US20130018306A1 - System for indicating catheter deflection - Google Patents
System for indicating catheter deflection Download PDFInfo
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- US20130018306A1 US20130018306A1 US13/181,918 US201113181918A US2013018306A1 US 20130018306 A1 US20130018306 A1 US 20130018306A1 US 201113181918 A US201113181918 A US 201113181918A US 2013018306 A1 US2013018306 A1 US 2013018306A1
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- United States
- Prior art keywords
- probe
- distal end
- control elements
- tactile control
- elements
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0136—Handles therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
- A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61M2209/00—Ancillary equipment
- A61M2209/01—Remote controllers for specific apparatus
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
Definitions
- the present invention relates generally to catheter probes, and specifically to manipulation of the probes by an operator.
- Probes such as catheters may be inserted into the body of a patient during a medical procedure that is performed on the patient.
- the probes may be used for a variety of purposes, such as an internal inspection of the patient, or ablation of an organ of the patient.
- the insertion of the probe into the patient is typically a delicate procedure, which needs to be performed carefully.
- An embodiment of the present invention provides apparatus, including:
- a probe having a proximal end and a distal end, which is deflectable in first and second directions;
- a probe manipulator which is coupled to the proximal end of the probe and includes first and second tactile control elements, which are operable by a user of the probe to deflect the distal end in the first and second directions, respectively, and which are tactilely distinguishable one from the other.
- the first and second tactile control elements have respective first and second shapes, wherein the first and second shapes are different one from the other.
- first and second tactile control elements have respective first and second congruent shapes, wherein the first and second shapes are oriented differently.
- first and second tactile control elements have respective surfaces which are tactilely distinguishable one from the other.
- first and second tactile control elements are configured to have respective visible characteristics different one from the other.
- the apparatus includes a screen configured to display respective different graphic symbols in response to deflection of the distal end in the first direction and in the second direction.
- the first and second tactile control elements are configured to have respective visible characteristics different one from the other, and wherein the respective graphic symbols comprise the respective visible characteristics.
- the screen may be configured to display a further graphic symbol in response to the distal end being in an un-deflected state.
- first and second tactile control elements are related by 2-fold rotational symmetry.
- a method including:
- a probe having a proximal end, and a distal end that is deflectable in first and second directions;
- a probe manipulator to the proximal end of the probe, the manipulator including first and second tactile control elements, which are operable by a user of the probe to deflect the distal end in the first and second directions, respectively, and which are tactilely distinguishable one from the other.
- FIG. 1 is a schematic illustration of a system for indicating the deflection direction of a probe, according to an embodiment of the present invention
- FIG. 2 is a schematic figure illustrating internal elements of a probe manipulator of the system, according to an embodiment of the present invention
- FIG. 3 is a schematic figure illustrating internal elements of a probe of the system, according to and embodiment of the present invention.
- FIG. 4 is a schematic figure illustrating the probe manipulator in an assembled state, according to an embodiment of the present invention.
- FIG. 5 is a schematic figure illustrating the manipulator in an assembled state, and rotated from the orientation of FIG. 4 , according to an embodiment of the present invention.
- FIG. 6 is a schematic figure of a display of graphic symbols, according to an embodiment of the present invention.
- Embodiments of the present invention provide a system that facilitates the manipulation of a probe having a distal end which is deflectable in two directions. Typically the two directions are opposite to each other, so that, for example, the distal end may be deflected to the left or to the right.
- a probe manipulator is coupled to the proximal end of the probe, and the manipulator is configured to have two control elements. Operation of one of the control elements deflects the distal end in one direction; operation of the other control element deflects the distal end in the other direction.
- an operator using the manipulator to insert the probe into the body of a patient may need to twist the manipulator during or after the insertion, for example to locate the distal end in a desired position. Such a twist may cause the operator to confuse which control element causes which type of deflection, since the operator may typically rely on visible cues, such as the position of the control elements, to select which element to operate.
- Embodiments of the present invention overcome this confusion by forming the control elements to be tactilely distinguishable from each other, so that the operator is able to select the required control element on the basis of touch or feel, rather than on the basis of visual cues.
- FIG. 1 is a schematic illustration of a system 20 for indicating the deflection direction of a probe, according to an embodiment of the present invention.
- System 20 comprises a catheter probe 22 which is inserted into the body of a patient 24 during a medical procedure.
- the procedure is performed by an operator 26 , typically a medical professional.
- the procedure assumed in the description herein comprises insertion of a distal end 28 of the probe into a heart 30 of the patient.
- embodiments of the present invention are not limited to such a procedure, but rather may be used for any procedure requiring or using knowledge of the deflection direction of a probe.
- Probe 22 typically comprises tracking elements in distal end 28 which enable system 20 to track the position and orientation of the distal end.
