X-ray marker guided automated guide wire or working catheter advancement
Disclosed is the automated rapid advancement of a guide wire through a guide catheter using x-ray markers. The procedure involves providing a guide wire with a marker at or adjacent its tip, providing a guide catheter with a marker at or adjacent its distal terminus, rapidly advancing the guide wire through the guide catheter from its proximal end to its distal end under the control of an automated apparatus, and terminating the automated rapid advancement when the guide wire tip marker becomes adjacent to the guide catheter distal end marker. Fluoroscopic images may be taken of the of the guide wire as it rapidly advances through the guide catheter and image processing software used to determine when to terminate the rapid advancement. This software may use either the position or the velocity of the guide wire to make this determination.
1. A process for automatically advancing a guide wire through a guide catheter comprising:
providing a guide wire with a marker at or adjacent its tip;
providing a guide catheter with a proximate marker and a distal marker at or adjacent its distal terminus, wherein the proximate marker is further from the distal terminus than the distal marker;
advancing the guide wire within the guide catheter with an automated apparatus;
analyzing iteratively successive fluoroscopic images of a distal portion of the guide catheter and the marker on the guide wire;
providing instructions to the automated apparatus to automatically reduce the speed of the advance of the guide wire when the tip of the guide wire reaches the proximate marker of the guide catheter; and
terminating advancing of the guide wire when the guide wire tip marker reaches the guide catheter marker adjacent its distal terminus.
2. The process of claim 1 wherein:
fluoroscopic images are taken of the guide wire as it advances through the guide catheter; and
estimating a distance between the guide wire tip marker and the marker adjacent the distal terminus of the guide catheter; and
providing instructions to the automated apparatus to slow the advance of the guide wire when an estimated distance becomes smaller than a preset value.
3. The process of claim 2 wherein:
the fluoroscopic images are taken intermittently such that an image is taken when the estimated distance is at the preset value.
4. The process of claim 3 wherein providing instructions to the automated apparatus to slow the advance of the guide wire occurs when the estimated distance becomes smaller than a preset value; wherein the estimated distance is used to set a velocity of the guide wire for a rate of taking fluoroscopic images and the latency time of imaging processing.
5. The process of claim 1 wherein:
the guide catheter is provided with multiple markers at known distances along its length;
fluoroscopic images are taken of the guide wire as it advances through the guide catheter; and
estimating a velocity of the guide wire during its advancement in the guide catheter.
6. The process of claim 5 wherein:
the fluoroscopic images are taken at a frame rate which is adjusted in accordance with the estimated velocity;
estimating a distance between guide wire tip marker and the guide catheter distal end marker; and
terminating the automated advancing of the guide wire when the estimated distance becomes smaller than a preset value.
7. The process of claim 6 wherein the distal end of the guide catheter is immediately adjacent to the ostium of a coronary artery in the aorta.
8. The process of claim 1 further including taking x-ray images of an entire path of the guide catheter while the tip of the guide wire is within the guide catheter; and taking x-ray images of just the cardiac region once the tip of the guide wire exits the guide catheter.
9. The process of claim 8 , wherein taking x-ray images occurs at a more frequent rate once the tip of the guide catheter exits the distal end of the guide catheter.
10. A process for automatically advancing a guide wire through a guide catheter comprising:
providing a guide wire with a marker at or adjacent its tip;
providing a guide catheter with a marker at or adjacent its distal terminus;
advancing the guide wire within the guide catheter at a feed speed with an automated apparatus;
analyzing iteratively successive fluoroscopic images of a distal portion of the guide catheter and the marker on the guide wire;
providing instructions to the automated apparatus to automatically reduce the speed of the advance of the guide wire as the tip of the guide wire approaches the distal terminus of the guide catheter; and
providing instructions to automatically terminate the advancement of the guide wire tip when the guide wire tip becomes adjacent to the guide catheter marker adjacent its distal terminus.