Input device for controlling a catheter

Abstract

An input device includes a plurality of orientation blocks each representing a portion of a catheter assembly and a controller configured to determine an orientation of the plurality of orientation blocks relative to one another. The controller is further configured to output a control signal that causes a tip of a catheter assembly to adopt the orientation determined by the controller. A system includes an actuator configured to manipulate a position and orientation of the catheter assembly. The controller of the input device is configured to output a control signal to the actuator to make a tip of a catheter assembly adopt the orientation determined by the controller. The input device can be virtually represented on a computing device.

1 . A device comprising:
 a plurality of orientation blocks each representing a portion of a catheter assembly;   a controller configured to determine an orientation of the plurality of orientation blocks relative to one another, wherein the controller is configured to output a control signal that causes a tip of a catheter assembly to adopt the orientation determined by the controller.   
     
     
         2 . The device of  claim 1 , wherein the controller is configured to determine a position of each orientation block relative to the other orientation blocks. 
     
     
         3 . The device of  claim 1 , further comprising a plurality of orientation sensors configured to output an orientation signal representing the orientation of the orientation block, wherein at least one orientation sensor is incorporated into each orientation block or incorporated into a joint disposed between two orientation blocks. 
     
     
         4 . The device of  claim 3 , wherein the controller is configured to receive the orientation signal of each orientation sensor and determine the orientation of the plurality of orientation blocks from the orientation signal received from each of the orientation blocks. 
     
     
         5 . The device of  claim 4 , wherein the control signal represents the orientation of the plurality of orientation blocks and wherein the controller is configured to output the control signal to an actuator configured to control the orientation of the tip of the catheter assembly. 
     
     
         6 . The device of  claim 1 , further comprising a position block configured to slide relative to one of the orientation blocks and generate a position signal representing a position of the position block. 
     
     
         7 . The device of  claim 6 , wherein the controller is configured to generate the control signal in accordance with the position signal. 
     
     
         8 . The device of  claim 7 , wherein the control signal includes an advance command and a retract command based at least in part on the position of the position block, wherein the advance command causes at least a portion of the catheter assembly to advance and the retract command causes at least a portion of the catheter assembly to retract. 
     
     
         9 . The device of  claim 1 , further comprising a plurality of joints, each disposed between at least two orientation blocks and configured to permit articulation of one orientation block relative to another orientation block. 
     
     
         10 . The device of  claim 9 , wherein each joint includes an orientation sensor configured to output an orientation signal representing an orientation of two orientation blocks relative to one another. 
     
     
         11 . The device of  claim 1 , wherein the orientation blocks are incorporated into a glove. 
     
     
         12 . A system comprising:
 an actuator configured to manipulate a position and orientation of a catheter assembly having a catheter and a guide wire; and   an input device configured to control the position and orientation of at least one of the catheter and the guide wire, wherein the input device includes a plurality of orientation blocks each representing a portion of the catheter assembly and a controller configured to determine an orientation of the plurality of orientation blocks relative to one another, wherein the controller is configured to output a control signal to the actuator that causes a tip of a catheter assembly to adopt the orientation determined by the controller.   
     
     
         13 . The system of  claim 12 , wherein the controller is configured to determine a position of each orientation block relative to the other orientation blocks. 
     
     
         14 . The system of  claim 12 , wherein each orientation block includes an orientation sensor configured to output an orientation signal representing the orientation of the orientation block, and
 wherein the controller is configured to receive the orientation signal output by each orientation block, determine the orientation of the plurality of orientation blocks from the orientation signals received, incorporate the orientation signals into the control signals, and output the control signal to the actuator to control the orientation of the tip of the catheter assembly.   
     
     
         15 . The system of  claim 12 , wherein the input device includes a position block configured to slide relative to one of the orientation blocks and generate a position signal representing a position of the position block, and wherein the controller is configured to generate the control signal in accordance with the position signal. 
     
     
         16 . The system of  claim 15 , wherein the control signal includes an advance command and a retract command based at least in part on the position of the position block, wherein the advance command causes at least a portion of the catheter assembly to advance and the retract command causes at least a portion of the catheter assembly to retract. 
     
     
         17 . The system of  claim 12 , wherein the input device includes a plurality of joints, each disposed between at least two orientation blocks and configured to permit articulation of one orientation block relative to another orientation block, wherein each joint includes an orientation sensor configured to output an orientation signal representing an orientation of two orientation blocks relative to one another. 
     
     
         18 . The system of  claim 12 , wherein the input device includes a glove configured to house the orientation blocks and the controller. 
     
     
         19 . A system comprising:
 a user interface device configured to present a representation of a virtual catheter tip and receive a user input associated with manipulating a shape of the virtual catheter tip;   a controller configured to determine a desired shape of the tip of a physical catheter based on a user input and output control signal that causes a tip of the physical catheter to adopt the shape of the virtual catheter tip.   
     
     
         20 . The system of  claim 19 , wherein the user interface device is configured to detect at least one gesture, and wherein the received user input includes the gesture performed on a touchscreen or in a field of view of the user interface device. 
     
     
         21 . The system of  claim 20 , wherein the gesture includes at least one of a pinch gesture and a drag gesture to manipulate the shape of the virtual catheter tip. 
     
     
         22 . The system of  claim 19 , wherein the user interface device is configured to simultaneously display multiple views of the virtual catheter tip and receive a user input manipulating a shape of the virtual catheter tip through each view. 
     
     
         23 . The system of  claim 19 , wherein the user interface device is configured to display a plurality of predetermined shapes of virtual catheter tips and wherein the user input includes a user selection of at least one of the shapes. 
     
     
         24 . The system of  claim 19 , wherein the controller is configured to output the control signal after receiving a confirmation signal from the user interface device, wherein the confirmation signal is based at least in part on a user input confirming the shape of the virtual catheter tip. 
     
     
         25 . The system of  claim 19 , wherein the controller is configured to determine a first position of the physical catheter tip and a second position of the physical catheter tip, wherein the second position is associated with the shape of the virtual catheter tip, and
 wherein the user interface device is configured to display a path between the first position and the second position.   
     
     
         26 . The system of  claim 25 , wherein the controller is configured to generate the control signal after receiving a confirmation signal from the user interface device, wherein the confirmation signal is based at least in a part on the user input confirming the path. 
     
     
         27 . The system of  claim 19 , further comprising an actuator configured to control the shape of the physical catheter tip, wherein the actuator is configured to receive the control signal and cause the physical catheter tip to adopt the shape of the virtual catheter tip in accordance with the control signal. 
     
     
         28 . The system of  claim 12 , wherein the input device includes a touchscreen. 
     
     
         29 . The system of  claim 19 , wherein the user interface device includes a touchscreen.