- the position and orientation may be measured using coils in the distal end which detect levels of magnetic fields generated by magnetic field transmitters external to patient 24 .
- Such a technique for measuring the position and location of the distal end is used in Carto system probes produced by Biosense Webster of Diamond Bar, Calif.
- Other techniques for tracking the position and orientation of the distal end such as by using impedance measurements between electrodes on the distal end and one or more electrodes on the skin of patient 24 , are known in the art.
- System 20 is assumed to use one or more of these techniques in order to measure the position and orientation of distal end 28 .
- tracking elements within the distal end that are used to track the position and orientation are not shown in the diagram.
- Signals from the tracking elements are processed by a system controller 32 , comprising a processing unit 34 communicating with a memory 36 .
- the signals transfer via a cable 38 , connecting the tracking elements of probe 22 , as well as other elements of the probe such as electrodes incorporated in the distal end, to the controller.
- the controller under overall control of operator 26 , uses software stored in memory 36 for analyzing the signals from the tracking elements, as well as to perform other functions related to the operation of system 20 . Results of the operations performed by controller 32 are presented to the operator on a screen 39 , which typically displays a graphic user interface to the operator, and/or an image of heart 30 .
- the software may be downloaded to controller 32 in electronic form, over a network, for example, or it may, alternatively or additionally, be provided and/or stored on non-transitory tangible media, such as magnetic, optical, or electronic memory.
- Probe 22 is configured so that operator 26 is able to deflect distal end 28 of the probe, while the probe is inserted into patient 24 , in one of two directions.
- Such a bi-directionally deflectable probe and its operation is described in US Patent Applications 2005/0277875 and 2008/0255540, both to Selkee, which are incorporated herein by reference.
- a bi-directionally deflectable probe system is also produced, as an EZ Steer Bi-Directional Catheter, by Biosense Webster.
- probe 22 is assumed to be constructed generally as described for the probe described in US Patent Application 2008/0255540.
- Probe 22 comprises a probe manipulator 40 which is mechanically connected to the proximal end of the probe.
- Operator 26 holds the manipulator and uses it in order to control entry and exit of the probe into and out of the patient, as well as to deflect the probe.
- FIG. 2 is a schematic figure illustrating internal elements of manipulator 40
- FIG. 3 is a schematic figure illustrating internal elements of probe 22 , according to embodiments of the present invention.
- a set of right handed orthogonal xyz axes are assumed to be attached to manipulator 40
- probe 22 is assumed to extend in a positive y-direction from the manipulator
- the probe and the manipulator are assumed to lie generally in an x-y plane defined by the axes.
- the description herein applying the xyz axes described above is for the purposes of explanation only, and those having ordinary skill in the art will be able to adapt the explanation for other orientations of the probe and the manipulator.
- Diagrams 42 , 44 , and 46 in FIG. 2 illustrate the probe manipulator when probe 22 is respectively deflected left, un-deflected, and deflected right.
- Diagrams 48 , 50 , and 52 in FIG. 3 respectively illustrate distal end 28 when it is deflected left, un-deflected, and deflected right. The deflection is in an x-y plane, and is assumed to be measured with respect to the y-axis.
- probe 22 comprises a puller wire 54 and a puller wire 56 which are anchored at distal end 28 by respective anchors 58 , 60 .
- Wires 54 and 56 are constrained by respective generally parallel lumens 62 , 64 within probe 22 , the wires being able to slide within the lumens.
- Lumens 62 and 64 are typically approximately equidistant from, and symmetrically disposed with respect to, a central axis 66 of probe 22 , and the axis and the lumens lie in, and may be considered to define, an x-y plane.
- wires 54 and 56 extend to a steering assembly 68 connected to manipulator 40 .
- Steering assembly comprises a lever 70 , which is able to rotate around an axis 72 parallel to the z-axis.
- Lever 70 comprises two pulleys 74 , 76 , around which wires 54 and respectively pass. After passing their respective pulleys, wires 54 and 56 traverse respective stops 78 , 80 , before being attached at their ends 82 , 84 to springs 86 and 88 .
- the lengths of wires 54 and 56 within probe 22 i.e., extending from a distal end 90 of manipulator 40 , are approximately equal so that distal end 28 is not deflected from the y-axis.
- ends 82 and 84 are against their respective stops 78 and 80 .
- distal end 28 has been deflected left.
- the left deflection is achieved by lever 70 rotating counter-clockwise from the system's un-deflected state.
- the rotation causes the length of wire 54 within probe 22 , i.e., from end 90 to end 28 , to be shorter than in the un-deflected state, since end 82 maintains contact with stop 78 .
- the counter-clockwise rotation causes pulley 76 to move towards distal end 90 , allowing the length of wire 56 within probe 22 to be longer than in the un-deflected state.
