Patent Application
20160001044
The present application relates generally to steerable body insertion devices, such as catheters and pull wires, and in particular, to steerable body insertion devices having piezoelectric elements coupled thereto for steering of the devices.
Conventional body insertion devices, such as catheters, and methods for navigating the body insertion devices inside the vasculature of bodies include mechanical deflection of the catheter and remote magnetic navigation (RMN). Mechanical deflection typically includes having two wires (e.g., pull wires) that extend through the catheter to a steerable or distal end of the catheter where they are bound together at a fixed point. The mechanical deflection catheter bends when one pull wire is pulled in relation to the other. Mechanical deflection catheters typically restrict the motion of the bend by having a rigid tube or other structure that binds the wires together through the non-bending portion of the catheter.
RMN includes a catheter having one or more magnets into the steerable end of the catheter and uses external magnetic fields to cause the deflection in the device. RMN generally operates by using two large magnets placed on either side of the patient and alterations in the magnetic field produced by the magnets deflects the tips of catheters within the patient to the desired direction. Although body insertion devices and methods for navigating the body insertion devices exist, there is a continuing need for more and different body insertion devices and methods for navigating the devices.
Embodiments provide a steerable body insertion device that includes a bendable non-piezoelectric element configured to move within patient anatomy. The non-piezoelectric element extends an element length between a proximal end and a distal end and having an element center axis extending along the element length when the non-piezoelectric element is in a non-bent state. The insertion device also includes a first piezoelectric strand coupled to a surface of the non-piezoelectric element and extending a first strand length. The first piezoelectric strand has a first strand center axis extending substantially parallel to the element center axis along the first stand length. When a first voltage is applied to the first piezoelectric strand, the first piezoelectric strand is configured to contract and cause the non-piezoelectric element to bend away from the element center axis.
According to an embodiment, the bendable non-piezoelectric element is a pull wire and the first piezoelectric strand is coupled to a pull wire surface at the distal end.
According to another embodiment, the bendable non-piezoelectric element is a catheter and the first piezoelectric strand is coupled to a catheter surface.
In one embodiment, the steerable body insertion device further includes a second piezoelectric strand coupled to the non-piezoelectric element, opposing the first piezoelectric strand, having a second strand length, and having a second strand center axis extending along the second stand length and substantially parallel to the element center axis. When a first voltage is applied to the first piezoelectric strand, the first piezoelectric strand is configured to contract and cause the non-piezoelectric element to bend away from the element center axis in a first direction toward the first piezoelectric strand relative to the element axis. When a second voltage is applied to the second piezoelectric strand, the second piezoelectric strand is configured to contract and cause the non-piezoelectric element to bend away from the element center axis in a second direction toward the second piezoelectric strand relative to the element center axis, the second direction being opposite the first direction.
In one embodiment, the steerable body insertion device further includes a second piezoelectric strand coupled to the surface of the bendable non-piezoelectric element and spaced from the first piezoelectric strand. The second piezoelectric strand extends a second strand length and has a second strand center axis extending substantially parallel to the element center axis along the second stand length. When a second voltage is applied to the second piezoelectric strand simultaneously with the first voltage applied to the first piezoelectric strand, the first piezoelectric strand and the second piezoelectric strand are each configured to contract and cause the bendable non-piezoelectric element to bend away from the element center axis in a third direction, the third direction having directional components in the first direction and the second direction.
In yet another embodiment, the steerable body insertion device further includes a second piezoelectric strand coupled to the surface of the bendable non-piezoelectric element and spaced from the first piezoelectric strand. The second piezoelectric strand extends a second strand length and has a second strand center axis extending substantially parallel to the element center axis along the second stand length. The steerable body insertion device further includes a third piezoelectric strand coupled to the surface of the bendable non-piezoelectric element and spaced from the first and second piezoelectric strands. The third piezoelectric strand extends a third strand length and has a third strand center axis extending substantially parallel to the element center axis along the third stand length. When a second voltage is applied to the second piezoelectric strand, the second piezoelectric strand is configured to contract and cause the bendable non-piezoelectric element to bend away from the element center axis in a second direction, the second direction being different than the first direction. When a third voltage is applied to the third piezoelectric strand, the third piezoelectric strand is configured to contract and cause the bendable non-piezoelectric element to bend away from the element center axis in a third direction, the third direction being different than the first direction and the second direction.
