CPC A61B 34/30 (2016.02) [A61B 34/37 (2016.02); A61B 34/71 (2016.02); A61B 34/76 (2016.02); A61B 34/77 (2016.02); A61B 90/06 (2016.02); A61M 25/0113 (2013.01); A61M 25/0147 (2013.01); A61B 18/1492 (2013.01); A61B 34/20 (2016.02); A61B 2017/00026 (2013.01); A61B 2017/00477 (2013.01); A61B 2018/00351 (2013.01); A61B 2018/00577 (2013.01); A61B 2018/00642 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02); A61B 2034/741 (2016.02); A61B 2034/742 (2016.02); A61B 2090/064 (2016.02)] | 18 Claims |
1. An obstruction detection system for a robotic catheter system including a robotic catheter manipulator assembly including at least one catheter manipulation base and at least one sheath manipulation base, each manipulation base being generally movable with respect to each other, the obstruction detection system comprising:
an electronic control system configured to control movement of the at least one catheter manipulation base and the at least one sheath manipulation base and to receive a signal indicating information relating to the at least one catheter manipulation base and the at least one sheath manipulation base;
wherein the electronic control system is configured to determine a relative distance between the at least one catheter manipulation base and the at least one sheath manipulation base and further configured to determine if the relative distance between the catheter and sheath manipulation bases is less than a predetermined distance, wherein if the relative distance is less than the predetermined distance, then the electronic control system indicates an obstruction status of the catheter and sheath manipulation bases as obstructed, and stopping motion of the catheter and sheath manipulation bases, wherein if the relative distance is greater than or equal to the predetermined distance, then the electronic control system indicates the obstruction status of the catheter and sheath manipulation bases as unobstructed, and allowing motion of the catheter and sheath manipulation bases.
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