- Diagrams 46 and 52 illustrate distal end 28 deflected right, caused by lever 70 rotating clockwise from the system's un-deflected state.
- the lever rotation causes, within probe 22 , wire 54 to be extended in length and wire 56 to be reduced in length.
- the combination of the two length changes causes distal end 28 to deflect right.
- FIG. 4 is a schematic figure illustrating manipulator 40 in an assembled state, according to an embodiment of the present invention.
- the internal elements of the manipulator are typically enclosed in a housing 92 , so that the elements are not exposed.
- a control 94 is fixedly connected to lever 70 so that axis 72 is common to both the control and the lever.
- Control 94 is above housing 92 .
- Operator 26 holds housing 92 , and rotates lever 70 by pushing (or pulling) on end tactile control elements 96 or 98 of control 94 .
- a diagram 91 illustrates distal end 28 in an un-deflected state
- diagrams 93 and 95 show the distal end in a deflected state.
- rotating control 94 about axis 72 in the direction shown by arrow 97 deflects distal end 28 to the left.
- rotating control 94 about axis 72 in the direction shown by arrow 99 deflects the distal end to the right.
- rotating control 94 in the direction shown in this view by arrow 97 i.e., counterclockwise, deflects the distal end to the left.
- rotating control 94 shown in this view by arrow 99 i.e., clockwise, deflects the distal end to the right.
- FIG. 5 is a schematic figure illustrating manipulator 40 in an assembled state, and rotated from the orientation of FIG. 4 , according to an embodiment of the present invention.
- operator 26 operates probe 22 with manipulator 40
- the operator may rotate the manipulator, for example around the y-axis.
- Such a rotation typically does not cause a corresponding rotation of probe 22 , but rather generates a twist in the probe.
- Diagrams 111 , 113 , and 115 respectively correspond to diagrams 91 , 93 , and 95 ( FIG. 4 ), and show the manipulator rotated by approximately 180° about the y-axis.
- control 94 is below housing 92 .
- Embodiments of the present invention eliminate the confusion by causing the control elements to be tactilely distinguishable from each other.
- operator 26 is able to distinguish between the elements by touching the elements, and by perceiving from the sense of touch that the elements are different. The operator is thus able to identify each of the elements by touch alone.
- element 96 is assumed to have a groove 100 inset in the edge of the element and a protuberance 102 projecting from the edge of the element. As shown in the diagrams of FIGS. 4 and 5 , in element 96 groove 100 has a greater y-value than protuberance 102 .
- element 98 is assumed to have a groove 104 inset in the edge of the element and a protuberance 106 projecting from the edge of the element. As shown in the diagrams, in element 98 groove 104 has a smaller y-value than protuberance 106 .
- the different arrangements of grooves and protuberances in the two control elements provide different tactile feedback to operator 26 when the operator feels or touches the elements.
- elements 96 and 98 are implemented to be tactilely distinguishable by arranging that the shapes of the elements are different, as in the example described above and illustrated in FIGS. 4 and 5 .
- one tactile control element may have a smooth continuously curved edge with no sharp corners, and the other tactile control element may have a discontinuous smooth curved edge, with at least one sharp corner.
- Other differences in shapes for the two elements, enabling operator 26 to distinguish the elements on the basis of touch or feel, will be apparent to those having ordinary skill in the art. Such differences include, but are not limited to, the elements having congruent shapes, but being oriented differently, so that the different orientation is perceptible to operator 26 when the operator touches the elements.
- the tactile difference between the two elements may comprise implementing the surfaces of the elements to be different.
- the surface of element 96 may be formed as a smooth surface, and the surface of element 98 may be rough.
- the shapes and orientations of the two elements may be the same, and the tactile difference between the two elements is implemented by selecting one or more characteristics of the surface, such as the surface's roughness, elasticity, and/or thermal conductivity, to be different, so that the operator is able to detect the difference on touching the surfaces.
- the shape and the surface of the two elements may be different.
- the elements are constructed so that they are visually distinguishable.
- element 96 may have at least part of its surface colored blue
- element 98 may have at least part of its surface colored yellow.
- the visible differences between the elements may be implemented by selecting visual characteristics other than color of the elements to be different, such as by making one element transparent and one element opaque.
- the tactile differences between the two elements are configured to be related by 2-fold rotational symmetry.
- Such a configuration is shown in FIGS. 4 and 5 , which illustrate that control 94 has 2-fold rotational symmetry about axis 72 .
- a tactile difference relationship within each of the control elements can be used as a “global” command for distal tip deflection.
- the tactile difference relationship between the protuberances and the grooves means that following the instruction “rotate the protuberance towards the groove” deflects distal tip 28 right no matter how the manipulator is oriented.
- Such a global command may be provided to the operator in terms of a convenient mnemonic.
- FIG. 6 is a schematic figure of graphic symbols, according to an embodiment of the present invention.
