US20080097476A1 — Precision control systems for tissue visualizatio…

Claim 1

Independent Claim 119 words

1 . A computer-assisted heart treatment system for treating a tissue of a heart, wherein blood is disposed within a chamber of the heart, the heart, treatment system comprising: an articulatable catheter; an imaging assembly carried by the catheter, the imaging assembly configured to obtain, while blood is disposed in the chamber, an image of a tissue surface within the chamber; a display coupleable to the imaging assembly so as to display tire tissue surface image; a computer-controlled guidance assembly coupled to the catheter so as to move the imaging assembly; and a processor coupled to the computer-controlled guidance assembly so that the articulation of the catheter effects repositioning of the imaging assemble registered to the displayed tissue surface.

Claim 2

Dependent Claim 119 words

1 . A computer-assisted heart treatment system for treating a tissue of a heart, wherein blood is disposed within a chamber of the heart, the heart, treatment system comprising: an articulatable catheter; an imaging assembly carried by the catheter, the imaging assembly configured to obtain, while blood is disposed in the chamber, an image of a tissue surface within the chamber; a display coupleable to the imaging assembly so as to display tire tissue surface image; a computer-controlled guidance assembly coupled to the catheter so as to move the imaging assembly; and a processor coupled to the computer-controlled guidance assembly so that the articulation of the catheter effects repositioning of the imaging assemble registered to the displayed tissue surface.

Claim 3

Dependent Claim 35 words

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.

Claim 4

Dependent Claim 32 words

3 . The system, of claim 2 wherein the imaging assembly comprises an imaging element and a barrier or membrane, and wherein the imaging assembly is pivotably coupled to the articulatable catheter.

Claim 5

Dependent Claim 78 words

4 . The system of claim 3 wherein the barrier or membrane is pivotably coupled to the articulatable catheter such that the membrane is movable within a first plane in response to signals from the computer-controlled guidance assembly, and wherein the barrier or membrane is further pivotably coupled to the articulatable catheter such that the barrier or membrane is movable within a second plane transverse to the first plane in response to signals from the computer-controlled guidance assembly.

Claim 6

Dependent Claim 40 words

5 . The system of claim 3 wherein the articulatable catheter comprises a steerable segment proximal to the barrier or membrane and having a spine and a plurality of reduced sections along the segment to facilitate steering of the segment.

Claim 7

Dependent Claim 27 words

6 . The system of claim 5 wherein the plurality of reduced sections are located circumferentially such that the segment is steerable in more than one plane.

Claim 8

Dependent Claim 30 words

7 . The system of claim 1 wherein the computer-controlled guidance assembly comprises one or more drive assemblies coupled to the distal end of the catheter via a respective pullwire.

Claim 9

Dependent Claim 69 words

8 . The system of claim 7 wherein the drive assemblies comprise a member rotatably positioned upon an axle such that rotation of the member in a first rotational direction urges the catheter to deflect in a first direction and rotation of the member in a second rotational direction opposite to the first rotational direction urges the catheter to deflect in a second direction opposite to the first direction.

Claim 10

Dependent Claim 24 words

9 . The system of claim 1 further comprising an instrument guidance assembly configured to retract an outer sheath relative to the articulatable catheter.

Claim 11

Dependent Claim 21 words

10 . The system of claim 1 further comprising an instrument driver upon which the catheter is mounted and extends from.

Claim 12

Dependent Claim 123 words

11 . A computer-assisted heart treatment system for treating a tissue of a heart, wherein blood is disposed within a chamber of the heart, the heart treatment system comprising: an articulatable catheter; an imaging assembly carried by the catheter, the imaging assembly configured to obtain, while blood is disposed in the chamber, an image of a tissue surface within the chamber; a computer-control led guidance assembly coupled to the catheter so as to move the imaging assembly in response to drive signals; a tracking system transmitting position feedback signals in response to movement of the imaging assembly; and a processor coupled to the computer-controlled guidance assembly and the tracking system, the processor configured to transmits the drive signals using the position feedback signals.

Claim 13

Dependent Claim 123 words

11 . A computer-assisted heart treatment system for treating a tissue of a heart, wherein blood is disposed within a chamber of the heart, the heart treatment system comprising: an articulatable catheter; an imaging assembly carried by the catheter, the imaging assembly configured to obtain, while blood is disposed in the chamber, an image of a tissue surface within the chamber; a computer-control led guidance assembly coupled to the catheter so as to move the imaging assembly in response to drive signals; a tracking system transmitting position feedback signals in response to movement of the imaging assembly; and a processor coupled to the computer-controlled guidance assembly and the tracking system, the processor configured to transmits the drive signals using the position feedback signals.

Claim 14

Dependent Claim 49 words

12 . A tissue treatment system, comprising: a barrier or membrane having a first low-profile configuration and a second expanded, configuration defining an open area therein; an articulatable catheter upon which the membrane projects distally; and at least one magnetic element positioned within or along the barrier or membrane.

