictions herein) may be advanced distally into the renal
artery or other subject tissue structure lumen, to provide easy
access for one or more guide instruments (24, 25) to the arterioles
(196) or other distal structures, which may be advantageous for
direct diagnostics and intervention pertinent to the JGA cells, for
example.
[0067] In another embodiment, a stent or stentlike member
configured to elute one or more drugs or compounds configured to
denervate the nearby targeted neural plexus tissue may be deployed
into a structure of interest, such as a renal artery or renal vein,
to accomplish such denervation over a designated period of time,
after which the stent or stentlike member may be removed, resorbed,
or left in place as a substantially bioinert prosthesis.
[0068] Referring to FIGS. 26A-26C, another embodiment is
illustrated wherein a steerable sheath (22) and guide instrument
(24) assembly may be utilized to provide direct access for a
pre-shaped or pre-bent interventional instrument, such as a
pre-bent J-curve instrument (352) featuring a bent electrode
portion (354) configured to create a lesion in the same shape when
current is flowed through the electrode portion (354) and into
nearby tissue structures, such as the interior of the renal artery
(10), as shown, or portions of the renal vein, nearby renal nerve
strands (20), JGA cells (198), and the like. In one embodiment, in
a manner similar to that described above in reference to FIGS.
23A-23C, wherein a pre-bent spiral or helical instrument (320) is
pulled back through the associated vessel, the arcuate or curved
interventional instrument of FIGS. 26A-26C may also be controllably
pulled back to create an elongate lesion to disrupt the
pre-existing electrical communication pathways of the nearby neural
plexus tissue. FIGS. 26B and 26C show additional levels of
progression of pullback (350). In another embodiment, the
instrument (352) may be controllably rotated during pullback, or
during a portion of pullback, to establish a predetermined pattern
of contact between the electrode portion (354) and the surrounding
tissue structures (10, 20, 198, 196). During pullback, current may
be either continuously flowed through the electrode portion (354),
in which case a "long linear lesion" may be produced in a solid
(i.e., noninterrupted) linear, curvy, or other pattern, or the
current may be discontinuously flowed through the electrode portion
(354), creating a "long linear lesion" may be produced in a
discontinuous (i.e., interrupted) linear, curvy, or other
pattern.
[0069] Referring to FIGS. 27A-27C, further details regarding
aspects of a helical or spiral type pre-bent or pre-formed
instrument treatment element (320) may be formed and configured to
behave are illustrated. Referring to FIG. 27A, a series of spiral
windings (360) created on a mandrel (358) may be utilized to form a
helical or spiral pre-bent or pre-formed shape into a wire (356).
Heat treatment may be utilized to maintain this form for the wire
(356) after removal of the mandrel, as shown in FIG. 27B, wherein
the spiral wire (356) is shown coupled to a piece of metal hypotube
(364) via a metallic crimpling coupler (362), which provides the
wire (356) with a proximal handle or deliver member for operative
manipulation. Referring to FIG. 27C, depending upon what materials
are utilized for the wire (356), it may be placed in a restraining
tube or lumen (366) that radially constrains the outer diameter of
the spiral--an in such radially-collapsed configuration, the
instrument may be configured to still retain the generally spiral
or helical configuration until it is released from such constraint,
after which it may be configured to return to the radially expanded
configuration, as in FIG. 27B.
[0070] Referring to FIG. 28A, in one embodiment, a J-curve type
arcuate instrument (352) may be formed by taking a J-curve-shaped
insulated guidewire, such as those available from Terumo
Corporation, and removing a portion of the polymeric outer
insulation, for example, with a knife or other sharp instrument, to
leave behind an exposed metallic core portion which may be utilized
as a conductive electrode portion (370), and distal (372) and
proximal (368) portions which remain insulated and generally
nonconductive relative to the conductive electrode portion (370). A
farther out perspective view is shown in FIG. 28B.
[0071] Referring to FIGS. 29-34, various process embodiments are
illustrated wherein one or more minimally invasive instruments may
be utilized in diagnostic and/or interventional medical procedures
utilizing pre-shaped instruments as described above. Referring to
FIG. 16, after a remotely steerable sheath catheter instrument is
inserted into the aorta and navigated toward the renal artery
(175), the renal artery may be cannulated, for example with a
coaxially associated remotely steerable guide instrument that is
movably coupled to the sheath instrument (174). An interactive
imaging study, or steps thereof, may be conducted of the renal
artery and associated neural anatomy using one or more minimally
invasive imaging modalities, such as ultrasound, fluoroscopy,
and/or OCT (176), as described above. The results of the imaging
study may be utilized to create a mapping representation of the
neural anatomy relative to the renal artery anatomy, for example,
by stimulating one or more of the associated nerve fibers and
observing resulting signal conduction (178). In other words,
referring back to FIGS. 14E and 14F, in one embodiment, one or more
of the proximal (i.e., closer to the aorta in the variation of FIG.
