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.

What is claimed is: 
     
         1 . A medical system, comprising:
 a user input device;   a catheter instrument designed for manual operation, the catheter instrument comprising
 a handle, 
 an elongated flexible catheter body having a proximal end attached to the handle, and 
 a control element located on an external surface of the handle, the control element being operatively coupled to a distal end portion of the elongated catheter body, wherein rotation of the control element relative to the handle causes a corresponding bending of the distal end portion of the elongated catheter body; and 
   an instrument driver configured for releasably holding the handle of the catheter instrument, wherein the instrument driver includes means responsive to control signals generated by user actuation of the user input device for mechanically engaging and rotating the control element relative to the handle of the catheter instrument to thereby bend the distal end portion of the elongated catheter body when the catheter instrument is held by the instrument driver.   
     
     
         2 . The system of  claim 1 , wherein the user input device comprises one or more of a joystick, wheel, or dial. 
     
     
         3 . The system of  claim 1 , wherein the distal end portion of the elongated catheter body comprises one or more sensing elements. 
     
     
         4 . The system of  claim 1 , wherein the distal end portion of the elongated catheter body comprises one or more energy transmitting elements. 
     
     
         5 . The system of  claim 1 , wherein rotation of the control element relative to the handle causes a corresponding tensioning of one or more control wires extending through the elongated catheter body to thereby cause bending of the distal end portion. 
     
     
         6 . The system of  claim 1 , wherein the instrument driver is further configured for axially translating the catheter instrument in response to control signals generated by user actuation of the user input device when the catheter instrument is held by the instrument driver. 
     
     
         7 . The system of  claim 1 , wherein the instrument driver is further configured for rotating the catheter instrument in response to control signals generated by user actuation of the user input device when the catheter instrument is held by the instrument driver. 
     
     
         8 . A method of performing a medical procedure, comprising:
 attaching a catheter instrument to a catheter instrument driver, the catheter instrument designed for manual operation and comprising an elongated flexible catheter body having a proximal end attached to a handle, the instrument driver configured for releasably holding the handle of the catheter instrument;   positioning a distal end portion of the elongated catheter body into a patient's vasculature system;   manipulating a user input device to generate and transmit control signals from the user input device to the instrument driver, wherein the instrument driver includes means responsive to the control signals for mechanically engaging and rotating a control element located on an external surface of the handle of the catheter instrument to thereby move the distal end portion of the elongated catheter body within the patient's vascular system;   removing the distal end portion of the elongated catheter body from the patient's vasculature system; and   detaching the catheter instrument from the catheter instrument driver.   
     
     
         9 . The method of  claim 8 , wherein manipulating the user input device comprises manipulating one or more of a joystick, wheel, or dial. 
     
     
         10 . The method of  claim 8 , further comprising sensing a physiological attribute at a location within the patient's vasculature using a sensing element carried on the distal end portion of the elongated catheter body. 
     
     
         11 . The method of  claim 8 , further comprising transmitting energy to a location within the patient's vasculature using an energy transmitting element carried on the distal end portion of the elongated catheter body. 
     
     
         12 . The method of  claim 8 , wherein rotation of the control element by the instrument driver causes a corresponding tensioning of one or more control wires extending through the elongated catheter body to thereby cause bending of the distal end portion. 
     
     
         13 . The method of  claim 8 , wherein the instrument driver additionally axially translates the catheter instrument in response to the control signals. 
     
     
         14 . The method of  claim 8 , wherein the instrument driver additionally rotates the catheter instrument in response to the control signals. 
     
     
         15 . A method of performing a medical procedure, comprising:
 attaching a catheter instrument to a catheter instrument driver, the catheter instrument designed for manual operation and comprising an elongated flexible catheter body having a proximal end attached to a handle, the instrument driver configured for releasably holding the handle of the catheter instrument;   positioning a distal end portion of the elongated catheter body into a patient's vasculature system;   manipulating a user input device to generate and transmit control signals from the user input device to the instrument driver, wherein in response to the control signals the instrument driver performs one or more of
 (i) axially translating the catheter instrument, 
 (ii) rotating the catheter instrument about an axis, and 
 (iii) rotating a control element located on an external surface of the handle of the catheter instrument to thereby move the distal end portion of the elongated catheter body within the patient's vascular system; 
   removing the distal end portion of the elongated catheter body from the patient's vasculature system; and   detaching the catheter instrument from the catheter instrument driver.