US 12,433,693 B2
Rotary and linear actuated robotic catheter steering system
Gregory P. Schmitz, Los Gatos, CA (US); and Paul Andrew Doyle, San Jose, CA (US)
Assigned to SyncRobotix, Inc., Los Gatos, CA (US)
Filed by Gregory P. Schmitz, Los Gatos, CA (US); and Paul Andrew Doyle, San Jose, CA (US)
Filed on Sep. 17, 2024, as Appl. No. 18/887,964.
Application 18/887,964 is a continuation in part of application No. 18/634,962, filed on Apr. 14, 2024, granted, now 12,127,805.
Application 18/634,962 is a continuation in part of application No. 18/593,893, filed on Mar. 2, 2024, granted, now 12,127,804.
Application 18/593,893 is a continuation in part of application No. 18/422,454, filed on Jan. 25, 2024, granted, now 12,127,737.
Application 18/422,454 is a continuation in part of application No. 18/324,493, filed on May 26, 2023, granted, now 11,950,765, issued on Mar. 20, 2024.
Claims priority of provisional application 63/679,382, filed on Aug. 5, 2024.
Claims priority of provisional application 63/618,832, filed on Jan. 8, 2024.
Claims priority of provisional application 63/603,757, filed on Nov. 29, 2023.
Claims priority of provisional application 63/499,218, filed on Apr. 29, 2023.
Prior Publication US 2025/0009440 A1, Jan. 9, 2025
Int. Cl. A61B 1/00 (2006.01); A61B 34/20 (2016.01); A61M 25/01 (2006.01)
CPC A61B 34/20 (2016.02) [A61M 25/0133 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A catheter steering device configured to steer a sterile catheter through internal body passages, said catheter steering device comprising:
at least one motorized rotary actuator;
at least one motorized steering cable actuator;
said at least one rotary actuator and at least one steering cable actuator connected by at least one slidable coupling;
an axis of rotation;
said catheter steering device configured to reversibly attach to a sterile catheter comprising at least a proximal region, a distal region, and at least one steering cable;
wherein at least one said steering cable actuator is configured to reversibly attach to said at least one steering cable and provide force to said at least one steering cable through at least one steering element;
said at least one steering element configured to connect to said rotary actuator through a slidable coupling about said axis of rotation;
wherein said device is configured so that for said catheter, at least one said rotary actuator, at least one said steering cable, and at least one said steering cable actuator:
said rotary actuator is configured to couple to said proximal region of said catheter;
said rotary actuator is configured to transmit torque, independently of said force provided by said steering cable actuator, about said axis, to rotate said at least one slidable coupling and at least one region of said catheter, thus producing at least one rotated catheter region;
said steering cable actuator is configured to apply said force to said at least one steering element to transmit force to said steering cable, independently of said rotary actuator's said torque, to induce at least a portion of said catheter to flex and unflex; and
wherein, for any rotation caused by said rotary actuator about said axis, said rotary actuator is configured to rotate, through said slidable coupling, at least a portion of said at least one steering cable actuator and at least one said steering cable along with at least one said rotated catheter region.