In one aspect of an embodiment, the amount that the bendable non-piezoelectric element bends away from the element center axis is proportional to the magnitude of the first voltage applied to the first piezoelectric strand.
Embodiments provide a steerable body insertion device that includes a bendable non-piezoelectric element configured to move within patient anatomy. The bendable non-piezoelectric element extends an element length between a proximal end and a distal end. The bendable non-piezoelectric element has an element center axis extending the element length when the non-piezoelectric element is in a non-bent element state. The body insertion device also includes one or more piezoelectric strands embedded within the non-piezoelectric element. The one or more piezoelectric strands extend a strand length between corresponding strand ends and have a corresponding strand center axis extending substantially parallel to the element center axis along the strand length when the corresponding piezoelectric strand is in a non-bent strand state. When a voltage is applied to the one or more piezoelectric strands, the one or more piezoelectric strands are configured to contract and cause the non-piezoelectric element to bend away from the element center axis in a direction toward the one or more piezoelectric strands relative to the element center axis.
According to an embodiment, the steerable body insertion device further includes a plurality of piezoelectric strands each having a corresponding strand center axis that is spaced equidistant from the element center axis. When the voltage is applied to the one or more piezoelectric strands, the one or more piezoelectric strands are configured to contract and cause the non-piezoelectric element to bend away from the element center axis in a direction toward the one or more piezoelectric strands relative to the element center axis.
According to an embodiment, the steerable body insertion device further includes an inner lumen portion extending along the element length. The non-piezoelectric element includes an outer portion at least partially housing the inner lumen portion. Each of the plurality of piezoelectric strands of the combined piezoelectric strand set are spaced from each other and disposed within the outer portion. When the voltage is applied to the one or more piezoelectric strands, the one or more piezoelectric strands are configured to contract and cause the outer portion of the non-piezoelectric element to bend away from the element center axis in a direction toward the one or more piezoelectric strands relative to the element center axis.
In one embodiment, the plurality of piezoelectric strands includes a first piezoelectric strand, a second piezoelectric strand and a third piezoelectric strand each having a corresponding strand center axis spaced equidistant from each other.
In another embodiment, the bendable non-piezoelectric element is a portion of a sheath.
In yet another embodiment, the bendable non-piezoelectric element is a portion of a catheter.
According to one embodiment, the steerable body insertion device further includes a first piezoelectric strand and a second piezoelectric strand. When a first voltage is applied to the first piezoelectric strand simultaneously with a second voltage applied to the second piezoelectric strand, the first piezoelectric strand and the second piezoelectric strand are each configured to contract and cause the bendable non-piezoelectric element to bend away from the element center axis in a direction toward the one or more piezoelectric strands relative to the element axis. The direction has directional components in a first direction toward the first piezoelectric strand relative to the element axis and a second direction toward the second piezoelectric strand relative to the element center axis.
According to another embodiment, the amount that the bendable non-piezoelectric element bends away from the element center axis is based on the magnitude of the voltage applied to the one or more piezoelectric strands.
In an aspect of an embodiment, the steerable body insertion device further includes multiple sets embedded and substantially centered within the non-piezoelectric element extending along the element length.
In one embodiment, the one or more piezoelectric strands include a plurality of electrodes to separate the one or more piezoelectric strands into a plurality of sub-piezoelectric strands between the electrodes. Each of the one or more sub-piezoelectric strands are configured to contract and cause the non-piezoelectric element to bend away from the element center axis in a direction toward the one or more sub-piezoelectric strands relative to the element center axis when the voltage is applied to a corresponding sub-piezoelectric strand.
In another aspect of an embodiment, a first strand length of a first piezoelectric strand is different than a second strand length of a second piezoelectric strand.