14E) circuit elements and/or associated probing portions (element
296 of FIG. 14F) may be used to stimulate or electrify adjacent
nerve fiber (20) portions at such proximal position, and the
conduction of such stimulation may be detected with each of the
other circuit elements (294) to monitor or "map" the associated
conduction pathways. The results of such mapping may be utilized in
the selective denervation of portions of the renal plexus using a
pre-shaped instrument such as a J-curved or spiral shaped
instrument, for example, by transmitting current to heat and
denervate such portions (324). The mapping configuration may then
be utilized to confirm that the denervation was, indeed,
successful, or to what extent, with further stimulation of the
pertinent fibers and monitoring of the results. Further, renin
levels, such as in the renal vein, may be monitored to determine a
level of treatment success associated with the thermal denervation
treatment. Similarly, alcohol and other fluids may be utilized and
monitored for denervation. Ultimately, the pertinent instruments
may be retracted and the vascular access closed (326).
[0072] Referring to FIG. 30, a process similar to that of FIG. 29
is depicted, with the exception that a venous route is utilized to
conduct denervation near the renal artery. This is believed to be
less clinically complicated in certain scenarios. The catheter
instrumentation is inserted into the inferior vena cava and
navigated toward the renal vein (184). The renal vein is cannulated
with a guide instrument movably coupled to the sheath instrument
(186). The imaging study is conducted not only on the neural
anatomy, but also on the renal vein anatomy and renal artery
anatomy to understand the relationships of these three and other
nearby tissue structures (188). The results of the imaging study
may be utilized as inputs in a mapping subprocess, wherein one or
more nerve fibers may be stimulated and the resulting signal
conduction observed (190). The neural anatomy map resulting from
the mapping efforts may be utilized for selective denervation
treatment of the renal plexus using a pre-shaped instrument, such
as a j-shaped or spiral-shaped guidewire containing one or more
electrodes (328), as well as in generating feedback to an operator
regarding the effectiveness of various denervation attempts (as
described above, renin levels also may be monitored). Subsequently
the instruments may be retracted and the vascular access closed
(330).
[0073] The embodiment of FIG. 31 illustrates that process
configurations such as those described above in reference to FIGS.
29 and 30 may be broadly applied to many tissue structures that
define one or more lumens through which the pertinent
instrumentation may be advanced and utilized. Referring to FIG. 31,
a catheter instrument may be inserted into the tissue structure
defining a lumen believed to be associated with targeted neural
tissue (252). The lumen may be cannulated with the catheter
instrument (254). An interactive imaging study may be conducted to
create an image-based anatomic mapping representation of the neural
anatomy and other pertinent tissue structures (256), and an
expandable device such as that described in reference to FIGS. 14E
and 14F may be utilized to observe signal conduction (258) and
create an electrical mapping which may be utilized to monitor the
effectiveness of the treatment steps with the pre-shaped
instrumentation (332). Subsequently the instrumentation may be
removed and access to the pertinent lumens and/or tissue structures
discontinued (334).
[0074] FIG. 32 illustrates aspects of an embodiment wherein a
robotically-steerable catheter instrument specifically is utilized
(as described above, the aforementioned catheter instruments may or
may not be remotely electromechanically navigable). With the
robotic catheter instrumentation inserted into the pertinent lumen,
such as an aorta in this example (264), precision navigation and
control features of the robotic instrument may be utilized during
the insertional navigation (266), anatomic imaging may be conducted
(268), electrical mapping may be conducted (270), and selective
denervation may be conducted using pre-shaped instruments (336),
followed by removal of the pertinent instrumentation and closure of
the vascular access (338). FIG. 34 illustrates a related embodiment
with the additional step depicted (346) of observing feedback
indicators, such as renin levels in blood exiting the renal vein
and/or neural conduction paradigms with the mapping configuration,
as confirming techniques for monitoring and/or adjusting treatment
in a closed loop type of configuration. Steps 344 and 348 of the
embodiment of FIG. 34 are similar to steps 336 and 338 of the
embodiment of FIG. 32.
[0075] Referring to FIG. 33, a robotic catheter system such as that
described and incorporated above may be utilized to operate an
off-the-shelf treatment head such as those available on instruments
from the Ardian division of Medtronic Corporation, to improve the
navigability of such treatment head, and combine the treatment
capabilities of such treatment head with additional diagnostic and
treatment capabilities, such those described herein. As shown in
FIG. 20, after a renal plexus denervation treatment head has been
coupled to a distal portion of a robotic catheter instrument (276),
the instrument may be inserted into an aorta or other lumen and
navigated toward the renal artery or other targeted tissue
structure (278). In the depicted renal intervention embodiment, the
renal artery may be cannulated using the navigation control of the
robotic instrumentation (280), after which an anatomic imaging
study may be conducted (282), an electrical mapping study conducted
(284), selective denervation attempted with feedback from the
pre-shaped instrument mapping configuration (340), and subsequent
removal of the instruments and closure of the access (342).
