U.S. patent application number 14/189107 was filed with the patent office on 2014-06-19 for catheter driver system.
This patent application is currently assigned to HANSEN MEDICAL, INC.. The applicant listed for this patent is Hansen Medical, Inc.. Invention is credited to Brian Murphy, Barry Weitzner.
Application Number | 20140171943 14/189107 |
Document ID | / |
Family ID | 47999176 |
Filed Date | 2014-06-19 |
United States Patent
Application |
20140171943 |
Kind Code |
A1 |
Weitzner; Barry ; et
al. |
June 19, 2014 |
CATHETER DRIVER SYSTEM
Abstract
An apparatus for performing medical procedures on an anatomical
body includes an extension with an element near its distal end to
be extended into the body, and a driver that moves the extension
axially into the body, and that causes flexure of the distal end of
the extension. The movement and flexure of the extension is driven
by the driver from the proximal end of the extension, and an
electronic controller directs the operation of the driver.
Inventors: |
Weitzner; Barry; (Acton,
MA) ; Murphy; Brian; (Watertown, MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Hansen Medical, Inc. |
Mountain View |
CA |
US |
|
|
Assignee: |
HANSEN MEDICAL, INC.
Mountain View
CA
|
Family ID: |
47999176 |
Appl. No.: |
14/189107 |
Filed: |
February 25, 2014 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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12111119 |
Apr 28, 2008 |
8684952 |
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14189107 |
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10270743 |
Oct 11, 2002 |
8414505 |
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12111119 |
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10216067 |
Aug 8, 2002 |
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10270743 |
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10023024 |
Nov 16, 2001 |
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10216067 |
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10011371 |
Nov 16, 2001 |
7090683 |
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10023024 |
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10011449 |
Nov 16, 2001 |
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10011371 |
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10010150 |
Nov 16, 2001 |
7214230 |
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10011449 |
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10022038 |
Nov 16, 2001 |
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10010150 |
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10012586 |
Nov 16, 2001 |
7371210 |
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60332287 |
Nov 21, 2001 |
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Current U.S.
Class: |
606/41 |
Current CPC
Class: |
A61B 2034/742 20160201;
A61B 18/1492 20130101; A61B 18/14 20130101; A61M 25/0133 20130101;
A61B 34/70 20160201; A61M 25/0147 20130101; A61B 2017/003 20130101;
A61B 2034/301 20160201; A61M 25/0113 20130101; A61B 34/30
20160201 |
Class at
Publication: |
606/41 |
International
Class: |
A61M 25/01 20060101
A61M025/01; A61B 18/14 20060101 A61B018/14 |
Claims
1. A medical system, comprising: a user input device; a catheter
instrument designed for manual operation, the catheter instrument
comprising a handle, an elongated flexible catheter body having a
proximal end attached to the handle, and a control element located
on an external surface of the handle, the control element being
operatively coupled to a distal end portion of the elongated
catheter body, wherein rotation of the control element relative to
the handle causes a corresponding bending of the distal end portion
of the elongated catheter body; and an instrument driver configured
for releasably holding the handle of the catheter instrument,
wherein the instrument driver includes means responsive to control
signals generated by user actuation of the user input device for
mechanically engaging and rotating the control element relative to
the handle of the catheter instrument to thereby bend the distal
end portion of the elongated catheter body when the catheter
instrument is held by the instrument driver.
2. The system of claim 1, wherein the user input device comprises
one or more of a joystick, wheel, or dial.
3. The system of claim 1, wherein the distal end portion of the
elongated catheter body comprises one or more sensing elements.
4. The system of claim 1, wherein the distal end portion of the
elongated catheter body comprises one or more energy transmitting
elements.
5. The system of claim 1, wherein rotation of the control element
relative to the handle causes a corresponding tensioning of one or
more control wires extending through the elongated catheter body to
thereby cause bending of the distal end portion.
6. The system of claim 1, wherein the instrument driver is further
configured for axially translating the catheter instrument in
response to control signals generated by user actuation of the user
input device when the catheter instrument is held by the instrument
driver.
7. The system of claim 1, wherein the instrument driver is further
configured for rotating the catheter instrument in response to
control signals generated by user actuation of the user input
device when the catheter instrument is held by the instrument
driver.