Embodiments provide a system for controlling a steerable body insertion device. The system includes a steerable body insertion device. The steerable body insertion device includes a bendable non-piezoelectric element configured to move within patient anatomy. The bendable non-piezoelectric element extends an element length between a proximal end and a distal end. The bendable non-piezoelectric element has an element center axis extending the element length when bendable the non-piezoelectric element is in a non-bent element state. The steerable body insertion device also includes a plurality of piezoelectric strands coupled to the non-piezoelectric element. Each of the plurality of piezoelectric strands extends a strand length between corresponding strand ends and has a corresponding strand center axis extending substantially parallel to the element center axis along the strand length when the corresponding piezoelectric strand is in a non-bent strand state. Each of the plurality of piezoelectric strands is configured to contract when receiving a voltage and cause the non-piezoelectric element to bend away from the element center axis in a direction toward one or more of the plurality of piezoelectric strands relative to the element center axis. The system also includes a voltage applicator configured to apply the voltage to the one or more piezoelectric strands and a controller configured to control the bend of the bendable non-piezoelectric element by causing the voltage applicator to apply the voltage to the one or more piezoelectric strands.
According to an embodiment, the controller is further configured to control an amount of the bend of the non-piezoelectric element by controlling the voltage applicator to apply a voltage magnitude to the one or more piezoelectric strands.
According to another embodiment, the controller is further configured to control the direction of the bend of the non-piezoelectric element by controlling the voltage applicator to apply a voltage to the one or more piezoelectric strands.
In one embodiment, the voltage applicator is further configured to apply a first voltage to a first piezoelectric strand and simultaneously apply a second voltage to a second piezoelectric strand. The controller is further configured to cause the non-piezoelectric element to bend in a direction having directional components in a first direction toward the first piezoelectric strand relative to the element axis and a second direction toward the second piezoelectric strand relative to the element center axis.
In an aspect of an embodiment, the controller is further configured to cause the magnitude of the second voltage applied to the second piezoelectric strand to be different than the first voltage applied to the first piezoelectric strand.
Embodiments provide a piezoelectric strand set for use with a non-piezoelectric element configured to move within patient anatomy. The piezoelectric strand combination includes a plurality of piezoelectric strands extending a corresponding strand length between corresponding strand ends and having a corresponding strand center axis extending along the corresponding strand length when the plurality of piezoelectric strands piezoelectric strands are in a non-bent state. Each of the plurality of piezoelectric strands strand has opposing electrical contacts electrically connected at opposite ends of each strand configured to receive an applied voltage. Each of the plurality of piezoelectric strands is configured to be embedded into the non-piezoelectric element. When the voltage is applied to one or more of the plurality of piezoelectric strands, the one or more piezoelectric strands are configured to contract and cause the non-piezoelectric element to bend away from a center axis of the non-piezoelectric element in a direction toward the one or more piezoelectric strands relative to the center axis of the non-piezoelectric element.
The foregoing and other aspects of the present invention are best understood from the following detailed description when read in connection with the accompanying drawings. For the purpose of illustrating the invention, there is shown in the drawings embodiments that are presently preferred, it being understood, however, that the invention is not limited to the specific instrumentalities disclosed. Included in the drawings are the following Figures:
As described above, mechanical deflection catheters bend when one wire is pulled in relation to the other. For example, pulling one wire relative to another shortens the pulled wire, thereby deflecting or bending the catheter toward the side of the shortened or pulled wire. Some conventional mechanical deflection catheters may bend 180 degrees or even more. Typically, navigating a body includes many twists and turns. Each time mechanical deflection catheters bend to navigate the twists and turns, stress is applied to the wire, limiting the amount of control a user may have on the distal end of the catheter. Also, the rigid structures of conventional mechanical deflection catheters limit the flexibility of the catheter. While some mechanical deflection catheters use robotics to control the deflection by using robotics to move the mechanism which pulls the wires, use of robotics to control these mechanical deflection catheters does not overcome the shortcomings of these conventional mechanical deflection catheters.