[0076] Any of the aforementioned deployed structures may comprise
resorbable materials in addition to the aforementioned
nonresorbable materials--to facilitate combinations and
permutations which may be completely resorbed, leaving behind a
biologically healed access wound.
[0077] Further, any of the aforementioned configurations may be
applied to other tissue structure configurations involving natural
lumens to be navigated, and nearby neural or other tissue
structures to be targeted. For example, the techniques and
configurations herein may be applied to other aspects of the
cardiovascular and renal/urinary systems, as well as other anatomic
subsystems including but not limited to the respiratory, upper
gastric, and lower gastric subsystems.
[0078] Various exemplary embodiments of the invention are described
herein. Reference is made to these examples in a non-limiting
sense. They are provided to illustrate more broadly applicable
aspects of the invention. Various changes may be made to the
invention described and equivalents may be substituted without
departing from the true spirit and scope of the invention. In
addition, many modifications may be made to adapt a particular
situation, material, composition of matter, process, process act(s)
or step(s) to the objective(s), spirit or scope of the present
invention. Further, as will be appreciated by those with skill in
the art that each of the individual variations described and
illustrated herein has discrete components and features which may
be readily separated from or combined with the features of any of
the other several embodiments without departing from the scope or
spirit of the present inventions. All such modifications are
intended to be within the scope of claims associated with this
disclosure.
[0079] Any of the devices described for carrying out the subject
interventions may be provided in packaged combination for use in
executing such interventions. These supply "kits" further may
include instructions for use and be packaged in sterile trays or
containers as commonly employed for such purposes.
[0080] The invention includes methods that may be performed using
the subject devices. The methods may comprise the act of providing
such a suitable device. Such provision may be performed by the end
user. In other words, the "providing" act merely requires the end
user obtain, access, approach, position, set-up, activate, power-up
or otherwise act to provide the requisite device in the subject
method. Methods recited herein may be carried out in any order of
the recited events which is logically possible, as well as in the
recited order of events.
[0081] Exemplary aspects of the invention, together with details
regarding material selection and manufacture have been set forth
above. As for other details of the present invention, these may be
appreciated in connection with the above-referenced patents and
publications as well as generally known or appreciated by those
with skill in the art. For example, one with skill in the art will
appreciate that one or more lubricious coatings (e.g., hydrophilic
polymers such as polyvinylpyrrolidone-based compositions,
fluoropolymers such as tetrafluoroethylene, hydrophilic gel or
silicones) may be used in connection with various portions of the
devices, such as relatively large interfacial surfaces of movably
coupled parts, if desired, for example, to facilitate low friction
manipulation or advancement of such objects relative to other
portions of the instrumentation or nearby tissue structures. The
same may hold true with respect to method-based aspects of the
invention in terms of additional acts as commonly or logically
employed.
[0082] In addition, though the invention has been described in
reference to several examples optionally incorporating various
features, the invention is not to be limited to that which is
described or indicated as contemplated with respect to each
variation of the invention. Various changes may be made to the
invention described and equivalents (whether recited herein or not
included for the sake of some brevity) may be substituted without
departing from the true spirit and scope of the invention. In
addition, where a range of values is provided, it is understood
that every intervening value, between the upper and lower limit of
that range and any other stated or intervening value in that stated
range, is encompassed within the invention.
[0083] Also, it is contemplated that any optional feature of the
inventive variations described may be set forth and claimed
independently, or in combination with any one or more of the
features described herein. Reference to a singular item, includes
the possibility that there are plural of the same items present.
More specifically, as used herein and in claims associated hereto,
the singular forms "a," "an," "said," and "the" include plural
referents unless the specifically stated otherwise. In other words,
use of the articles allow for "at least one" of the subject item in
the description above as well as claims associated with this
disclosure. It is further noted that such claims may be drafted to
exclude any optional element. As such, this statement is intended
to serve as antecedent basis for use of such exclusive terminology
as "solely," "only" and the like in connection with the recitation
of claim elements, or use of a "negative" limitation.
[0084] Without the use of such exclusive terminology, the term
"comprising" in claims associated with this disclosure shall allow
for the inclusion of any additional element--irrespective of
whether a given number of elements are enumerated in such claims,
or the addition of a feature could be regarded as transforming the
nature of an element set forth in such claims. Except as
specifically defined herein, all technical and scientific terms
used herein are to be given as broad a commonly understood meaning
as possible while maintaining claim validity.
[0085] The breadth of the present invention is not to be limited to
the examples provided and/or the subject specification, but rather
only by the scope of claim language associated with this
disclosure.
* * * * *