8. A method of performing a medical procedure, comprising:
attaching a catheter instrument to a catheter instrument driver,
the catheter instrument designed for manual operation and
comprising an elongated flexible catheter body having a proximal
end attached to a handle, the instrument driver configured for
releasably holding the handle of the catheter instrument;
positioning a distal end portion of the elongated catheter body
into a patient's vasculature system; manipulating a user input
device to generate and transmit control signals from the user input
device to the instrument driver, wherein the instrument driver
includes means responsive to the control signals for mechanically
engaging and rotating a control element located on an external
surface of the handle of the catheter instrument to thereby move
the distal end portion of the elongated catheter body within the
patient's vascular system; removing the distal end portion of the
elongated catheter body from the patient's vasculature system; and
detaching the catheter instrument from the catheter instrument
driver.
9. The method of claim 8, wherein manipulating the user input
device comprises manipulating one or more of a joystick, wheel, or
dial.
10. The method of claim 8, further comprising sensing a
physiological attribute at a location within the patient's
vasculature using a sensing element carried on the distal end
portion of the elongated catheter body.
11. The method of claim 8, further comprising transmitting energy
to a location within the patient's vasculature using an energy
transmitting element carried on the distal end portion of the
elongated catheter body.
12. The method of claim 8, wherein rotation of the control element
by the instrument driver causes a corresponding tensioning of one
or more control wires extending through the elongated catheter body
to thereby cause bending of the distal end portion.
13. The method of claim 8, wherein the instrument driver
additionally axially translates the catheter instrument in response
to the control signals.
14. The method of claim 8, wherein the instrument driver
additionally rotates the catheter instrument in response to the
control signals.
15. A method of performing a medical procedure, comprising:
attaching a catheter instrument to a catheter instrument driver,
the catheter instrument designed for manual operation and
comprising an elongated flexible catheter body having a proximal
end attached to a handle, the instrument driver configured for
releasably holding the handle of the catheter instrument;
positioning a distal end portion of the elongated catheter body
into a patient's vasculature system; manipulating a user input
device to generate and transmit control signals from the user input
device to the instrument driver, wherein in response to the control
signals the instrument driver performs one or more of (i) axially
translating the catheter instrument, (ii) rotating the catheter
instrument about an axis, and (iii) rotating a control element
located on an external surface of the handle of the catheter
instrument to thereby move the distal end portion of the elongated
catheter body within the patient's vascular system; removing the
distal end portion of the elongated catheter body from the
patient's vasculature system; and detaching the catheter instrument
from the catheter instrument driver.
Description
RELATED APPLICATIONS
[0001] This application is a continuation of pending U.S. patent
application Ser. No. 12/111,119, filed Apr. 28, 2008, which is a
continuation of U.S. application Ser. No. 10/270,743, filed Oct.
11, 2002, now U.S. Pat. No. 8,414,505, which claims the benefit of
U.S. Provisional Application No. 60/332,287 filed Nov. 21, 2001,
and is a continuation-in-part of U.S. application Ser. No.
10/216,067 filed Aug. 8, 2002, now abandoned, which claims the
benefit of U.S. Provisional Application No. 60/313,497 filed Aug.
21, 2001, and is a continuation-in-part of U.S. application Ser.
Nos. 10/023,024, now abandoned, Ser. No. 10/011,371, now U.S. Pat.
No. 7,090,683, issued Aug. 15, 2006, Ser. No. 10/011,449, now
abandoned, Ser. No. 10/010,150, now U.S. Pat. No. 7,214,230, issued
May 8, 2007, Ser. No. 10/022,038, now abandoned, Ser. No.
10/012,586, now U.S. Pat. No. 7,371,210, all filed Nov. 16, 2001,
and all of which claim the benefit of U.S. Provisional Application
Nos. 60/269,200 filed Feb. 15, 2001, 60/276,217 filed Mar. 15,
2001, 60/276,086 filed Mar. 15, 2001, 60/276,152 filed Mar. 15,
2001, and 60/293,346 filed May 24, 2001. The entire teachings of
the above applications are incorporated herein by reference.
BACKGROUND
[0002] Catheters are used extensively in the medical field in
various types of medical procedures, as well as other invasive
procedures. In general, minimally invasive medical procedures
involve operating through a natural body opening or orifice of a
body lumen, or through small incisions, typically 5 mm to 10 mm in
length, through which instruments are inserted. In general,
minimally invasive surgery is less traumatic than conventional
surgery, due, in part, because no incision is required in certain
minimally invasive procedures, or the significant reduction in the
incision size in other procedures. Furthermore, hospitalization is
reduced and recovery periods are shortened as compared with
conventional surgical techniques.
