The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

Robotic catheter system and methods

A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

Robotic catheter system

Apparatus and methods are provided for thermally and/or mechanically treating tissue, such as valvular structures, to reconfigure or shrink the tissue in a controlled manner. The apparatus comprises a catheter in communication with an end effector which induces a temperature rise in an annulus of tissue surrounding the leaflets of a valve or in the chordae tendineae sufficient to cause shrinkage, thereby causing the valves to close more tightly. Mechanical clips can also be implanted over the valve either alone or after the thermal treatment. The clips are delivered by a catheter and may be configured to traverse directly over the valve itself or to lie partially over the periphery of the valve to prevent obstruction of the valve channel. The clips can be coated with drugs or a radiopaque coating. The catheter can also incorporate sensors or energy delivery devices, e.g., transducers, on its distal end.

Apparatus and methods for treating tissue

A methods using a robotic catheter system to perform a procedure on a patient includes generating a control signal corresponding to movement of a master input device, and moving a plurality of drive elements of an instrument driver in response to the control signal, the drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument distal end.

Methods using a robotic catheter system

Methods and devices are provided for gathering impedance data related to implantable restriction devices. In general, the methods and devices can enable patients, health care providers, and others to use gathered data as a feedback mechanism to non-invasively monitor efficacy of an implantable restriction device in a patient and to identify, modify, and/or prescribe a treatment plan for the patient considering the gathered data. Impedance data can be gathered and analyzed for tissue proximate to the restriction device, e.g., a fat pad between a gastric band and the patient's stomach. Electrodes in contact with the tissue can measure an impedance of the tissue, with the impedance between the electrodes changing as the tissue reduces in size (e.g., as fat cells shrink) and/or changes configuration.

Methods and devices for measuring impedance in a gastric restriction system

Endocardial pressure measurement devices, systems and methods for the effective treatment of congestive heart failure and its underlying causes, in addition to other clinical applications.

Devices, systems and methods for endocardial pressure measurement

Implantable medical device systems and methods for measuring a body parameter utilizing an implantable functional pressure sensor and a fixed reference sensor, wherein the reference sensor compensates for drift of all other components in the measurement system other than the functional sensor. The reference sensor provides a basis for comparison to determine if and to what extent the electronic components, for example, have drifted over time, and thus provides a basis for correcting functional measurements and improving long term measurement accuracy.

Reference sensor correction for implantable sensors

Endocardial pressure measurement devices, systems and methods for effective treatment of congestive heart failure and its underlying causes, in addition to other clinical applications. A representative device includes an implantable pressure measuring system including a pressure transducer (31) and a fluid filled catheter (34), the catheter having a proximal portion (34A) and a distal portion (34B). The proximal portion (34a) is connected to the pressure transducer (31) and the distal portion (34b) has an opening (36) with a barrier (26). The proximal portion (34a) is relatively crush-resistant and the distal portion (34b) is relatively flexible.

Endocardial pressure measurement

A system and method involve transceiving successive first and second synchronization signals defining endpoints of a frame. A digital signal is transceived by a modulating time interval between portions of the first and second synchronization signals. A first data pulse is transceived during the frame. A relative position in the frame of the first data pulse represents a first analog signal.

Gregg Lichtscheidl

Papers

Devices, systems and methods for endocardial pressure measurement

Reference sensor correction for implantable sensors

Endocardial pressure measurement

Assessing Noise on a Communication Channel

Frame length modulation and pulse position modulation for telemetry of analog and digital data