- the location and orientation of distal end 28 within heart 30 is displayed on screen 39 using respective images 28 ′ and 30 ′.
- graphic symbols representing the state of the distal end i.e., if it is deflected or un-deflected, may be presented on the screen in order to assist operator in manipulating the probe and its end.
- the graphic symbols provide a visual confirmation to the operator of the deflected or un-deflected state of end 28 , as generated by the operator using manipulator 40 .
- Diagrams 120 , 122 , and 124 illustrate symbols 126 , 128 , and 130 displayed on screen in the case of the distal end respectively being deflected left, being un-deflected, and being deflected right.
- Diagram 120 with symbol 126 , corresponds to diagrams 113 and 93 ;
- diagram 122 , with symbol 128 corresponds to diagrams 111 and 91 ;
- diagram 124 , with symbol 130 corresponds to diagrams 115 and 95 ( FIGS. 4 and 5 ).
- a corresponding visual characteristic may be applied to symbols 126 , 128 , and 130 .
- symbol 130 may be colored blue; and if at least part of element 98 is colored yellow, then symbol 126 may be colored yellow.
- the corresponding visual characteristic applied to symbols 126 , 128 , and 130 may comprise other visible qualities applied to the symbols, such as different types of shading, as exemplified in FIG. 6 .
- probe manipulator with one control for deflecting the probe, the control having separate tactile control elements which may be formed as part of a single integrated control. It will be understood that this is one example of a probe manipulator, and other manipulators may have tactile control elements which are separated from one another, and which are not formed as part of a single integrated control. It will also be understood that probe manipulators according to embodiments of the present invention do not need to be of the generally planar form exemplified above, but may comprise other geometric forms, such as a trackball or a joystick. All such manipulators are included within the scope of the present invention.
Abstract
Apparatus, consisting of a probe, having a proximal end and a distal end, which is deflectable in first and second directions. The apparatus includes a probe manipulator, which is coupled to the proximal end of the probe and has first and second tactile control elements. The elements are operable by a user of the probe to deflect the distal end in the first and second directions, respectively, and are tactilely distinguishable one from the other.
Description
- The present invention relates generally to catheter probes, and specifically to manipulation of the probes by an operator.
- Probes such as catheters may be inserted into the body of a patient during a medical procedure that is performed on the patient. The probes may be used for a variety of purposes, such as an internal inspection of the patient, or ablation of an organ of the patient.
- The insertion of the probe into the patient is typically a delicate procedure, which needs to be performed carefully.
- Documents incorporated by reference in the present patent application are to be considered an integral part of the application except that to the extent any terms are defined in these incorporated documents in a manner that conflicts with the definitions made explicitly or implicitly in the present specification, only the definitions in the present specification should be considered.
- An embodiment of the present invention provides apparatus, including:
- a probe, having a proximal end and a distal end, which is deflectable in first and second directions; and
- a probe manipulator, which is coupled to the proximal end of the probe and includes first and second tactile control elements, which are operable by a user of the probe to deflect the distal end in the first and second directions, respectively, and which are tactilely distinguishable one from the other.
- Typically, the first and second tactile control elements have respective first and second shapes, wherein the first and second shapes are different one from the other.
- In a disclosed embodiment the first and second tactile control elements have respective first and second congruent shapes, wherein the first and second shapes are oriented differently.
- In a further disclosed embodiment the first and second tactile control elements have respective surfaces which are tactilely distinguishable one from the other.
- In a yet further disclosed embodiment the first and second tactile control elements are configured to have respective visible characteristics different one from the other.
- In an alternative embodiment the apparatus includes a screen configured to display respective different graphic symbols in response to deflection of the distal end in the first direction and in the second direction. Typically, the first and second tactile control elements are configured to have respective visible characteristics different one from the other, and wherein the respective graphic symbols comprise the respective visible characteristics. The screen may be configured to display a further graphic symbol in response to the distal end being in an un-deflected state.
- In a further alternative embodiment the first and second tactile control elements are related by 2-fold rotational symmetry.
- There is further provided, according to an embodiment of the present invention, a method, including:
- configuring a probe, having a proximal end, and a distal end that is deflectable in first and second directions; and
- coupling a probe manipulator to the proximal end of the probe, the manipulator including first and second tactile control elements, which are operable by a user of the probe to deflect the distal end in the first and second directions, respectively, and which are tactilely distinguishable one from the other.
