Catheter driver system

Abstract

An apparatus for performing medical procedures on an anatomical body includes an extension with an element near its distal end to be extended into the body, and a driver that moves the extension axially into the body, and that causes flexure of the distal end of the extension. The movement and flexure of the extension is driven by the driver from the proximal end of the extension, and an electronic controller directs the operation of the driver.

1 . A system for remotely controlling the positioning within the body of a patient of an elongated medical device having a control handle, the system comprising: a robotic device configured to position the medical device within the body of the patient; and a remote control mechanism configured to control the robotic device, wherein the robotic device comprises a handle controller to receive the control handle. 
   
   
       2 . The system of  claim 1 , wherein the remote control mechanism comprises a remote control station and a robotic device controller, an operator using the remote control station to control the robotic device. 
   
   
       3 . The system of  claim 2 , wherein the remote control mechanism includes one or more transmitters, receivers, and/or transceivers to communicate information between the remote control station and the robotic device controller. 
   
   
       4 . The system of  claim 1 , wherein the robotic device is controlled from a remote control station at a location that is remote from the location of the patient. 
   
   
       5 . The system of  claim 2 , wherein the remote control station comprises a joystick that can be an operated by an operator to control the robotic device. 
   
   
       6 . The system of  claim 1 , wherein the robotic device is further configured to insert the medical device within the body of the patient. 
   
   
       7 . The system of  claim 1 , wherein the medical device is a catheter and the robotic device comprises a catheter control device. 
   
   
       8 . The system of  claim 7 , wherein the handle controller of the robotic device engages the control handle of the catheter. 
   
   
       9 . The system of  claim 8 , wherein the handle controller uses the standard features of the catheter control handle to, within the body of the patient, insert the catheter, steer the catheter, rotate the catheter, place the catheter, shape the catheter, or deflect the catheter, or a combination of two or more thereof. 
   
   
       10 . The system of  claim 7 , wherein the catheter is an electrophysiology catheter. 
   
   
       11 . The system of  claim 7 , wherein the catheter control device is further configured to feed the catheter within the patient's circulatory system. 
   
   
       12 . The system of  claim 7 , wherein the catheter is used for a cardiac procedure. 
   
   
       13 . The system of  claim 12 , wherein the catheter is an interventional catheter used to deliver therapy for the cardiac procedure. 
   
   
       14 . The system of  claim 10 , wherein the catheter is used for mapping and catheter ablation. 
   
   
       15 . The system of  claim 7 , wherein the catheter is used for a dilation procedure. 
   
   
       16 . The system of  claim 8 , wherein the handle controller further comprises: means for holding said catheter firmly; means for rotating said catheter; and means for shaping, deflecting, steering, placing, or positioning the catheter, or a combination of two or more thereof, within the patient. 
   
   
       17 . The system of  claim 10 , wherein the electrophysiology catheter is a mapping and/or ablation catheter. 
   
   
       18 . The system of  claim 17 , which can be used to perform atrial fibrillation ablation. 
   
   
       19 . The system of  claim 17 , which can be used to perform ventricular tachycardia ablation. 
   
   
       20 . The system of  claim 17 , which can be used to perform atrial flutter ablation. 
   
   
       21 . The system of  claim 17 , which can be used to perform atrial tachycardia ablation. 
   
   
       22 . The system of  claim 17 , which can be used to perform pulmonary vein isolation. 
   
   
       23 . The system of  claim 17 , which can be used to perform simple ablations. 
   
   
       24 . The system of  claim 17 , which can be used to perform complex ablations. 
   
   
       25 . The system of  claim 24 , which can be used to perform complex ablations for accessory pathway mediated tachycardias. 
   
   
       26 . The system of  claim 1 , wherein the robotic device comprises: a handle controller effective to receive a control handle of a catheter, the catheter having at least three ranges of motion and a distal end; a first motor connected to the handle controller and effective to at least move the catheter forward and/or backward; a second motor connected to the handle controller and effective to at least rotate the catheter; a third motor connected to the handle controller and effective to at least deflect the distal end in at least a first direction; and a controller unit connected to the first, second and third motors. 
   
   
       27 . The system of  claim 26 , wherein: the first motor is connected to an externally threaded drive screw; the handle controller is connected to an internally threaded drive support; and the drive screw is mated with the drive support. 
   
   
       28 . The system of  claim 26 , wherein the catheter includes at least one control member effective to control deflection of the distal end and the third motor is connected to the at least one control member. 
   
   
       29 . In an improved method for mapping and catheter ablation by inserting a mapping and ablation catheter into a patient, the improvement wherein a remote positioning control system of  claim 1  is used to position the catheter. 
   
   
       30 . A system for remotely controlling the positioning of a medical device within the body of a patient, the system comprising: a robotic device configured to position the medical device within a body of a patient, the robotic device comprising a handle controller effective to manipulate controls on the medical device; a driver effective to move the medical device forward and backward inside the body; and a remote control mechanism effective to control the robotic device. 
   
   
       31 . A system for remotely controlling the positioning within the body of a patient of an elongated medical device having a proximal end, the system comprising: a robotic device configured to position the medical device within the body of the patient; and a remote control mechanism configured to control the robotic device, wherein the robotic device comprises a handle controller to receive the proximal end of the medical device.