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Methods using a robotic catheter systemRelated Patent Categories: Surgery, InstrumentsMethods using a robotic catheter system description/claimsThe Patent Description & Claims data below is from USPTO Patent Application 20060100610, Methods using a robotic catheter system. Brief Patent Description - Full Patent Description - Patent Application Claims
RELATED APPLICATION DATA [0001] The present application is a continuation-in-part of U.S. patent application Ser. No. 11/073,363, filed Mar. 4, 2005, which claims the benefit under 35 U.S.C. .sctn. 119 to U.S. provisional patent application Ser. No. 60/550,961, filed Mar. 5, 2004, 60/553,029, filed Mar. 12, 2004, 60/600,869, filed Aug. 12, 2004, and 60/644,505, filed Jan. 13, 2005. The present application also claims the benefit under 35 U.S.C. .sctn. 119 to U.S. provisional patent application Ser. No. 60/677,580, filed May 3, 2005, and 60/678,097, filed May 4, 2005. The foregoing applications are hereby incorporated by reference into the present application in their entirety. FIELD OF INVENTION [0002] The invention relates generally to robotically controlled systems, such as telerobotic surgical systems, and more particularly to a robotic catheter system for performing minimally invasive diagnostic and therapeutic procedures. BACKGROUND [0003] Robotic surgical systems and devices are well suited for use in performing minimally invasive medical procedures, as opposed to conventional techniques wherein the patient's body cavity is open to permit the surgeon's hands access to internal organs. For example, there is a need for a highly controllable yet minimally sized system to facilitate imaging, diagnosis, and treatment of tissues which may lie deep within a patient, and which may be preferably accessed only via naturally-occurring pathways such as blood vessels or the gastrointestinal tract. SUMMARY OF THE INVENTION [0004] In accordance with a general aspect of the invention, methods are provided for using a robotic system to perform a procedure on a patient. In one embodiment, the method includes moving a control interface provided on a master input device, generating control signals corresponding, at least in part, to movement of the interface, moving one or more drive elements of an instrument driver in response to the control signal, the one or more drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument. The method may further comprise determining a location or relative location of the guide instrument in the patient, for example, by using image data acquired by am imaging system, or by using position data acquired by a localization system. [0005] The master input device preferably comprises a multi-degree-of-freedom device having multiple joints, each joint having an associated encoder. In exemplary embodiments, the master input device comprises a interface configured to be held and hand-controlled by an operator. Integrated gravity compensation may be provided, in which case the method would detect whether an operator lets go of the interface and, if so, operate one or more motors operate to cause the interface to remain approximately at its then-existing position, or to move to a predetermined position, without gravitational force otherwise moving the interface. [0006] The master input device may be provided with integrated haptics capability, in which case the method includes operating one or more motors to provide tactile feedback to the operator through the interface. By way of non-limiting examples, the tactile feedback may indicate that the guide instrument has reached a workspace limit, wherein the workspace limit may be determined based on one or more of image data acquired by an imaging system, position data acquired by a localization system, or feedback information provided by a tissue contact sensor. The tactile feedback may indicate that the guide instrument has contacted a tissue structure in a patient. Additionally or alternatively, the tactile feedback may indicate that a surgical tool carried by the guide instrument has contacted a tissue structure in a patient. Additionally or alternatively, the tactile feedback may represent a resistance imparted by a tissue structure in response to a force imparted by the guide instrument Additionally or alternatively, the tactile feedback may represent a resistance imparted by a tissue structure in response to a force imparted by a surgical tool carried by the guide instrument. [0007] In preferred embodiments, the method may include moving the guide instrument in two or more desired motions substantially simultaneously. If the desired motion is bending, the controller may determine a respective tensioning to be applied by the instrument driver to one or more control elements based on a kinematic relationship between the desired bending motion and a linear movement of the respective control element relative to the guide instrument. The kinematic relationship may be a forward kinematic relationship, an inverse kinematic relationship, or both. [0008] In one embodiment, a method using a robotic system to perform a procedure on a patient, includes generating a control signal corresponding, at least in part, to movement of a master input device, and moving one or more drive elements of an instrument driver in response to the control signal, the one or more drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument. The method of this embodiment may further include generating and displaying one or more views containing images of one or both of the guide instrument and an area in the patient's body where the guide instrument is located. The one or more views may include both a primary navigation view and a secondary navigation view, wherein the secondary view may be approximately orthogonal to the primary view. The images may be of the actual instrument and/or body area acquired by an imaging system, or graphical renderings. The method may further include synchronizing a coordinate system of the master input device with a respective coordinate system of one or both of an imaging system and a localization system. [0009] Other and further embodiments and aspects of the invention will become apparent upon review of the following detailed description in view of the illustrated embodiments. BRIEF DESCRIPTION OF THE DRAWINGS [0010] The drawings illustrate the design and utility of illustrated embodiments of the invention, in which similar elements are referred to by common reference numerals, and in which: [0011] FIG. 1 illustrates a robotic surgical system in accordance with some embodiments; [0012] FIG. 2 illustrates a robotic surgical system in accordance with other embodiments; [0013] FIG. 3 illustrates a closer view of the robotic surgical system of FIG. 2; [0014] FIG. 4 illustrates an isometric view of an instrument having a guide catheter in accordance with some embodiments; [0015] FIG. 5 illustrates an isometric view of the instrument of FIG. 4, showing the instrument coupled to a sheath instrument in accordance with some embodiments; [0016] FIG. 6 illustrates an isometric view of a set of instruments for use with an instrument driver in accordance with some embodiments; [0017] FIG. 7A-7C illustrate a method of using a drape with an instrument driver in accordance with some embodiments; [0018] FIG. 8A illustrates an instrument driver and a set of instruments before they are coupled to each other; [0019] FIG. 8B illustrates the instrument driver and the set of instruments of FIG. 8A after they are coupled to each other; Continue reading about Methods using a robotic catheter system... 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