MLchartDataset catalogue

Patent · US10046140B2 · B2 · US

Devices, systems, and methods for controlling active drive systems

(11) Publication number
US10046140B2
(21) Application number
14/692,499
(22) Filing date
2015-04-21
(30) Priority date
2014-04-21
(43) Publication date
2018-08-14
(45) Date of grant
2018-08-14
(51) IPC
A61M 25/01; A61B 34/37; B25J 9/16
(52) CPC
  • A61M Devices for introducing media into, or onto, the body; devices for transducing body media or for taking media from the body; devices for producing or ending sleep or stupor {}: 25/0113, 2205/332, 25/0147
  • A61B Diagnosis; surgery; identification: 2017/00477, 2034/301, 2090/064, 34/30, 34/37, 34/71, 46/10
(73) Assignee
Hansen Medical Inc
(72) Inventors
Arkady Kokish; Sean P. Walker; Kamini Balaji; Francis MACNAMARA
(54) Title
Devices, systems, and methods for controlling active drive systems
(57) Abstract

The present application is related to devices, systems, and methods for controlling active drive systems. In one embodiment, the drive system may include a first surface and a second surface for engaging an elongate member. The first and second surfaces may be attached to a drive mechanism to move the elongate member. The first surface may be slidable relative to the drive mechanism and may have a clearance between the drive mechanism and an end of the first surface during movement of the elongate member in a non-slip condition. A sensor may be associated with the first surface and may be configured to detect movement of the first surface in a slip condition.

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Claims (11)

  1. A drive system for an elongate member, comprising: an active drive device including: a first surface and a second surface arranged on an active drive mechanism for engaging the elongate member; the first surface axially slidable relative to the drive mechanism; a first sensor associated with the first surface and a second sensor associated with the second surface, the first sensor being configured to measure a force associated with the first surface and the second sensor being configured to measure a force associated with the second surface; a computing device in communication with the force sensors, the computing device configured to compare a measured force of the first sensor with a measured force of the second sensor to detect a slip occurrence in one direction when the measured force of the second sensor is not within a predetermined tolerance of the measured force of the first sensor.
  2. The system of claim 1, wherein the active drive device ceases movement of the elongate member in response to detecting the slip occurrence.
  3. The system of claim 1, wherein the active drive device continues to drive the elongate member in response to detecting the slip occurrence.
  4. The system of claim 1, wherein the computing device is configured to: determine a drive force representative of the measured forces of the first and second sensors in response to detecting the slip occurrence; compare the drive force with a slip threshold; and identify a slip condition in response to the drive force exceeding the slip threshold.
  5. The system of claim 1, wherein the computing device is configured to: receive the measured forces of the first and second sensors to determine a drive force in response to detecting the slip occurrence; associate a slip tolerance and a slip threshold with the drive force, wherein the slip tolerance is less than the slip threshold; compare the drive force with the slip threshold and the slip tolerance; and determine a slip condition based on the correlation of the drive force relative to the slip threshold and the slip tolerance.
  6. The system of claim 1, wherein the computing device is configured to: identify a first slip condition in response to detecting that a drive force exceeds a slip threshold; and identify a second slip condition in response to detecting that the drive force exceeds a slip tolerance but not the slip threshold.
  7. A slip detection system on a drive system, comprising: a first surface configured to drive an elongate member in an axial direction, the first surface including a first sensor configured to detect a force associated with the first surface; a second surface axially movable relative to the drive system, the second surface having a second sensor configured to detect a force associated with the second surface; and a computing device configured to: associate a threshold force with the second sensor; monitor a measured force on the second sensor; and compare the measured force of the second sensor with the threshold force to detect an initial slip occurrence between an active surface and the elongate member in response to exceeding a predetermined tolerance of the threshold force.
  8. The system of claim 7, wherein the computing device is configured to: detect a measured force of the first sensor in response to detecting the initial slip occurrence; and determine an active surface slip threshold in response to the measured force of the first sensor.
  9. The system of claim 8, wherein the computing device is configured to: associate the active surface slip threshold with a passive surface to determine a passive surface slip threshold; determine a higher drive slip threshold based on a sum of the passive surface slip threshold and the active surface slip threshold; and output a drive force less than the higher drive slip threshold to the active surface and passive surface to avoid slippage of the elongate member.
  10. The system of claim 9, wherein the computing device is configured to: determine a drive force based on the measured forces of the first and second sensors in response to detecting the initial slip occurrence; and compare the drive force with a slip threshold, and predict a slip condition in response to the drive force exceeding the slip threshold.
  11. The system of claim 10, wherein the computing device is configured to compare the measured force of the first sensor with the measured force of the second sensor to determine a force difference, and detect the slip condition in response to the force difference exceeding a predefined tolerance.