Claim 15

Dependent Claim 49 words

12 . A tissue treatment system, comprising: a barrier or membrane having a first low-profile configuration and a second expanded, configuration defining an open area therein; an articulatable catheter upon which the membrane projects distally; and at least one magnetic element positioned within or along the barrier or membrane.

Claim 16

Dependent Claim 18 words

13 . The system of claim 12 wherein the barrier or membrane is configured in a conical shape.

Claim 17

Dependent Claim 37 words

14 . The system of claim 12 further comprising an imaging element positioned within or along the barrier or membrane such that tissue adjacent to the open area is able to be visualized via the imaging element.

Claim 18

Dependent Claim 39 words

15 . The system of claim 12 wherein the open area is in communication with a fluid lumen defined through the catheter, and further comprising a fluid, reservoir fluidly coupled to the barrier or membrane via the fluid lumen.

Claim 19

Dependent Claim 28 words

16 . The system of claim 12 wherein the at least one magnetic element comprises a magnetic ring positioned circumferentially about a lip of the barrier or membrane.

Claim 20

Dependent Claim 33 words

17 . The system of claim 12 wherein the at least, one magnetic element comprises one or more coils positioned about one or more respective support struts extending along the barrier or membrane.

Claim 21

Dependent Claim 29 words

18 . The system of claim 12 wherein the at least one magnetic element comprises a magnetic disc positioned upon, a support member extending through the barrier or membrane.

Claim 22

Dependent Claim 54 words

19 . The system of claim 12 further comprising at least two external magnets positioned in proximity to a patient body and independently moveable, wherein movement by the at least two external magnets relative to the patient body results in a corresponding movement by the at least one magnetic element within the patient body.

Claim 23

Dependent Claim 32 words

20 . The system of claim 12 further comprising at least two ultrasonic transducers positioned along the barrier or membrane and a third ultrasonic transducer positioned proximal to the barrier or membrane.

Claim 24

Dependent Claim 31 words

21 . The system of claim 20 further comprising an external plate assembly having at least three ultrasonic transducers positioned over the plate assembly at known distances relative to one another.

Claim 25

Dependent Claim 44 words

22 . The system of claim 21 further comprising an electromagnetic element moveable over the plate assembly, whereby movement by the electromagnetic element relative to the patient body results in a corresponding movement by the at least one magnetic element within the patient body.

Claim 26

Dependent Claim 109 words

23 . A computer assisted method of treating a tissue surface region within a chamber of a heart, comprising: positioning a distal portion of a catheter within the chamber, the catheter coupled to a computer-controlled guidance assembly; locally displacing blood with a transparent fluid from an open area disposed within a portion of the chamber, the open area disposed adjacent the tissue region; visualizing, on a display, the tissue region within the open area as imaged through the transparent fluid, and articulating the catheter with the computer-controlled guidance assembly so that movement of the catheter within the chamber is registered, with the tissue surface region shown on the display.

Claim 27

Dependent Claim 109 words

23 . A computer assisted method of treating a tissue surface region within a chamber of a heart, comprising: positioning a distal portion of a catheter within the chamber, the catheter coupled to a computer-controlled guidance assembly; locally displacing blood with a transparent fluid from an open area disposed within a portion of the chamber, the open area disposed adjacent the tissue region; visualizing, on a display, the tissue region within the open area as imaged through the transparent fluid, and articulating the catheter with the computer-controlled guidance assembly so that movement of the catheter within the chamber is registered, with the tissue surface region shown on the display.

Claim 28

Dependent Claim 23 words

24 . The method of claim 23 wherein positioning comprises advancing the barrier or membrane into a left atrial chamber of a heart.

Claim 29

Dependent Claim 25 words

25 . The method of claim 23 wherein positioning comprises deploying the barrier or membrane from a low-profile delivery configuration into an expanded deployed configuration.

Claim 30

Dependent Claim 23 words

26 . The method of claim 23 wherein positioning comprises stabilizing a position of the barrier or membrane relative to the tissue region.

Claim 31

Dependent Claim 30 words

27 . The method of claim 23 wherein displacing an opaque fluid comprises infusing the transparent fluid into the open area through a fluid delivery lumen defined through the catheter.

Claim 32

Dependent Claim 31 words

28 . The method of claim 27 wherein infusing the transparent fluid comprises pumping saline, plasma, water, or perfluorinated liquid into the open area such that blood is displaced from therefrom.

Claim 33

Dependent Claim 28 words

29 . The method of claim 23 wherein positioning comprises rotating one or more drive assemblies coupled to a distal end of the catheter via a respective pullwire.

Claim 34

Dependent Claim 57 words

30 . The method of claim 29 wherein rotation of the drive assemblies in a first rotational direction urges the catheter to deflect in a first direction and rotation of the member in a second rotational direction opposite to the first rotational direction urges the catheter to deflect in a second direction opposite to the first direction.

Precision control systems for tissue visualization and manipulation assemblies

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