As described above, RMN includes large magnets placed on either side of the patient. Alterations in the magnetic fields produced by the magnets deflect the tips of catheters within the patient to the desired direction. Accordingly, systems using RMN may be large and costly. Further, these external systems and components may impede on the angulation of the x-ray system that is used during the study to do the imaging of the device in the patient's vascular anatomy.
Embodiments of the present invention provide piezoelectric strands coupled to non-piezoelectric elements, causing the non-piezoelectric element to bend when voltages are applied to the piezoelectric strands. Embodiments of the present invention provide steerable body insertion devices having piezoelectric strands that cause non-piezoelectric element portions of the steerable body insertion devices to bend wherein when voltages are applied to the piezoelectric strands. In some embodiments, piezoelectric strands may be coupled to a surface of the non-piezoelectric element portions. In other embodiments, piezoelectric strands may be embedded within the non-piezoelectric element portions of steerable body insertion devices.
Piezoelectric strands are not, however, limited to use with steerable body insertion devices. Embodiments may include piezoelectric strands configured to cause flex or bending of an arm or other appendages. This approach may be used in robotic applications to create mechanical appendages to enable interaction with the environment (e.g., for placing or soldering components onto circuit boards) or to enable locomotion of a robot (e.g., to produce snake-like or fish-like movement).
Embodiments may include piezoelectric materials configured to have axes where the effects of contraction are observed. For example, as shown in
Each configuration of the piezoelectric strands 102 shown in
As shown in
Referring to the second row of
Referring to the third row of
In addition to the movement of the non-piezoelectric element 104 in the first direction toward the first strand 102 and the movement in the second direction toward the second strand 102, the non-piezoelectric element 104 may also move in directions between the first and second piezoelectric strands 102. For example, when the second voltage is applied to the second piezoelectric strand 102 simultaneously with the first voltage applied to the first piezoelectric strand 102, the first piezoelectric strand 102 and the second piezoelectric strand 102 are each configured to contract and cause the non-piezoelectric element 104 to bend away from the element center axis 108 in a third direction between the first and second strands 102. That is, the third direction includes directional components in the first direction and the second direction. Further, the precise direction of the movement between the first and second strands 102 may be based on a magnitude of the voltage applied to the first piezoelectric strand 102. For example, if the magnitude of the voltage applied to the first piezoelectric strand 102 is greater than the magnitude of the voltage applied to the second piezoelectric strand 102, the direction of the movement of the non-piezoelectric element 104 may be closer to the first direction toward the first strand 102 than the second direction toward the second strand 102.
Referring to the fourth row of
In addition, when voltages are applied simultaneously to two of the three piezoelectric strands 102, the two piezoelectric strands 102 may be configured to contract and cause the non-piezoelectric element 104 to bend away from the element center axis 108 in directions between the first and second piezoelectric strands 102. Accordingly, in this configuration, the non-piezoelectric element 104 has 3-dimensional (3D) movement in any direction as shown in column five.
Embodiments may include any additional number of piezoelectric strands 102 (e.g., 4 strands, 5 strands, 6 strands, etc.) as shown as shown in rows 5, 6 and 7, respectively, in
As shown in
Each configuration of multiple piezoelectric strands 102 shown in
Each of the piezoelectric strands 102 shown in
When a voltage is applied to the piezoelectric strands 106, the piezoelectric strands 102 are configured to contract. If the piezoelectric strands 102 are embedded within a non-piezoelectric element portion 104, the non-piezoelectric element portion 104 is caused to bend away from a center axis 108 (shown in
Referring to the first row of
Referring to the applied voltage examples shown in
In the applied voltage example in row 1, the amount that the non-piezoelectric element bends away from the element center axis is based on the magnitude of the voltage applied to the piezoelectric strands 102. For example as shown in the first applied voltage example in row 1, a 100% voltage is applied to the top strand 102. In the second applied voltage example in row 1, a 50% voltage is applied to the top strand 102. Accordingly the arrow 110 in the first example is larger than the arrow 110 in the second example, indicating a greater amount of bend by the non-piezoelectric element 104 in the first example.