[0003] Catheters may be provided in a variety of different shapes
and sizes depending upon the particular application. It is typical
for a clinician to manipulate the proximal end of the catheter to
guide the distal end of the catheter inside the body, for example,
through a vein or artery. Because of the small size of the incision
or opening and the remote location of the distal end of the
catheter, much of the procedure is not directly visible to the
clinician. Although clinicians can have visual feedback from the
procedure site through the use of a video camera or endoscope
inserted into the patient, or through radiological imaging or
ultrasonic imaging, the ability to control even relatively simple
instruments remains difficult.
[0004] In some procedures, such as electrophysiology, the surgeon
manually places the distal end of an extension, such as a catheter,
at a site of interest in the patient's body. The distal end of the
catheter can be coupled to an energy generator to treat the site of
interest. Alternatively, or additionally, the catheter can be
connected to a detector which receives signals from the distal end
of the catheter for diagnostic purposes. The catheter is typically
connected to a handle that includes control devices such as dials
that enable the surgeon to articulate the catheter, and thus, to
maneuver the catheter through the patient.
[0005] In view of the above, some have proposed using robotic
tele-surgery to perform minimally invasive procedures. Typically,
these robotic systems use arms that reach over the surgical table
and manipulate the surgical instruments inserted into the patient,
while the surgeon sits at a master station located a distance from
the table and issues commands to the arms.
SUMMARY
[0006] An apparatus for performing medical procedures on an
anatomical body includes an extension with an element near its
distal end to be extended into the body, and a driver that moves
the extension axially into the body, and that causes flexure of the
distal end of the extension. The movement and flexure of the
extension is driven by the driver from the proximal end of the
extension, and an electronic controller directs the operation of
the driver.
[0007] In some embodiments, the driver includes control devices
which may include conventional handle dials. A first control device
is coupled to a first control wire, and a second control device is
coupled to a second control wire. The first and second control
wires extend along the length of the extension, and the terminal
ends of the first and second control wires are coupled to the
distal end of the extension. The first and second control devices
are operated to control the flexure movements of the distal end of
the extension with at least two degrees-of-freedom. The first and
second control devices can be part of a handle which is a plug-in
module that is removable from the driver.
[0008] In certain embodiments, the driver moves the extension with
a rotational movement. The driver may include a first drive
mechanism and a second drive mechanism that are coupled to a motor
array. The motor array in turn may be coupled to the controller,
which directs the operation of the motor array and consequent
operation of the drive mechanisms to move the extension with the
axial and rotational movements.
[0009] In some embodiments, the element may receive RF energy from
an RF generator for delivery to a target site in the body. In
particular embodiments, the element provides signals from the
target site to a detector. The signals are typically related to
properties of the target site.
[0010] Since the movements of the driver are under the direction of
the controller, these movements may be gentler than those produced
by the surgeon when the instrument is manually driven through the
patient. Furthermore, with the assistance of the driver, the
surgeon is less likely to become fatigued during the procedure.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] The foregoing and other objects, features and advantages of
the invention will be apparent from the following more particular
description of preferred embodiments of the invention, as
illustrated in the accompanying drawings in which like reference
characters refer to the same parts throughout the different views.
The drawings are not necessarily to scale, emphasis instead being
placed upon illustrating the principles of the invention.
[0012] FIG. 1 illustrates a manual catheter system;
[0013] FIG. 1A a close-up view of the terminal end of the catheter
shown in FIG. 2;
[0014] FIG. 2 is a block and schematic diagram of a catheter drive
system in accordance with the present invention;
[0015] FIG. 2A is a variation of the configuration shown in FIG.
3;
[0016] FIG. 3 is a block and schematic diagram of another version
of a catheter drive system in accordance with the present
invention;
[0017] FIG. 4 is a perspective view of an illustrative embodiment
of the catheter drive system of FIG. 3;
[0018] FIG. 4A is a top view of the catheter drive system of FIG.
4; and
[0019] FIG. 4B is a front view of the catheter drive system of FIG.
4.
DETAILED DESCRIPTION OF THE INVENTION
[0020] A description of preferred embodiments of the invention
follows.