- The present disclosure will be more fully understood from the following detailed description of the embodiments thereof, taken together with the drawings, in which:
-
FIG. 1 is a schematic illustration of a system for indicating the deflection direction of a probe, according to an embodiment of the present invention; -
FIG. 2 is a schematic figure illustrating internal elements of a probe manipulator of the system, according to an embodiment of the present invention; -
FIG. 3 is a schematic figure illustrating internal elements of a probe of the system, according to and embodiment of the present invention; -
FIG. 4 is a schematic figure illustrating the probe manipulator in an assembled state, according to an embodiment of the present invention; -
FIG. 5 is a schematic figure illustrating the manipulator in an assembled state, and rotated from the orientation ofFIG. 4 , according to an embodiment of the present invention; and -
FIG. 6 is a schematic figure of a display of graphic symbols, according to an embodiment of the present invention. - Embodiments of the present invention provide a system that facilitates the manipulation of a probe having a distal end which is deflectable in two directions. Typically the two directions are opposite to each other, so that, for example, the distal end may be deflected to the left or to the right. A probe manipulator is coupled to the proximal end of the probe, and the manipulator is configured to have two control elements. Operation of one of the control elements deflects the distal end in one direction; operation of the other control element deflects the distal end in the other direction.
- Typically, an operator using the manipulator to insert the probe into the body of a patient may need to twist the manipulator during or after the insertion, for example to locate the distal end in a desired position. Such a twist may cause the operator to confuse which control element causes which type of deflection, since the operator may typically rely on visible cues, such as the position of the control elements, to select which element to operate.
- Embodiments of the present invention overcome this confusion by forming the control elements to be tactilely distinguishable from each other, so that the operator is able to select the required control element on the basis of touch or feel, rather than on the basis of visual cues.
- Reference is now made to
FIG. 1 , which is a schematic illustration of asystem 20 for indicating the deflection direction of a probe, according to an embodiment of the present invention.System 20 comprises acatheter probe 22 which is inserted into the body of apatient 24 during a medical procedure. The procedure is performed by anoperator 26, typically a medical professional. By way of example, the procedure assumed in the description herein comprises insertion of adistal end 28 of the probe into aheart 30 of the patient. However, it will be understood that embodiments of the present invention are not limited to such a procedure, but rather may be used for any procedure requiring or using knowledge of the deflection direction of a probe. -
Probe 22 typically comprises tracking elements indistal end 28 which enablesystem 20 to track the position and orientation of the distal end. For example, the position and orientation may be measured using coils in the distal end which detect levels of magnetic fields generated by magnetic field transmitters external to patient 24. Such a technique for measuring the position and location of the distal end is used in Carto system probes produced by Biosense Webster of Diamond Bar, Calif. Other techniques for tracking the position and orientation of the distal end, such as by using impedance measurements between electrodes on the distal end and one or more electrodes on the skin ofpatient 24, are known in the art.System 20 is assumed to use one or more of these techniques in order to measure the position and orientation ofdistal end 28. For simplicity and clarity, tracking elements within the distal end that are used to track the position and orientation are not shown in the diagram. - Signals from the tracking elements are processed by a
system controller 32, comprising aprocessing unit 34 communicating with amemory 36. The signals transfer via acable 38, connecting the tracking elements ofprobe 22, as well as other elements of the probe such as electrodes incorporated in the distal end, to the controller. The controller, under overall control ofoperator 26, uses software stored inmemory 36 for analyzing the signals from the tracking elements, as well as to perform other functions related to the operation ofsystem 20. Results of the operations performed bycontroller 32 are presented to the operator on ascreen 39, which typically displays a graphic user interface to the operator, and/or an image ofheart 30. The software may be downloaded to controller 32 in electronic form, over a network, for example, or it may, alternatively or additionally, be provided and/or stored on non-transitory tangible media, such as magnetic, optical, or electronic memory. -
Probe 22 is configured so thatoperator 26 is able to deflectdistal end 28 of the probe, while the probe is inserted intopatient 24, in one of two directions. Such a bi-directionally deflectable probe and its operation is described in US Patent Applications 2005/0277875 and 2008/0255540, both to Selkee, which are incorporated herein by reference. A bi-directionally deflectable probe system is also produced, as an EZ Steer Bi-Directional Catheter, by Biosense Webster. For clarity, in the description hereinprobe 22 is assumed to be constructed generally as described for the probe described in US Patent Application 2008/0255540. -
