SYSTEMS AND METHODS FOR POSITIONING AN ELONGATE MEMBER INSIDE A BODY
Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.
1 . A robotic method, comprising:
positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration;
releasing at least some tension in the first wire to relax the first member; and
advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.
2 . The method of claim 1 , wherein the act of positioning the flexible elongated member comprises advancing the flexible elongated member.
3 . The method of claim 1 , wherein the act of positioning the flexible elongated member comprises using a drive mechanism.
4 . The method of claim 1 , further comprising re-tensioning the first wire to stiffen the first member.
5 . The method of claim 4 , further comprising repeating the acts of releasing at least some tension and advancing the first member.
6 . The method of claim 1 , wherein at least a part of the first member has a second member disposed around it, and wherein the second member includes a second wire for bending the second member or for maintaining the second member in a bent configuration, the method further comprising:
releasing at least some tension in the second wire to relax the second member; and
advancing the second member distally relative to the flexible elongated member while the second member is in a relaxed configuration.
7 . The method of claim 6 , wherein the acts of advancing the first member and the second member are performed simultaneously so that both the first member and the second member are advanced together.
8 . The method of claim 6 , wherein the first member is advanced before the second member.
9 . The method of claim 6 , further comprising:
re-tensioning the first wire to stiffen the first member; and
re-tensioning the second wire to stiffen the second member.
10 . The method of claim 1 , wherein the first member is advanced until a distal end of the first member has passed through an opening in a body.
11 . The method of claim 1 , wherein the first wire is coupled to a drivable instrument, and wherein the at least some tension in the first wire is released by the drivable instrument in response to a control signal received from a processor.
12 . The method of claim 1 , wherein the first member is coupled to a drivable instrument, and wherein the first member is advanced by the drivable instrument in response to a control signal received from a processor.
13 . A robotic method, comprising:
rolling a first member, wherein the first member is disposed around a flexible elongated member;
positioning the flexible elongated member to compensate for the rolling of the first member.
14 . The method of claim 13 , wherein the first member comprises a tubular member.
15 . The method of claim 13 , wherein the flexible elongated member is a guidewire.
16 . The method of claim 15 , wherein the guidewire has a preformed configuration.
17 . The method of claim 13 , wherein the act of positioning comprises advancing and/or rotating the flexible elongated member.
18 . The method of claim 13 , wherein the act of rolling the first member comprises rotating the first member about its longitudinal axis.
19 . The method of claim 13 , wherein the act of rolling the first member comprises bending the first member in different radial directions to create an artificial rolling.
20 . A robotic system, comprising:
a flexible elongated member that has a preformed configuration;
a first member disposed around at least a part of the flexible elongated member, wherein the first member includes a first wire;
a drive assembly configured to position the flexible elongated member;
a first drive mechanism configured to manipulate the first wire to bend the first member or to maintain the first member in a bent configuration;
a second drive mechanism configured to move the first member relative to the flexible elongated member; and
a controller coupled to the first drive mechanism and the second drive mechanism;
wherein the controller is configured to transmit first control signals to operate the first drive mechanism so that the first drive mechanism releases at least some tension in the first wire to relax the first member, and to operate the second drive mechanism to advance the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.
21 . The system of claim 20 , wherein the drive assembly is configured to advance the flexible elongated member distally relative to the first member.
22 . The system of claim 20 , wherein the controller is configured to operate the first drive mechanism to re-tension the first wire to stiffen the first member after the first member is relaxed.
23 . The system of claim 22 , wherein the controller is configured to operate the first and second drive mechanisms to repeat the acts of releasing at least some tension and advancing the first member.
24 . The system of claim 20 , further comprising:
a second member disposed around at least a part of the first member, wherein the second member includes a second wire;
a third drive mechanism configured to manipulate the second wire to bend the second member or to maintain the second member in a bent configuration; and
a fourth drive mechanism configured to move the second member;
wherein the controller is further configured to transmit second control signals to operate the third drive mechanism to release at least some tension in the second wire to relax the second member, and to operate the fourth drive mechanism to advance the second member distally relative to the flexible elongated member while the second member is in a relaxed configuration.
25 . The system of claim 24 , wherein the controller is configured to control the second drive mechanism and the fourth drive mechanism to advance the first member and the second member together and simultaneously.
26 . The system of claim 24 , wherein the controller is configured to cause the first member to be advanced before the second member.
27 . The system of claim 24 , wherein the controller is configured to operate the first drive mechanism to re-tension the first wire to stiffen the first member, and to operate the third drive mechanism to re-tension the second wire to stiffen the second member.
28 . A robotic method, comprising:
inserting a first elongate member and a second elongate member into a body, wherein the second elongate member is slidably disposed around at least a portion of the first elongate member;
applying tension to one or more steering wires in the first elongate member to bend a distal portion of the first elongate member;
maintaining the applied tension so that the bent distal portion of the first elongate member stays stiffened; and
advancing the second elongate member distally relative to the first elongate member while using the stiffened distal portion of the first elongate member as a first guide to direct the second elongate member.
29 . The method of claim 28 , further comprising releasing at least some tension in one or more steering wires in the second elongate member to un-stiffen the second elongate member before the act of advancing.
30 . The method of claim 28 , after the act of advancing, further comprising:
releasing at least some tension in the one or more steering wires in the first elongate member to un-stiffen the first elongate member;
applying tension to one or more steering wires in the second elongate member to bend a distal portion of the second elongate member;
maintaining the applied tension in the one or more steering wires in the second elongate member so that the bent distal portion of the second elongate member stays stiffened; and
advancing the first elongate member distally relative to the second elongate member while using the stiffened distal portion of the second elongate member as a second guide to direct the first elongate member
31 . The method of claim 28 , further comprising adjusting the applied tension.
32 . The method of claim 31 , wherein the applied tension is adjusted automatically.
33 . The method of claim 31 , wherein the tension is adjusted to maintain the distal portion of the first elongate member in a desired bent configuration.
34 . The method of claim 28 , wherein the first elongate member comprises a catheter, and the second elongate member comprises a sheath.
35 . The method of claim 28 , wherein the second elongate member does not include any steering wire.