As shown in the following rows in
The system 1000 may also include a user interface 1008 configured to communicate with the controller 1004. The user interface may receive instructions from a user (not shown) to control the bend of the non-piezoelectric element 104. The instructions may include amounts of bend (e.g., distances, degrees or radians) and magnitudes of voltages to be applied to the one or more piezoelectric strands 102. The controller 1004 may also receive feedback from the one or more piezoelectric strands 102 and/or the non-piezoelectric element 104 regarding the amount of bend and magnitudes of voltages and may automatically adjust one or more voltages.
The computer system 1110 also includes a system memory 1130 coupled to the bus 1121 for storing information and instructions to be executed by processors 1120. The system memory 1130 may include computer readable storage media in the form of volatile and/or nonvolatile memory, such as read only memory (ROM) 1131 and/or random access memory (RAM) 1132. The system memory RAM 1132 may include other dynamic storage device(s) (e.g., dynamic RAM, static RAM, and synchronous DRAM). The system memory ROM 1131 may include other static storage device(s) (e.g., programmable ROM, erasable PROM, and electrically erasable PROM). In addition, the system memory 1130 may be used for storing temporary variables or other intermediate information during the execution of instructions by the processors 1120. A basic input/output system 1133 (BIOS) containing the basic routines that help to transfer information between elements within computer system 1110, such as during start-up, may be stored in ROM 1131. RAM 1132 may contain data and/or program modules that are immediately accessible to and/or presently being operated on by the processors 1120. System memory 1130 may additionally include, for example, operating system 1134, application programs 1135, other program modules 1136 and program data 1137.
The computer system 1110 also includes a disk controller 1140 coupled to the bus 1121 to control one or more storage devices for storing information and instructions, such as a magnetic hard disk 1141 and a removable media drive 1142 (e.g., floppy disk drive, compact disc drive, tape drive, and/or solid state drive). The storage devices may be added to the computer system 1110 using an appropriate device interface (e.g., a small computer system interface (SCSI), integrated device electronics (IDE), Universal Serial Bus (USB), or FireWire).
The computer system 1110 may also include a display controller 1165 coupled to the bus 1121 to control a display or monitor 1166, such as a cathode ray tube (CRT) or liquid crystal display (LCD), for displaying information to a computer user. The computer system includes an input interface 1160 and one or more input devices, such as a keyboard 1162 and a pointing device 1161, for interacting with a computer user and providing information to the processor 1120. The pointing device 1161, for example, may be a mouse, a trackball, or a pointing stick for communicating direction information and command selections to the processor 1120 and for controlling cursor movement on the display 1166. The display 1166 may provide a touch screen interface which allows input to supplement or replace the communication of direction information and command selections by the pointing device 1161.
The computer system 1110 may perform a portion or all of the processing steps of embodiments of the invention in response to the processors 1120 executing one or more sequences of one or more instructions contained in a memory, such as the system memory 1130. Such instructions may be read into the system memory 1130 from another computer readable medium, such as a hard disk 1141 or a removable media drive 1142. The hard disk 1141 may contain one or more datastores and data files used by embodiments of the present invention. Datastore contents and data files may be encrypted to improve security. The processors 1120 may also be employed in a multi-processing arrangement to execute the one or more sequences of instructions contained in system memory 1130. In alternative embodiments, hard-wired circuitry may be used in place of or in combination with software instructions. Thus, embodiments are not limited to any specific combination of hardware circuitry and software.
As stated above, the computer system 1110 may include at least one computer readable medium or memory for holding instructions programmed according to embodiments of the invention and for containing data structures, tables, records, or other data described herein. The term “computer readable medium” as used herein refers to any non-transitory, tangible medium that participates in providing instructions to the processor 1120 for execution. A computer readable medium may take many forms including, but not limited to, non-volatile media, volatile media, and transmission media. Non-limiting examples of non-volatile media include optical disks, solid state drives, magnetic disks, and magneto-optical disks, such as hard disk 1141 or removable media drive 1142. Non-limiting examples of volatile media include dynamic memory, such as system memory 1130. Non-limiting examples of transmission media include coaxial cables, copper wire, and fiber optics, including the wires that make up the bus 1121. Transmission media may also take the form of acoustic or light waves, such as those generated during radio wave and infrared data communications.