Probe 22 comprises aprobe manipulator 40 which is mechanically connected to the proximal end of the probe.Operator 26 holds the manipulator and uses it in order to control entry and exit of the probe into and out of the patient, as well as to deflect the probe. -
FIG. 2 is a schematic figure illustrating internal elements ofmanipulator 40, andFIG. 3 is a schematic figure illustrating internal elements ofprobe 22, according to embodiments of the present invention. For the following description with reference toFIGS. 2 and 3 , a set of right handed orthogonal xyz axes are assumed to be attached tomanipulator 40,probe 22 is assumed to extend in a positive y-direction from the manipulator, and the probe and the manipulator are assumed to lie generally in an x-y plane defined by the axes. It will be appreciated that the description herein applying the xyz axes described above is for the purposes of explanation only, and those having ordinary skill in the art will be able to adapt the explanation for other orientations of the probe and the manipulator. - Diagrams 42, 44, and 46 in
FIG. 2 illustrate the probe manipulator whenprobe 22 is respectively deflected left, un-deflected, and deflected right. Diagrams 48, 50, and 52 inFIG. 3 respectively illustratedistal end 28 when it is deflected left, un-deflected, and deflected right. The deflection is in an x-y plane, and is assumed to be measured with respect to the y-axis. As shown inFIG. 3 ,probe 22 comprises apuller wire 54 and apuller wire 56 which are anchored atdistal end 28 byrespective anchors Wires parallel lumens probe 22, the wires being able to slide within the lumens.Lumens central axis 66 ofprobe 22, and the axis and the lumens lie in, and may be considered to define, an x-y plane. - As shown in
FIG. 2 ,wires steering assembly 68 connected tomanipulator 40. Steering assembly comprises alever 70, which is able to rotate around anaxis 72 parallel to the z-axis.Lever 70 comprises twopulleys wires 54 and respectively pass. After passing their respective pulleys,wires respective stops ends springs - In the un-deflected state, illustrated in diagrams 44 and 50, the lengths of
wires probe 22, i.e., extending from adistal end 90 ofmanipulator 40, are approximately equal so thatdistal end 28 is not deflected from the y-axis. In the un-deflected state ends 82 and 84 are against theirrespective stops - As illustrated in diagrams 42 and 48,
distal end 28 has been deflected left. The left deflection is achieved bylever 70 rotating counter-clockwise from the system's un-deflected state. The rotation causes the length ofwire 54 withinprobe 22, i.e., fromend 90 to end 28, to be shorter than in the un-deflected state, sinceend 82 maintains contact withstop 78. The counter-clockwise rotation causespulley 76 to move towardsdistal end 90, allowing the length ofwire 56 withinprobe 22 to be longer than in the un-deflected state. (The movement ofpulley 76 also allowsspring 88 to retractwire 56, so thatend 84 moves from itsstop 80.) The combination withinprobe 22 of the reduction in length ofwire 54, and the extension in length ofwire 56, causesdistal end 28 to deflect left. - Diagrams 46 and 52 illustrate
distal end 28 deflected right, caused bylever 70 rotating clockwise from the system's un-deflected state. The lever rotation causes, withinprobe 22,wire 54 to be extended in length andwire 56 to be reduced in length. The combination of the two length changes causesdistal end 28 to deflect right. -
FIG. 4 is a schematicfigure illustrating manipulator 40 in an assembled state, according to an embodiment of the present invention. In the assembled state, the internal elements of the manipulator are typically enclosed in ahousing 92, so that the elements are not exposed. In addition, acontrol 94 is fixedly connected to lever 70 so thataxis 72 is common to both the control and the lever.Control 94 is abovehousing 92.Operator 26 holdshousing 92, and rotateslever 70 by pushing (or pulling) on endtactile control elements control 94. - A diagram 91 illustrates
distal end 28 in an un-deflected state, and diagrams 93 and 95 show the distal end in a deflected state. Thus, as shown in diagram 93, rotatingcontrol 94 aboutaxis 72 in the direction shown byarrow 97 deflectsdistal end 28 to the left. As shown in diagram 95, rotatingcontrol 94 aboutaxis 72 in the direction shown byarrow 99 deflects the distal end to the right. From the point of view of an operator looking down on the manipulator, i.e., an operator above the plane of the paper, rotatingcontrol 94 in the direction shown in this view byarrow 97, i.e., counterclockwise, deflects the distal end to the left. Similarly, rotatingcontrol 94 shown in this view byarrow 99, i.e., clockwise, deflects the distal end to the right. -
FIG. 5 is a schematicfigure illustrating manipulator 40 in an assembled state, and rotated from the orientation ofFIG. 4 , according to an embodiment of the present invention. Typically, whileoperator 26 operatesprobe 22 withmanipulator 40, the operator may rotate the manipulator, for example around the y-axis. Such a rotation typically does not cause a corresponding rotation ofprobe 22, but rather generates a twist in the probe. Diagrams 111, 113, and 115 respectively correspond to diagrams 91, 93, and 95 (FIG. 4 ), and show the manipulator rotated by approximately 180° about the y-axis. In thiscase control 94 is belowhousing 92. - As is illustrated in diagram 115, in this view arrow now shows that
control 94 needs to rotate counterclockwise to deflect the distal end to the right. Similarly, as shown in diagram 113, in thisview arrow 97 now shows thatcontrol 94 needs to rotate clockwise to deflect the distal end to the left. Comparing the situations illustrated inFIGS. 4 and 5 , it is apparent that rotation ofmanipulator 40 may confuse the operator as to the directions of deflection of the distal end caused by rotation of the left and right elements ofcontrol 94. - Embodiments of the present invention eliminate the confusion by causing the control elements to be tactilely distinguishable from each other. In other words,
