Siemens Healthcare Gmbh

Siemens Medical Solutions USA, Inc.

Siemens Healthineers Ag

Corindus, Inc.

Young-Ho Kim

Tommaso Mansi

Ankur Kapoor

Christian DeBuys

Rui Liao

Erin Girard

Rodolfo Finocchi

Sasa Grbic

Zhoubing Xu

Jin-hyeong Park

Yue Zhang

Lukas Lindenroth

Sebastien Piat

Abdoul Aziz Amadou

Bo Liu

Jarrod Collins

Xianjun S Zheng

Puneet Sharma

Systems and methods for automatically navigating a catheter in a patient are provided. An image of a current view of a catheter in a patient is received. A set of actions of a robotic navigation system for navigating the catheter from the current view towards a target view is determined using a machine learning based network. The catheter is automatically navigated in the patient from the current view towards the target view using the robotic navigation system based on the set of actions.

Smart image navigation for intracardiac echocardiography

Systems and method for assisted catheter steering are provided. Instructions for steering a catheter within a patient are received. A graph defining paths between a plurality of configurations of a robotic catheter navigation system is constructed based on the received instructions. Each of the plurality of configurations are associated with a respective view of the patient. A path is determined in the graph to a target configuration of the plurality of configurations of the robotic catheter navigation system. The catheter is automatically steered within the patient based on the determined path in the graph to recover the respective view of the patient associated with the target configuration.

Assisted steering of intracardiac echocardiogram catheters

A robotic catheter navigation system, and a method for operating the robotic catheter navigation system, are provided. The robotic catheter navigation system comprises a catheter handle, a motor, and a torque transfer disk. The catheter handle comprises a set of gears coupled to a first shaft. The motor is for rotating a second shaft. The torque transfer disk is coupled to the first shaft and the second shaft for transferring the rotation of the second shaft to the first shaft to thereby rotate the set of gears for steering a catheter.

Interlocking gear system for sterile robotic catheter navigation systems

For rotation compensation in a catheter, a rotation sensor senses rotation of the handle or catheter. Motors are controlled to change the bend in response to sensed rotation. As the tip rotates due to handle rotation, the motors change the bend to maintain the bend and tip position relative to the patient. This steering in the patient reference frame may be more intuitive, easier to learn, and allow rotation to change an imaging field of view without moving the bending planes.

Controlled bending for catheters

For robotically operating a catheter, translation and/or rotation manipulation is provided along the shaft or away from the handle, such as near a point of access to the patient. A worm drive arrangement may allow for both translation and rotation of the shaft. Some control may be provided by robotic manipulation of the handle, while other control (e.g., fine adjustments) are made by robotic manipulation of the shaft.

Dual manipulation for robotic catheter system

For active control of steering, one or more motors integrated into an intra-cardiac echocardiography catheter handle control the bending. Multiple sets of motors may be used to control steering wires anchored at different segments along the catheter, allowing steering with multiple bends in complex patterns controlled by a controller. The handle may be releasably separated into a reusable motor part and a disposable steering wire part so that the more complex and expensive motor part is not discarded and so that the number of motors may be matched to the number of steering wires.

Active steering for intracardiac echocardiography catheters

For robotically operating a catheter, a medical catheter is controlled by rotation of the catheter as well as steering in one or more planes of a distal end of the catheter. To robotically rotate the catheter, a handle is rotated. The steering is performed separately using one or more knobs on the handle. The rotation of the handle complicates the robotic control of the knob. A mechanical decoupling is used so that rotation of the handle maintains the position of the knob relative to the handle. Gearing or transmission is used to avoid independent control of the knob and handle rotation. In an alternative or additional approach, the handle may be robotically controlled while also guiding the catheter shaft spaced away from the handle, allowing fine-tuned control of the catheter at the access point to the patient.

Mechanically-decoupled actuation for robotic catheter system

Robotic catheter manipulator

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West Windsor, NJ, United States of America

Young-Ho Kim