John A. Hauck,Jeffrey A. Schweitzer,Troy T. Tegg,James D. Essington,Mark T. Johnson,Kedar Ravindra Belhe
申请号：
US11647300
公开号：
US09782130B2
申请日:
2006.12.29
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A robotic surgical system includes a track, a catheter holding device including a catheter receiving portion translatably associated with the track, a translation servo mechanism to control translation of the catheter holding device relative to the track, a catheter deflection control mechanism, a deflection servo mechanism to control the catheter deflection control mechanism, and a controller to control at least one of the servo mechanisms. The catheter receiving portion is adapted for quick installation and removal of a catheter. The catheter receiving portion may be rotatable, with a rotation servo mechanism to control the rotatable catheter receiving portion. The controller controls at least one of the deflection and rotation servo mechanisms to maintain a substantially constant catheter deflection as the catheter rotates. An introducer, which may be steerable, and an expandable, collapsible sterile tube may also be provided.
