Cable arranger

Abstract

Catheterization employing a cable extending from the catheter to a fixed point of attachment is performed by providing a sensor to detect rotation of the catheter about its longitudinal axis, the rotation causing the cable to form a twist. The cable extends through a cable arranger that operates to remove the twist. A controller receives signals from the sensor and generates control signals to actuate the cable arranger responsively to the signals from the sensor.

1 - 12 . (canceled) 
     
     
         13 . A method, comprising the steps of:
 inserting a catheter into a living subject, the catheter having a longitudinal axis;   connecting a cable between the catheter and a fixed point of attachment;   forming a twist in a portion of the cable by rotating the catheter about the longitudinal axis;   automatically detecting rotation of the catheter about the longitudinal axis; and   responsively to detecting rotation removing the twist from the portion of the cable.   
     
     
         14 . The method according to  claim 13 , wherein detecting rotation is performed using a magnetic field sensor. 
     
     
         15 . The method according to  claim 13 , wherein detecting rotation is performed using an accelerometer adapted to measure tangential acceleration of the catheter about the longitudinal axis. 
     
     
         16 . The method according to  claim 13 , wherein detecting rotation is performed using a torque transducer. 
     
     
         17 . The method according to  claim 13 , wherein removing the twist is performed by operating a cable arranger comprising:
 a shaft holding a segment of the cable; and   a drive motor for rotating the shaft, wherein removing the twist comprises imparting a compensatory rotation about the longitudinal axis of the cable.   
     
     
         18 . The method according to  claim 13 , further comprising providing a cable arranger, wherein removing the twist comprises displacing the cable through the cable arranger. 
     
     
         19 . The method according to  claim 18 , wherein the cable arranger has a drive gear, the drive gear having grooves formed therein, the drive gear being attached to a drive motor having a shaft having spiral grooves formed therein for carrying the cable, the drive gear meshing with gear teeth formed on the shaft, wherein the cable is urged into contact with the grooves of the drive gear when the spiral grooves and the grooves of the drive gear are in alignment. 
     
     
         20 . The method according to  claim 19 , further comprising providing a radial slot in the drive gear for ingress and egress of the cable therethrough. 
     
     
         21 . The method according to  claim 13 , wherein the cable comprises a bundle of electrical and hydraulic channels.