Precision control systems for tissue visualization and manipulation assemblies
Precision control systems for tissue visualization and manipulation assemblies are described herein where such devices may utilize a variety of apparatus and methods for facilitating advancement, articulation, control, navigation, etc. of systems which may be used to visualize and/or treat tissue regions. Additionally, methods and devices for enhancing navigation of the device through a patient body are also described.
1. A computer-assisted treatment system comprising:
a delivery catheter defining at least one lumen therethrough;
a computer-controlled guidance assembly including one or more actuation members;
a processor coupled to and in electrical communication with the computer-controlled guidance assembly;
a deployment catheter which is positionable through the at least one lumen of the delivery catheter and through which the one or more actuation members extend;
a self-expanding fluid impermeable barrier coupled to a distal end of the deployment catheter by a pivot assembly attached to the one or more actuation members, wherein the self-expanding fluid impermeable barrier is constrained to movement by the one or more actuation members about at least one axis of the pivot assembly;
a section of the deployment catheter positioned proximal of the self-expanding fluid impermeable barrier, the section having multiple cut-outs;
an imager carried by the deployment catheter for generating an image of a tissue surface through an open area defined by the self-expanding fluid impermeable barrier in an expanded state, the imager positioned within the open area such that movement of the self-expanding fluid impermeable barrier about the pivot assembly causes a corresponding movement of the imager about the pivot assembly; and
a display couplable to the imaging assembly so as to display the tissue surface image.
2. The system of claim 1 further comprising a tracking system transmitting position feedback signals to the processor, wherein the processor transmits drive signals for the computer-controlled guidance assembly using the position feedback signals.
3. The system of claim 1 wherein actuation of the one or more actuation members moves the self-expanding fluid impermeable barrier within a first plane about the pivot assembly and within a second plane transverse to the first plane in response to signals from the computer-controlled guidance assembly.
4. The system of claim 1 wherein the computer-controlled guidance assembly comprises one or more drive assemblies coupled to the one or more actuation members.
5. The system of claim 1 further comprising a drive assembly configured to retract the delivery catheter from the fluid impermeable barrier.
6. A computer-assisted method of treating a patient tissue region comprising:
actuating a distal end of a deployment catheter with one or more actuation members extending through the deployment catheter, the distal end of the deployment catheter coupled to a self-expanding fluid impermeable barrier by a pivot assembly attached to the one or more actuation members, the catheter having a section having multiple cut-outs proximal of the pivot assembly;
actuating, with the one or more actuation members, the self-expanding fluid impermeable barrier, the self-expanding fluid barrier being constrained to movement about at least one axis of the pivot assembly;
locally displacing patient fluid from an open area defined by the barrier in an expanded state, the open area disposed adjacent the tissue region; and
visualizing, on a display, through use of an imager positioned within the open area such that movement of the self-expanding fluid impermeable barrier about the pivot assembly causes corresponding movement of the imager about the pivot assembly, the tissue region within the open area.
7. The method of claim 6 wherein actuating the distal end comprises rotating one or more drive assemblies coupled to the one or more actuation members.
8. The method of claim 7 wherein rotating one or more drive assemblies in a first rotational direction urges the distal end of the deployment catheter to deflect in a first direction and rotating one or more drive assemblies in a second rotational direction opposite to the first rotational direction urges the distal end of the deployment catheter to deflect in a second direction opposite to the first direction.
9. The method of claim 6 further comprising deploying the barrier from a delivery configuration within a delivery catheter into an expanded deployed configuration external of a distal portion of the delivery catheter.
10. The method of claim 6 further comprising positioning the deployment catheter so that an open area defined by the self-expanding fluid impermeable barrier is against or adjacent to the tissue region.
11. The method of claim 6 further comprising advancing the distal end of the deployment catheter toward the patient tissue region.
12. The method of claim 6 further comprising actuating the one or more actuation members to move the self-expanding fluid impermeable barrier in at least two transverse planes about the pivot assembly.
13. The system of claim 1 wherein the pivot assembly includes first and second hinge joints.
14. The system of claim 1 wherein at least one of the one or more actuation members is coupled to the fluid barrier.
15. The system of claim 1 wherein the one or more actuation members includes one or more pullwires.
16. The system of claim 1 wherein the at least one axis of the pivot assembly is defined by a pin.