[0021] The present invention provides a drive system that can be
used to manipulate a surgical implement from its proximal end. For
example, a manually operable instrument can be coupled to the drive
system without requiring any modification to the instrument. The
drive system can be operated by a surgeon at a master station of a
master-slave telerobotic system. In some embodiments, the drive
apparatus is in the form of a housing in which the instrument is
inserted, which is then driven as the surgeon manipulates the
housing.
[0022] In electrophysiology procedures, as shown in FIG. 1, a
extension such as a catheter 30 is used for diagnostic purposes or
sensing conditions at a predetermined target site 31 as the
catheter 30 extends through an artery or vein 34. The distal end 36
of the catheter 30 can be considered as an operative segment of the
catheter and thus is capable of flexing or bending to assist
guiding the catheter through the anatomic body, and curving to a
desired location, for example, to lean against an inner surface of
the heart. In this regard, there is schematically illustrated
wiring 40 that may extend along the length of the catheter 30 that
transmits mechanical inputs of a manual handle 60. As shown in FIG.
1A, there can be additional wiring 61a, 61b, and 61c that are
connected to respective electrophysiology elements 62a, 62b, and
62c and extend from the distal end 36 to an RF generator 45, as
well as a detector 50, associated with the handle 60 (FIG. 1).
[0023] In some embodiments, the RF generator 45 couples energy
through the handle 60 by way of the catheter 30 to the elements
62a, 62b, and 62c at the distal end 36 for the application of RF
energy at the target site 31 for therapeutic purposes. In
association with the RF generator 45, the detector 50 may receives
signals from a probe, such as the elements 62a, 62b, and 62c,
positioned at the target site. Typically, these signals are related
to physiological properties at the target site.
[0024] As can be seen in FIG. 1, the handle 60 has wheels or dials
62 and 64 that can be manually operated by the surgeon during a
procedure. Manipulation of the dials 62 and 64 are transmitted
through the control wiring 40 to the distal end 36 to control the
flexing or bending of the distal end in respective orthogonal
directions.
[0025] In a particular embodiment, as shown in FIG. 2, the
operation of the drive system of FIG. 1 is automated. That is, the
system shown in FIG. 2 modifies the construction of that shown in
FIG. 1 by providing for automatic control of a catheter 130, which
at its distal end is substantially the same as the catheter 30
shown in FIGS. 1 and 1A.
[0026] Like the catheter 30, the catheter 130 is able to move at
its end with at least two degrees-of-freedom under control of wires
128a and 128b. In addition, the catheter 130 is coupled at its
distal end to a support block 132 that includes wheels 134 that
provide linear translation of the catheter 130 in the direction
136. A further mechanism 137 provides rotational motion of the
catheter 130, such as depicted by the arrow 138. Moreover, there
are also wires extending through the catheter 130 associated with
the RF generator 145 and the detector 150
[0027] In the embodiment illustrated in FIG. 2, a guide wire is not
used, nor is a guide wire used in the device shown in FIGS. 1 and
1A. Accordingly, only a single support block 132 is used with this
catheter construction. However, the particular catheter 130 is
provided with the flex control, and hence is provided with control
wires that extend through the catheter 130 like those described
previously in reference with FIG. 1.
[0028] As shown in FIG. 2, the support or drive block 132 is
coupled to an electromechanical drive member or motor array 120.
Also included in the system is an input device 124 at which a
surgeon provides control actuations. The input device 124 is
coupled to a controller 122 which in turn is coupled to the motor
array 120. Thus, instructions from the input device 124 are
received by the controller 122 which then directs the operation of
the motor array 120.
[0029] As mentioned previously, movement of the motors of the array
120 is transmitted to the catheter 130 through mechanically cabling
extending through the catheter. In particular, a mechanical cabling
126 coupled directly to the block 132 controls the rotational and
linear degrees-of-freedom of the catheter 130 through the mechanism
137 and wheels 134, respectively. In addition, there is a cabling
128 from the motor array 120 to the block 132 which controls the
bending and flexing movement of the catheter 130. As such, one
cable 128a may be used to control the bending movements of the
catheter with one degree-of-freedom, and another cable 128b may
control the bending movements with a second degree-of-freedom.
[0030] The input device 124 may include separate manipulators for
the different movements of the catheter 130. As described in
connection with FIG. 1, the input device can take on one of many
different forms including joysticks, wheels, dials, and other types
of manual interfaces. For the control desired in FIG. 2, one input
member controls the mechanical cabling 126 for providing the two
degrees-of-freedom of action of the catheter 130, in particular,
the linear and rotational movement. Another input member in input
device 124 controls the flexing and bending of the catheter 130 by
way of the mechanical cabling 128. The input instructions from the
input device 124 are transmitted to the motor array 120 by way of
the controller 122 which may be a microprocessor.