operator 26 is able to distinguish between the elements by touching the elements, and by perceiving from the sense of touch that the elements are different. The operator is thus able to identify each of the elements by touch alone. By way of example,element 96 is assumed to have agroove 100 inset in the edge of the element and aprotuberance 102 projecting from the edge of the element. As shown in the diagrams ofFIGS. 4 and 5 , inelement 96groove 100 has a greater y-value thanprotuberance 102. Also by way of example,element 98 is assumed to have agroove 104 inset in the edge of the element and aprotuberance 106 projecting from the edge of the element. As shown in the diagrams, inelement 98groove 104 has a smaller y-value thanprotuberance 106. The different arrangements of grooves and protuberances in the two control elements provide different tactile feedback tooperator 26 when the operator feels or touches the elements. - Typically,
elements FIGS. 4 and 5 . As another example, one tactile control element may have a smooth continuously curved edge with no sharp corners, and the other tactile control element may have a discontinuous smooth curved edge, with at least one sharp corner. Other differences in shapes for the two elements, enablingoperator 26 to distinguish the elements on the basis of touch or feel, will be apparent to those having ordinary skill in the art. Such differences include, but are not limited to, the elements having congruent shapes, but being oriented differently, so that the different orientation is perceptible tooperator 26 when the operator touches the elements. - In some embodiments, the tactile difference between the two elements may comprise implementing the surfaces of the elements to be different. For example, the surface of
element 96 may be formed as a smooth surface, and the surface ofelement 98 may be rough. In this case the shapes and orientations of the two elements may be the same, and the tactile difference between the two elements is implemented by selecting one or more characteristics of the surface, such as the surface's roughness, elasticity, and/or thermal conductivity, to be different, so that the operator is able to detect the difference on touching the surfaces. In some embodiments, the shape and the surface of the two elements may be different. - In some embodiments, as well as forming
elements element 96 may have at least part of its surface colored blue, andelement 98 may have at least part of its surface colored yellow. In some embodiments the visible differences between the elements may be implemented by selecting visual characteristics other than color of the elements to be different, such as by making one element transparent and one element opaque. - In some embodiments, the tactile differences between the two elements are configured to be related by 2-fold rotational symmetry. Such a configuration is shown in
FIGS. 4 and 5 , which illustrate thatcontrol 94 has 2-fold rotational symmetry aboutaxis 72. With such 2-fold symmetry a tactile difference relationship within each of the control elements can be used as a “global” command for distal tip deflection. For example, as is demonstrated in the figures, the tactile difference relationship between the protuberances and the grooves means that following the instruction “rotate the protuberance towards the groove” deflectsdistal tip 28 right no matter how the manipulator is oriented. Such a global command may be provided to the operator in terms of a convenient mnemonic. E.g., ifgrooves protuberances -
FIG. 6 is a schematic figure of graphic symbols, according to an embodiment of the present invention. Typically, the location and orientation ofdistal end 28 withinheart 30 is displayed onscreen 39 usingrespective images 28′ and 30′. In addition, graphic symbols representing the state of the distal end i.e., if it is deflected or un-deflected, may be presented on the screen in order to assist operator in manipulating the probe and its end. The graphic symbols provide a visual confirmation to the operator of the deflected or un-deflected state ofend 28, as generated by theoperator using manipulator 40. Diagrams 120, 122, and 124 illustratesymbols symbol 126, corresponds to diagrams 113 and 93; diagram 122, withsymbol 128, corresponds to diagrams 111 and 91; and diagram 124, withsymbol 130, corresponds to diagrams 115 and 95 (FIGS. 4 and 5 ). - In the case of embodiments where the tactile control elements of
control 94 have a visual characteristic, a corresponding visual characteristic may be applied tosymbols element 96 is colored blue, thensymbol 130 may be colored blue; and if at least part ofelement 98 is colored yellow, thensymbol 126 may be colored yellow. Alternatively or additionally, the corresponding visual characteristic applied tosymbols FIG. 6 . - The description above has assumed a probe manipulator with one control for deflecting the probe, the control having separate tactile control elements which may be formed as part of a single integrated control. It will be understood that this is one example of a probe manipulator, and other manipulators may have tactile control elements which are separated from one another, and which are not formed as part of a single integrated control. It will also be understood that probe manipulators according to embodiments of the present invention do not need to be of the generally planar form exemplified above, but may comprise other geometric forms, such as a trackball or a joystick. All such manipulators are included within the scope of the present invention.
