St Jude Medical, Atrial Fibrillation Division, Inc

Mark B Kirschenman

John Anderson Hauck

Eric Steven Olson

Troy Terrance Tegg

Kulbir S Sandhu

Eric Stephen Olson

Atila Amiri

Betty Mark

Cem M Shaquer

Yusof Ganji

Nicholas A Patronik

Jane J Song

Andrew P Skypeck

Venkata Adusumilli

Devanshi Shah

An obstruction detection system for a robotic catheter system including a robotic catheter manipulator assembly including one or more catheter manipulation bases and one or more sheath manipulation bases. Each manipulation base may be generally linearly movable on one or more tracks relative to the robotic catheter manipulator assembly. The obstruction detection system may include one or more obstruction detection sensors disposed on the track or on the manipulation bases to detect an obstruction along a path of motion of one or more manipulation bases. A software system may be provided for monitoring movement of the catheter and sheath manipulation bases, and/or a status of the obstruction detection sensors.

System and method of automatic detection of obstructions for a robotic catheter system

An elongate medical device may comprise an elongate tubular body, an electrode, and a trace. The elongate tubular body may comprise a distal end portion and a proximal end portion, the body defining a longitudinal axis. The electrode may comprise electrically-conductive ink extending circumferentially about a portion of the distal end portion. The trace may comprise electrically-conductive ink, electrically coupled with the electrode, extending proximally from the electrode.

Printed electrode catheter

A robotic system for manipulating a catheter with a plurality of steering wires longitudinally situated within a length of the catheter includes a user interface configured to display a view of an anatomical model and to receive one or more user inputs; a catheter manipulator assembly configured to linearly actuate one or more control members of a catheter; and a robotic controller configured to provide a view of an anatomical model to the user interface; accept one or more user inputs from the user interface; register the one or more user inputs to a coordinate system associated with the anatomical model; compute one or more actuator commands from the one or more registered inputs; and cause the catheter manipulator assembly to linearly actuate one or more control members of a catheter in accordance with the computed actuator commands.

Robotic catheter system

A medical device positioner for use with a remote catheter guidance system (RCGS) is provided, which can address angular, lateral and/or translational misalignment of an elongate medical device between the RCGS and an access point on a patient's body. Such a medical device positioner can comprise a base configured to attach to a remote catheter guidance system and a first support member extending from the base and having a receiving portion for receiving at least a portion of the elongate medical device. The medical device positioner can further include a second support member movably coupled to the first support member and including a second receiving area sized and configured to receive at least a portion of the elongate medical device. The medical device positioner can also include first and second tube sections with at least a portion of the first tube section being adapted to be inserted into a vascular system of a patient at an access point. A joint septum can be included for connecting the first and second tube sections.

Medical device positioner for remote catheter guidance systems

A robotic catheter device cartridge may include a finger or a slider block generally disposed in a channel and engaged with a steering wire. The steering wire may control movement of a component having the steering wire engaged thereto when the finger or the slider block is linearly driven in a predetermined direction. The cartridge may be a transseptal cartridge having a transseptal needle connected thereto, a catheter cartridge having a catheter connected thereto, or a sheath cartridge having a sheath connected thereto.

Robotic catheter device cartridge

A drive assembly for use in a robotic control and guidance system comprises a cartridge having an outer housing and a rotatable medical device assembly disposed therein. The rotatable assembly includes a medical device having proximal and distal ends, and a housing having first and second ends, and a longitudinal axis extending therethrough. The proximal end of the medical device is disposed within the housing, and the housing further comprises an opening through which the medical device extends outwardly from said housing. The rotatable assembly further comprises a drive interface coupled with the housing. The drive assembly further comprises a manipulation base comprising a mounting plate onto which the cartridge is removably attached, and a drive system mounted to the mounting plate. The drive system is configured to operatively engage the cartridge drive interface and to impart rotational movement onto the rotatable assembly through the drive interface.

Drive assembly for use in a robotic control and guidance system

A robotic catheter manipulator assembly may include a support member including a catheter manipulation base and a sheath manipulation base movable relative to each other and to the support member. Each respective manipulation base may be releasably connectable to a catheter cartridge and a sheath cartridge. A drive mechanism may be provided for moving the catheter and sheath manipulation bases relative to each other and to the support member. The manipulation base or the cartridge may include a first element engageable with a complementary second element slidably engaged with the other one of the manipulation base or the cartridge for controlling movement of a component connected to the cartridge. The cartridge, for example, may be a transseptal cartridge, a catheter cartridge or a sheath cartridge, and the component may respectively be a surgically insertable device such as a transseptal needle, a catheter or a sheath.

Robotic catheter manipulator assembly

An input device for a robotic medical system includes a handle configured to be rotatable about a center axis, and to be longitudinally displaceable along the center axis. The input device also includes a deflection control element disposed on the handle and configured to selectively control deflection of the distal end of a flexible medical instrument electrically coupled to the input device. Longitudinal displacement of the handle may cause or result in a corresponding longitudinal motion or deflection of the flexible medical instrument. Rotation of the handle may cause or result in a corresponding rotation of the deflection plane. Longitudinal displacement and rotation of the handle may be detected or sensed electronically.

Robotic catheter system input device

An apparatus for maintaining a robotic catheter system in a responsive state includes a catheter, a plurality of linear translatable control elements, and a controller. In an embodiment, the catheter includes a proximal portion, a distal portion, and at least two steering wires. The steering wires may be configured at one end to control the movement of at least a portion of the distal portion of the catheter and at the other end for connection to a control member. In an embodiment, each control element may be configured to engage or interface with a respective control member, and the controller may be configured to measure a force exerted on at least one control member by a respective control element and further configured to linearly translate the control element to substantially maintain a force within a predetermined range.

Robotic catheter system with dynamic response

A robotic catheter system includes a robotic controller; a robotic manipulator; and in input controller. The input controller includes communication circuitry configured to receive a signal from a user input device; memory having stored therein a plurality of device drivers associated with a different type of input device or a differently configured input device; and a processor configured to recognize an input device connected with the communications circuitry, load a device driver according to the recognized input device, initialize the input device, and/or one of reject and notify an end user, and deliver an image to a display or graphical user interface.

Growing community of inventors

Waverly, MN, United States of America

Mark B Kirschenman