Description

This invention relates generally to the robotic medical devices field, and more specifically to new and useful devices, systems, and methods for controlling active drive systems.

For medical procedures, minimally invasive procedures are preferred over conventional techniques wherein the patient's body cavity is open to permit the surgeon's hands access to internal organs. Thus, there is a need for a highly controllable yet minimally sized system to facilitate imaging, diagnosis, and treatment of tissues which may lie deep within a patient, and which may be accessed via naturally-occurring pathways, such as blood vessels, other lumens, via surgically-created wounds of minimized size, or combinations thereof.

Currently known minimally invasive procedures for the treatment of cardiac, vascular, and other disease conditions use manually or robotically actuated instruments, which may be inserted transcutaneously into body spaces such as the thorax or peritoneum, transcutaneously or percutaneously into lumens such as the blood vessels, through natural orifices and/or lumens such as the mouth and/or upper gastrointestinal tract, etc. Manually and robotically-navigated interventional systems and devices, such as steerable catheters, are well suited for performing a variety of minimally invasive procedures. Manually-navigated catheters generally have one or more handles extending from their proximal end with which the operator may steer the pertinent instrument.

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Record as JSON 
{
  "publication_number": "US10046140B2",
  "country": "US",
  "kind": "B2",
  "title": "Devices, systems, and methods for controlling active drive systems",
  "abstract": "The present application is related to devices, systems, and methods for controlling active drive systems. In one embodiment, the drive system may include a first surface and a second surface for engaging an elongate member. The first and second surfaces may be attached to a drive mechanism to move the elongate member. The first surface may be slidable relative to the drive mechanism and may have a clearance between the drive mechanism and an end of the first surface during movement of the elongate member in a non-slip condition. A sensor may be associated with the first surface and may be configured to detect movement of the first surface in a slip condition.",
  "claims": [
    "1. A drive system for an elongate member, comprising: an active drive device including: a first surface and a second surface arranged on an active drive mechanism for engaging the elongate member; the first surface axially slidable relative to the drive mechanism; a first sensor associated with the first surface and a second sensor associated with the second surface, the first sensor being configured to measure a force associated with the first surface and the second sensor being configured to measure a force associated with the second surface; a computing device in communication with the force sensors, the computing device configured to compare a measured force of the first sensor with a measured force of the second sensor to detect a slip occurrence in one direction when the measured force of the second sensor is not within a predetermined tolerance of the measured force of the first sensor.",
    "2. The system of claim 1, wherein the active drive device ceases movement of the elongate member in response to detecting the slip occurrence.",
    "3. The system of claim 1, wherein the active drive device continues to drive the elongate member in response to detecting the slip occurrence.",
    "4. The system of claim 1, wherein the computing device is configured to: determine a drive force representative of the measured forces of the first and second sensors in response to detecting the slip occurrence; compare the drive force with a slip threshold; and identify a slip condition in response to the drive force exceeding the slip threshold.",
    "5. The system of claim 1, wherein the computing device is configured to: receive the measured forces of the first and second sensors to determine a drive force in response to detecting the slip occurrence; associate a slip tolerance and a slip threshold with the drive force, wherein the slip tolerance is less than the slip threshold; compare the drive force with the slip threshold and the slip tolerance; and determine a slip condition based on the correlation of the drive force relative to the slip threshold and the slip tolerance.",