[0031] In an alternative arrangement, as shown in FIG. 2A, an
intermediate drive device 59 may be interposed between the motor
array 120 and the catheter 130. In such an arrangement, the motor
array 120 communicates with the drive device 59 over the lines 128,
which may be electrical. In turn, the drive device 59 is coupled to
the cabling extending through the length of the catheter, and
actuates the cabling to cause the distal end of the catheter 130 to
bend and flex with one or more degrees-of-freedom.
[0032] Details of an automated catheter drive system are describe
in the U.S. Application entitled "Coaxial Catheter System," by
Weitzer, Rogers, and Solbjor, Ser. No. 10/270,740, filed herewith,
the entire contents of which are incorporated herein by reference.
Details of a imaging system that aids the movement of the catheter
through an anatomic body are describe in the U.S. application
entitled "Catheter Tracking System," by Weitzner and Lee, Ser. No.
10/216,669, filed herewith, the entire contents of which are
incorporated herein by reference.
[0033] Referring now to FIG. 3, there is shown a further embodiment
of a catheter drive system. In FIG. 3, like reference characters
are used to identify like features shown in FIG. 2. Thus, in the
embodiment of FIG. 3, there is an input device 124, a controller
122, and a motor array 120. FIG. 3 also depicts the support block
132 which provides both linear and rotational movement of the
catheter 130. As before, these movements are provide by wheels 134
for the linear translation as noted by the arrow 136, and the
member or mechanism 137 for the rotational translation as noted by
the arrow 138.
[0034] In the embodiment of FIG. 3, the handle 60 is depicted with
its pair of actuating wheels or dials 62 and 64 shown earlier in
FIG. 1. Rather than replacing the handle 60, as in the embodiment
of FIG. 2, the handle 60 here remains intact so that the wheels 62
and 64 are used to control the flexing and bending of the catheter
130. For this purpose, there are included drive pieces 63 and 65
associated, respectively, with the wheels 62 and 64. Each of the
drive pieces engages its corresponding wheel to drive the wheels in
either direction to provide the appropriate flex control of the
catheter 130. Note in FIG. 3, the separate lines 127 and 129, which
may be mechanical or electrical, coupling the drive pieces 65 and
63 to the motor array 120. Hence, actuation of respective drive
units in the motor array 120 results in a consequent actuation of
the wheels 62 and 64 via the control line 129 and drive piece 63,
and the control line 127 and drive piece 65, respectively. Note
that with this embodiment the proper support and housings are
provided such that the drive pieces 63 and 65 maintain proper
engagement with the wheels 62 and 64.
[0035] With the particular arrangement shown in FIG. 3, the
existing catheter construction need not be modified. Rather, the
drive system shown in FIG. 3 is simply coupled to an existing
catheter system, such as the handle 60 and catheter 130
combination.
[0036] Although the motor array 120 is illustrated as having two
separate lines for two separate drive pieces, in other embodiments,
the handle 60 may have only a single control dial. In such
implementations, there may be only a single line and associated
drive piece that couples the motor array 120 to the handle 60.
Thus, unlike the handle 60 with wheels 62 and 64 which provide flex
control in orthogonal planes, if only a single wheel is used, the
catheter typically flexes only in a single plane. However, in
arrangements in which the catheter support block 132 provides for
rotational movement of the catheter 130, the movement of the
catheter is not limited to this single plane, since as the catheter
is being rotated it moves out of this plane.
[0037] A particular embodiment of the system of FIG. 3 is
illustrated in FIGS. 4, 4A, and 4B, where like reference characters
are used to identify like features shown in FIG. 3. In this
embodiment, the handle 60 is clamped in a clamp or vise 200 with a
screw 202. The clamp 200 is connected to a shaft 201 supported in a
carriage 202 that moves back and forth on a guide bar 204 mounted
in the drive block 132. Associated with the shaft 201 is a set of
gears 206 that engage with another set of gears 208 of the rotary
drive mechanism 137. The drive mechanism 137 includes a motor 210
driven by the array 120 located in the drive block 132 and under
the direction of the controller 122 as it receives instructions
from the user through the input device 124. Thus, as the motor 210
rotates the gears 208, a consequent rotary motion is induced in the
gears 206 to rotate the clamp 200, and hence the handle 60 and
catheter 130, in the rotational direction 138.
