초록 ▼

A master/slave system is used for performing a surgical procedure such as theterization of cardiac or peripheral vasculature. Movements of catheters or similar tools within a patient are remotely controlled by a surgeon, and the surgeon receives haptic or tactile feedback caused by the movement of t

A master/slave system is used for performing a surgical procedure such as theterization of cardiac or peripheral vasculature. Movements of catheters or similar tools within a patient are remotely controlled by a surgeon, and the surgeon receives haptic or tactile feedback caused by the movement of the tools within the patient. The system employs a master actuator with cylindrical controls and a slave actuator that engages the tools. The master actuator and slave actuator are electrically coupled to electrical interface circuitry by drive signals and sense signals. A fluid system is coupled to the slave actuator by fluid-carrying tubes for the delivery of contrast and other solutions to be injected into the vasculature for improved imaging and also to pressurize the balloon on a balloon catheter. The master and slave actuators contain sensors that sense translation and rotation of the controls and tools with respect to their longitudinal axes, and provide sense signals indicative of these motions to the interface circuitry. The master and slave actuators also contain motors respectively engaging the controls and tools to cause translational and rotational movement of these components in response to the drive signals generated by the interface circuitry. The interface circuitry contains a processor executing a master/slave control program via which the relative positions of each control and the corresponding tool are made to track each other. The control program can optionally implement force scaling, position scaling, tremor reduction, and other features to enhance the system's performance.

대표청구항 ▼

[ What is claimed is:] [1.] Apparatus for manipulating a generally cylindrical medical tool having a longitudinal axis and being adapted for insertion in a patient in a minimally invasive medical procedure, comprising:at least one generally cylindrical control having a longitudinal axis, wherein the

[ What is claimed is:] [1.] Apparatus for manipulating a generally cylindrical medical tool having a longitudinal axis and being adapted for insertion in a patient in a minimally invasive medical procedure, comprising:at least one generally cylindrical control having a longitudinal axis, wherein the control may be manipulated by a user so as to cause translation of the control along the axis and rotation of the control about the axis;a first actuator comprising sensors coupled to the control and motors mechanically engaging the control, the first actuator being operative to generate first electrical sensor signals indicative of the translational and rotational movement of the control in response to the translation and rotation of the control with respect to the axis thereof by the user, the first actuator also being operative to cause translation and rotation of the control with respect to the axis thereof in response to selective application of first electrical motor drive signals to the motors;a second actuator comprising sensors adapted to be coupled to the tool and motors mechanically engaging the tool, the second actuator being operative to generate second electrical sensor signals indicative of the translational and rotational movement of the tool with respect to the axis thereof, the second actuator also being operative to cause translation and rotation of the tool with respect to the axis thereof in response to selective application of second electrical motor drive signals to the motors; andan electronic interface operative to receive the first and second electrical sensor signals as inputs and to generate the first and second motor drive signals to cause movement of the tool in response to movement of the control by the user and to provide haptic feedback to the user via the control in response to movement of the tool inside the patient.