    "6. The system of claim 1, wherein the computing device is configured to: identify a first slip condition in response to detecting that a drive force exceeds a slip threshold; and identify a second slip condition in response to detecting that the drive force exceeds a slip tolerance but not the slip threshold.",
    "7. A slip detection system on a drive system, comprising: a first surface configured to drive an elongate member in an axial direction, the first surface including a first sensor configured to detect a force associated with the first surface; a second surface axially movable relative to the drive system, the second surface having a second sensor configured to detect a force associated with the second surface; and a computing device configured to: associate a threshold force with the second sensor; monitor a measured force on the second sensor; and compare the measured force of the second sensor with the threshold force to detect an initial slip occurrence between an active surface and the elongate member in response to exceeding a predetermined tolerance of the threshold force.",
    "8. The system of claim 7, wherein the computing device is configured to: detect a measured force of the first sensor in response to detecting the initial slip occurrence; and determine an active surface slip threshold in response to the measured force of the first sensor.",
    "9. The system of claim 8, wherein the computing device is configured to: associate the active surface slip threshold with a passive surface to determine a passive surface slip threshold; determine a higher drive slip threshold based on a sum of the passive surface slip threshold and the active surface slip threshold; and output a drive force less than the higher drive slip threshold to the active surface and passive surface to avoid slippage of the elongate member.",
    "10. The system of claim 9, wherein the computing device is configured to: determine a drive force based on the measured forces of the first and second sensors in response to detecting the initial slip occurrence; and compare the drive force with a slip threshold, and predict a slip condition in response to the drive force exceeding the slip threshold.",
    "11. The system of claim 10, wherein the computing device is configured to compare the measured force of the first sensor with the measured force of the second sensor to determine a force difference, and detect the slip condition in response to the force difference exceeding a predefined tolerance."
  ],
  "description_excerpt": "This invention relates generally to the robotic medical devices field, and more specifically to new and useful devices, systems, and methods for controlling active drive systems.\n\nFor medical procedures, minimally invasive procedures are preferred over conventional techniques wherein the patient's body cavity is open to permit the surgeon's hands access to internal organs. Thus, there is a need for a highly controllable yet minimally sized system to facilitate imaging, diagnosis, and treatment of tissues which may lie deep within a patient, and which may be accessed via naturally-occurring pathways, such as blood vessels, other lumens, via surgically-created wounds of minimized size, or combinations thereof.\n\nCurrently known minimally invasive procedures for the treatment of cardiac, vascular, and other disease conditions use manually or robotically actuated instruments, which may be inserted transcutaneously into body spaces such as the thorax or peritoneum, transcutaneously or percutaneously into lumens such as the blood vessels, through natural orifices and/or lumens such as the mouth and/or upper gastrointestinal tract, etc. Manually and robotically-navigated interventional systems and devices, such as steerable catheters, are well suited for performing a variety of minimally invasive procedures. Manually-navigated catheters generally have one or more handles extending from their proximal end with which the operator may steer the pertinent instrument.",
  "cpc": [
    "A61M 25/0113",
    "A61B 2017/00477",
    "A61B 2034/301",
    "A61B 2090/064",
    "A61B 34/30",
    "A61B 34/37",
    "A61B 34/71",
    "A61B 46/10",
    "A61M 2205/332",
    "A61M 25/0147"
  ],
  "ipc": [
    "A61M 25/01",
    "A61B 34/37",
    "B25J 9/16"
  ],
  "assignees": [
    "Hansen Medical Inc"
  ],
  "inventors": [
    "Arkady Kokish",
    "Sean P. Walker",
    "Kamini Balaji",
    "Francis MACNAMARA"
  ],
  "filing_date": "2015-04-21",
  "publication_date": "2018-08-14",
  "grant_date": "2018-08-14",
  "priority_date": "2014-04-21",
  "application_number": "US-201514692499-A",
  "family_id": "54321090",
  "cited_by_count": 164,
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