Han Sen Medical, Inc.

Auris Health, Inc.

Pq Bypass, Inc.

Gene Reis

Enrique Romo

Gregory J Stahler

Daniel T Wallace

Robert G Younge

Randall L Schlesinger

Neal A Tanner

Serena H Wong

Mathew D Clopp

Alex S Goldenberg

Jason Joseph Hsu

Francis T Macnamara

David B Camarillo

Gregory Francis Hirth

Toby St John King

Kumar Jambunathan

Jeffery B Alvarez

Christopher M Sewell

Steven Tyler

Francis MacNamara

Aaron M Weiss

Alan Lau Yu

Toby StJohn King

Systems and methods for integrating and/or registering a shape sensing fiber in or to various instruments are described herein. Registration fixtures and registration techniques for matching the coordinate system of a fiber to the coordinate system of an elongate instrument or other device are provided. Various systems and methods for integrating a shape sensing fiber into an elongate instrument or other device are also described herein.

Apparatus and methods for fiber integration and registration

A delivery catheter comprises an inner shaft and an outer sheath. A stent-graft is held on a region of the inner shaft. An enlarged diameter distal region of the outer sheath constrains the stent-graft. Its retraction allows the stent-graft to deploy. A finger wheel on a handle is used to retract the outer sheath and is coupled to a sliding block with cable(s). The sliding block is coupled to the outer sheath and is held within a sliding track. The wheel can be actuated to tension the cable(s) and deform latch(es) coupled to sliding block, freeing them from slot(s) in the sliding track and allowing retraction of the sliding block and the outer sheath. A reinforcement sleeve is coupled to a smaller diameter proximal region of the outer sheath. A gap between the outer sheath distal region and the reinforcement sleeve allows the distal outer shaft region to be retracted.

Systems and methods for delivering stent grafts

The invention relates generally to robotically controlled systems, such as medical robotic systems. In one variation, a robotic catheter system is configured with a sterile barrier capable for transmitting a rotary force from a drive system on one side of the barrier to surgical tool on the other side of the sterile barrier for performing minimally invasive diagnostic and therapeutic procedures. Modularized drive systems for robotics are also disclosed herein.

Modular interfaces and drive actuation through barrier

Medical devices having an elongated steerable member are described herein. In one embodiment, a device includes an elongated body having a proximal section, a distal section, and a working lumen extending through the proximal and distal sections, a first coil having a distal portion, and a proximal portion, the proximal portion of the first coil being slidable relative to the proximal section of the elongated body, and being closer to a wall of the elongated body than to an axis of the elongated body, wherein a lengthwise portion of the distal portion of the first coil is anchored to the distal section of the elongated body, and a first steering wire located within a lumen of the first coil.

Steerable catheters

A robotic surgical system configured to perform minimally invasive surgical procedures. In one variation, this robotic surgical system includes an instrument driver configured to steer an elongate instrument of an instrument assembly in one or more degrees of motion. A drape is disposed between the instrument driver and the instrument assembly. A drive interface apparatus is operatively coupled to the drape. The drape and drive interface apparatus may form a fluid barrier between the instrument driver and the instrument assembly. Drive interface apparatus may be disposed on a top surface of the instrument driver and on a bottom surface of the instrument assembly. The drive interface apparatus may transmit torque from the instrument driver to the instrument assembly. The input torque drives a pulley in the instrument assembly that operates one or more control wires to steer an elongate instrument of the instrument assembly for performing minimally invasive surgical procedures.

Sterile interface apparatus

The invention relates generally to robotically controlled systems, such as medical robotic systems. In one variation, a robotic catheter system is configured with a sterile barrier capable for transmitting a rotary force from a drive system on one side of the barrier to surgical tool on the other side of the sterile barrier for performing minimally invasive diagnostic and therapeutic procedures. Modularized drive systems for robotics arc also disclosed herein.

A method for estimating the force on a distal end of a working catheter includes positioning a portion of a robotically controlled guide catheter and working catheter into a body lumen wherein a distal end of the working catheter projects distally from a distal end of the guide catheter. The working catheter and guide catheter are dithered with respect to one another using a dithering device operatively connected to a proximal portion of the working catheter. The coupling may occur directly to the working catheter or via a seal such as a Touhy seal. The force experienced by the working catheter at a proximal region is measured through at least one dithering cycle. The force at the distal end of the working catheter is then estimated based on the measured force at the proximal region. The estimated force may be displayed to a physician on, for example, a monitor.

Method of sensing forces on a working instrument

Apparatus, systems and methods for flushing a lumen of a catheter instrument to reduce or eliminate bubbles within the lumen. An interface valve is adapted for attachment to a proximal end of the catheter instrument and can receive a working instrument for insertion into the he catheter instrument lumen. A fluid supply line and purge lines are coupled to the interface valve and in fluid communication with at least a portion of the interface valve lumen. Flow of fluid (e.g. saline and a gas such as bubbles) through purge lines is controllable using clamps such that fluid flowing into the interface valve lumen can be manipulated to flow in different directions through different portions of the interface valve lumen for evacuation through different purge lines, thus allowing for purging of forward and backward flows to remove gas or bubbles from the catheter instrument lumen.

Apparatus systems and methods for flushing gas from catheter of a robotic catheter system

A robotic catheter manipulator includes a guide catheter including proximal and distal ends and lumen extending there through. A flexible bellows is secured at one end to the proximal end of the guide catheter and at the other end to a seal configured to receive a working catheter. In a loaded state, the working catheter is fixed relative to the seal. A ditherer is operatively connected to the seal for dithering the working catheter relative to the guide catheter when placed therein. The robotic catheter manipulator includes at least one force sensor for measuring the force applied to the working catheter by the ditherer. Force measurements may be translated into an estimated force that is experienced at the distal end of the working catheter which may then be displayed to the physician via a monitor or display.

Apparatus for measuring distal forces on a working instrument

Apparatus, systems and methods for flushing a lumen of a catheter instrument to reduce or eliminate bubbles within the lumen. An interface valve is adapted for attachment to a proximal end of the catheter instrument and can receive a working instrument for insertion into the catheter instrument lumen. A fluid supply line and purge lines are coupled to the interface valve and in fluid communication with at least a portion of the interface valve lumen. Flow of fluid (e.g. saline and a gas such as bubbles) through purge lines is controllable using clamps such that fluid flowing into the interface valve lumen can be manipulated to flow in different directions through different portions of the interface valve lumen for evacuation through different purge lines, thus allowing for purging of forward and backward flows to remove gas or bubbles from the catheter instrument lumen.

Growing community of inventors

San Jose, CA, United States of America

Gene Reis