Intuitive user interface control for remote catheter navigation and 3d mapping and visualizaton systems

Abstract

The present disclosure relates to a control system for user-guided robotic control of a medical device and includes an electronic control unit, a computer-readable memory coupled to the ECU, and a visualization system configured to provide a view of an anatomical model. The memory contains user interface logic configured to be executed by the ECU, and configured to obtain input from a touch screen display with respect to the view of an anatomical model. Control logic stored in the memory is also configured to be executed by said ECU and is configured to produce an actuation control signal responsive to the input to control actuation of a manipulator assembly so as to move the medical device.

1 .- 20 . (canceled) 
     
     
         21 . A control system for user-guided robotic manipulation of a medical device comprising:
 an electronic control unit (ECU);   a computer-readable memory coupled to said ECU;   a visualization system configured to provide a view of an anatomical model;   user interface (UI) logic stored in said memory configured to be executed by said ECU, said user interface logic configured to obtain input from a touch screen display with respect to said view of said anatomical model;   control logic stored in said memory configured to be executed by said ECU, said control logic configured to produce an actuation control signal based at least in part on said input to control actuation of a manipulator assembly so as to move the medical device.   
     
     
         22 . The control system of  claim 21  further comprising a safety switch, said control logic, when said switch is actuated, controls said manipulator assembly to cause said medical device into one of a plurality of predefined actions selected from the group comprising halting movement, slowing movement and retracing an immediately preceding path of movement. 
     
     
         23 . The control system of  claim 22 , wherein said safety switch comprises at least one of a foot pedal and a button on said touch screen display. 
     
     
         24 . The control system of  claim 21 , further comprising a safety switch, said manipulator assembly being inoperative until said safety switch is actuated. 
     
     
         25 . The control system of  claim 21 , wherein said UI logic is further configured to obtain input corresponding to a manipulation mode for the medical device selected from the group comprising:
 a control point drag mode; and   a target point mode.   
     
     
         26 . The control system of  claim 21 , wherein said UI logic is further configured to obtain input corresponding to a manipulation mode relating to said view selected from the group comprising:
 a pan mode;   a zoom mode; and   a rotate mode.   
     
     
         27 . The control system of  claim 21 , wherein said UI logic is further configured to obtain input corresponding to a desired operating mode selected from the group comprising:
 a combined translation and deflection mode;   a translation-only mode; and   a deflection-only mode.   
     
     
         28 . The control system of  claim 21 , further comprising display logic stored in said memory configured to be executed by said ECU, said display logic configured to provide said view of said anatomical model from said visualization system for display on said touch screen display, said touch screen display being a first display, said display logic being further configured to drive a second display. 
     
     
         29 . The control system of  claim 28 , wherein said first display is a multi-touch display. 
     
     
         30 . The control system of  claim 28 , wherein said first display has a processor independent from said ECU. 
     
     
         31 . The control system of  claim 28 , wherein said view is a first view, said display logic being further configured to provide a second view of an anatomical model for said second display. 
     
     
         32 . The control system of  claim 21 , wherein said model comprises one of a three-dimensional (3D) geometry of an anatomical feature, a map of an electrophysiological (EP) parameter, and a 3D geometry or map of said anatomical feature from an imaging system. 
     
     
         33 . The control system of  claim 21  wherein the ECU is configured to add a temporal delay after the input is entered into the touch screen to allow the input to be retracted or retraced before the actuation control signal is produced. 
     
     
         34 . A control system for user-guided robotic manipulation of a medical device comprising:
 an electronic control unit (ECU);   a computer-readable memory coupled to said ECU;   a visualization system configured to provide a view of an anatomical model;   user interface logic stored in said memory configured to be executed by said ECU, said user interface logic configured to obtain input from a touch screen display with respect to said view of said anatomical model;   control logic stored in said memory configured to be executed by said ECU, said control logic configured to produce an actuation control signal based at least in part on said input to control actuation of a manipulator assembly so as to move the medical device; and   display logic stored in said memory configured to be executed by said ECU, said display logic configured to provide said view of said anatomical model from said visualization system for said touch screen display, and wherein said view includes a representation of said medical device;   wherein the ECU is configured to add a temporal delay after the input is entered into the touch screen to allow the input to be retracted or retraced before the actuation control signal is produced.   
     
     
         35 . The control system of  claim 34 , wherein said view is a first view and said display logic is further configured to provide a second view of an anatomical model for said touch screen display. 
     
     
         36 . The control system of  claim 35 , wherein said second view is orthogonal to said first view. 
     
     
         37 . A control system for user-guided robotic manipulation of a medical device comprising:
 an electronic control unit (ECU);   a computer-readable memory coupled to said ECU;   a visualization system configured to provide a view of an anatomical model;   user interface logic stored in said memory configured to be executed by said ECU, said user interface logic configured to obtain input from a touch screen display with respect to said view of said anatomical model;   control logic stored in said memory configured to be executed by said ECU, said control logic configured to produce an actuation control signal based at least in part on said input to control actuation of a manipulator assembly so as to move the medical device; and   display logic stored in said memory configured to be executed by said ECU, said display logic configured to provide said view of said anatomical model from said visualization system for said touch screen display, and wherein said view includes a representation of said medical device;   wherein the ECU is configured to allow a user to select a point to move the medical device to and to control a slider to specify a distance above a surface of the anatomical model at the same time.   
     
     
         38 . The control system of  claim 37 , wherein said touch screen display is a multi-touch display. 
     
     
         39 . The control system of  claim 37  further comprising a safety switch, said control logic, when said switch is actuated, controls said manipulator assembly to cause said medical device into one of a plurality of predefined actions selected from the group comprising halting movement, slowing movement and retracing an immediately preceding path of movement. 
     
     
         40 . The control system of  claim 39 , wherein said safety switch comprises at least one of a foot pedal and a button on said touch screen display.