The computing environment 1100 may further include the computer system 1110 operating in a networked environment using logical connections to one or more remote computers, such as remote computer 1180. Remote computer 1180 may be a personal computer (laptop or desktop), a mobile device, a server, a router, a network PC, a peer device or other common network node, and typically includes many or all of the elements described above relative to computer 1110. When used in a networking environment, computer 1110 may include modem 1172 for establishing communications over a network 1171, such as the Internet. Modem 1172 may be connected to system bus 1121 via user network interface 1170, or via another appropriate mechanism.
Network 1171 may be any network or system generally known in the art, including the Internet, an intranet, a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), a direct connection or series of connections, a cellular telephone network, or any other network or medium capable of facilitating communication between computer system 1110 and other computers (e.g., remote computing system 1180). The network 1171 may be wired, wireless or a combination thereof. Wired connections may be implemented using Ethernet, Universal Serial Bus (USB), RJ-11 or any other wired connection generally known in the art. Wireless connections may be implemented using Wi-Fi, WiMAX, and Bluetooth, infrared, cellular networks, satellite or any other wireless connection methodology generally known in the art. Additionally, several networks may work alone or in communication with each other to facilitate communication in the network 1171.
An executable application, as used herein, comprises code or machine readable instructions for conditioning the processor to implement predetermined functions, such as those of an operating system, a context data acquisition system or other information processing system, for example, in response to user command or input. An executable procedure is a segment of code or machine readable instruction, sub-routine, or other distinct section of code or portion of an executable application for performing one or more particular processes. These processes may include receiving input data and/or parameters, performing operations on received input data and/or performing functions in response to received input parameters, and providing resulting output data and/or parameters. A graphical user interface (GUI), as used herein, comprises one or more display images, generated by a display processor and enabling user interaction with a processor or other device and associated data acquisition and processing functions.
The GUI also includes an executable procedure or executable application. The executable procedure or executable application conditions the display processor to generate signals representing the GUI display images. These signals are supplied to a display device which displays the image for viewing by the user. The executable procedure or executable application further receives signals from user input devices, such as a keyboard, mouse, light pen, touch screen or any other means allowing a user to provide data to a processor. The processor, under control of an executable procedure or executable application, manipulates the GUI display images in response to signals received from the input devices. In this way, the user interacts with the display image using the input devices, enabling user interaction with the processor or other device. The functions and process steps herein may be performed automatically or wholly or partially in response to user command. An activity (including a step) performed automatically is performed in response to executable instruction or device operation without user direct initiation of the activity.
The system and processes of the figures presented herein are not exclusive. Other systems, processes and menus may be derived in accordance with the principles of the invention to accomplish the same objectives. Although this invention has been described with reference to particular embodiments, it is to be understood that the embodiments and variations shown and described herein are for illustration purposes only. Modifications to the current design may be implemented by those skilled in the art, without departing from the scope of the invention. Further, the processes and applications may, in alternative embodiments, be located on one or more (e.g., distributed) processing devices on a network linking the units of
The embodiments of the present disclosure may be implemented with any combination of hardware and software. In addition, the embodiments of the present disclosure may be included in an article of manufacture (e.g., one or more computer program products) having, for example, computer-readable, non-transitory media. The media has embodied therein, for instance, computer readable program code for providing and facilitating the mechanisms of the embodiments of the present disclosure. The article of manufacture can be included as part of a computer system or sold separately.
Although the invention has been described with reference to exemplary embodiments, it is not limited thereto. Those skilled in the art will appreciate that numerous changes and modifications may be made to the preferred embodiments of the invention and that such changes and modifications may be made without departing from the true spirit of the invention. It is therefore intended that the appended claims be construed to cover all such equivalent variations as fall within the true spirit and scope of the invention.