- It will thus be appreciated that the embodiments described above are cited by way of example, and that the present invention is not limited to what has been particularly shown and described hereinabove. Rather, the scope of the present invention includes both combinations and subcombinations of the various features described hereinabove, as well as variations and modifications thereof which would occur to persons skilled in the art upon reading the foregoing description and which are not disclosed in the prior art.
Claims (18)
1. Apparatus, comprising:
a probe, comprising a proximal end and a distal end, which is deflectable in first and second directions; and
a probe manipulator, which is coupled to the proximal end of the probe and comprises first and second tactile control elements, which are operable by a user of the probe to deflect the distal end in the first and second directions, respectively, and which are tactilely distinguishable one from the other.
2. The apparatus according to claim 1 , wherein the first and second tactile control elements have respective first and second shapes, wherein the first and second shapes are different one from the other.
3. The apparatus according to claim 1 , wherein the first and second tactile control elements have respective first and second congruent shapes, wherein the first and second shapes are oriented differently.
4. The apparatus according to claim 1 , wherein the first and second tactile control elements have respective surfaces which are tactilely distinguishable one from the other.
5. The apparatus according to claim 1 , and wherein the first and second tactile control elements are configured to have respective visible characteristics different one from the other.
6. The apparatus according to claim 1 , and comprising a screen configured to display respective different graphic symbols in response to deflection of the distal end in the first direction and in the second direction.
7. The apparatus according to claim 6 , wherein the first and second tactile control elements are configured to have respective visible characteristics different one from the other, and wherein the respective graphic symbols comprise the respective visible characteristics.
8. The apparatus according to claim 6 , wherein the screen is configured to display a further graphic symbol in response to the distal end being in an un-deflected state.
9. The apparatus according to claim 1 , wherein the first and second tactile control elements are related by 2-fold rotational symmetry.
10. A method, comprising:
configuring a probe, comprising a proximal end, and a distal end that is deflectable in first and second directions; and
coupling a probe manipulator to the proximal end of the probe, the manipulator comprising first and second tactile control elements, which are operable by a user of the probe to deflect the distal end in the first and second directions, respectively, and which are tactilely distinguishable one from the other.
11. The method according to claim 10 , wherein the first and second tactile control elements have respective first and second shapes, wherein the first and second shapes are different one from the other.
12. The method according to claim 10 , wherein the first and second tactile control elements have respective first and second congruent shapes, wherein the first and second shapes are oriented differently.
13. The method according to claim 10 , wherein the first and second tactile control elements have respective surfaces which are tactilely distinguishable one from the other.
14. The method according to claim 10 , and wherein the first and second tactile control elements are configured to have respective visible characteristics different one from the other.
15. The method according to claim 10 , and comprising displaying respective different graphic symbols in response to deflection of the distal end in the first direction and in the second direction.
16. The method according to claim 15 , wherein the first and second tactile control elements are configured to have respective visible characteristics different one from the other, and wherein the respective graphic symbols comprise the respective visible characteristics.
17. The method according to claim 15 , and comprising displaying a further graphic symbol in response to the distal end being in an un-deflected state.
18. The method according to claim 9 , wherein the first and second tactile control elements are related by 2-fold rotational symmetry.
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
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US13/181,918 US20130018306A1 (en) | 2011-07-13 | 2011-07-13 | System for indicating catheter deflection |
AU2012203802A AU2012203802B2 (en) | 2011-07-13 | 2012-06-28 | System for indicating catheter deflection |
CA2782061A CA2782061A1 (en) | 2011-07-13 | 2012-06-29 | System for indicating catheter deflection |
EP12176163A EP2545844A1 (en) | 2011-07-13 | 2012-07-12 | System for indicating catheter deflection |
JP2012156217A JP6219023B2 (en) | 2011-07-13 | 2012-07-12 | System for indicating the deflection of a catheter |
CN2012102445852A CN102872519A (en) | 2011-07-13 | 2012-07-13 | System for indicating catheter deflection |
CN201810993910.2A CN109173000A (en) | 2011-07-13 | 2012-07-13 | The system for being used to indicate catheter deflection |
US15/947,250 US10994097B2 (en) | 2011-07-13 | 2018-04-06 | System for indicating catheter deflection |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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US13/181,918 US20130018306A1 (en) | 2011-07-13 | 2011-07-13 | System for indicating catheter deflection |
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Also Published As
Publication number | Publication date |
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CA2782061A1 (en) | 2013-01-13 |
JP6219023B2 (en) | 2017-10-25 |
EP2545844A1 (en) | 2013-01-16 |
US20180221624A1 (en) | 2018-08-09 |
US10994097B2 (en) | 2021-05-04 |
AU2012203802A1 (en) | 2013-01-31 |
JP2013017821A (en) | 2013-01-31 |
AU2012203802B2 (en) | 2015-05-14 |
CN109173000A (en) | 2019-01-11 |
CN102872519A (en) | 2013-01-16 |
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