[0038] The linear drive mechanism 134 of this embodiment includes a
motor 212 connected to a screw drive 214. The motor 212 and screw
drive 214 are mounted to the drive block 132 in a manner to allow
the screw drive 214 to rotate. The screw drive 214 has threads 215
about its periphery that engage with the carriage 202. Accordingly,
under the direction of the controller 122 via the array 120, the
motor 212 rotates the screw drive 214 to induce the carriage 202,
and hence the handle 60 and catheter 130, to move back and forth in
the linear direction 136.
[0039] As previously mentioned, the drive pieces 63 and 65 engage
with the dials or wheels 62 and 64 of the handle 60 so that upon
instructions from the user through the input device 124, the drive
pieces 63 and 65 manipulate the dials 62 and 64 to control the
desired bending and flexing movements of the catheter 130.
[0040] This invention can be implemented and combined with other
applications, systems, and apparatuses, for example, those
discussed in greater detail in U.S. Provisional Application No.
60/332,287, filed Nov. 21, 2001, the entire contents of which are
incorporated herein by reference, as well as those discussed in
greater detail in each of the following documents, all of which are
incorporated herein by reference in their entirety:
[0041] U.S. application Ser. No. 09/783,637 filed Feb. 14, 2001,
which is a continuation of PCT application Serial No.
PCT/US00/12553 filed May 9, 2000, which claims the benefit of U.S.
Provisional Application No. 60/133,407 filed May 10, 1999; U.S.
application entitled "Articulated Apparatus for Telemanipulator
System," by Brock and Lee, Ser. No. 10/208,087, filed Jul. 29,
2002, which is a continuation of U.S. application Ser. No.
09/827,503 filed Apr. 6, 2001, which is a continuation of U.S.
application Ser. No. 09/746,853 filed Dec. 21, 2000, which is a
divisional of U.S. application Ser. No. 09/375,666 filed Aug. 17,
1999, now U.S. Pat. No. 6,197,017 which issued on Mar. 6, 2001,
which is a continuation of U.S. application Ser. No. 09/028,550
filed Feb. 24, 1998, which is now abandoned; PCT application Serial
No. PCT/US01/11376 filed Apr. 6, 2001, which claims priority to
U.S. application Ser. No. 09/746,853 filed Dec. 21, 2000, and U.S.
application Ser. No. 09/827,503 filed Apr. 6, 2001; U.S.
application Ser. Nos. 10/014,143, Ser. No. 10/012,845, Ser. No.
10/008,964, Ser. No. 10/013,046, Ser. No. 10/011,450, Ser. No.
10/008,457, and Ser. No. 10/008,871, all filed Nov. 16, 2001 and
all of which claim benefit to U.S. Provisional Application No.
60/279,087 filed Mar. 27, 2001; U.S. application Ser. No.
10/077,233 filed Feb. 15, 2002, which claims the benefit of U.S.
Provisional Application No. 60/269,203 filed Feb. 15, 2001; U.S.
application Ser. No. 10/097,923 filed Mar. 15, 2002, which claims
the benefit of U.S. Provisional Application No. 60/276,151 filed
Mar. 15, 2001; U.S. application Ser. No. 10/034,871 filed Dec. 21,
2001, which claims the benefit of U.S. Provisional Application No.
60/257,816 filed Dec. 21, 2000; U.S. application Ser. No.
09/827,643 filed Apr. 6, 2001, which claims the benefit of U.S.
Provisional Application No. 60/257,869 filed Dec. 21, 2000, and
U.S. Provisional Application No. 60/195,264 filed Apr. 7, 2000.
[0042] While this invention has been particularly shown and
described with references to preferred embodiments thereof, it will
be understood by those skilled in the art that various changes in
form and details may be made therein without departing from the
scope of the invention encompassed by the appended claims. For
example, the catheter need not be limited for use in
electrophysiology procedures. That is, there may be other types of
probes or end effectors located at the distal end of the catheter.
The end effector may be, for example, an articulated tool such a
grasper, scissor, needle holder, micro dissector, staple applier,
tacker, suction irrigation tool, and clip applier. The end effector
can also be a non-articulated tool, such as a cutting blade, probe,
irrigator, catheter or suction orifice, and dilation balloon.
* * * * *