A robotic catheter device cartridge may include a finger or a slider block generally disposed in a channel and engaged with a steering wire. The steering wire may control movement of a component having the steering wire engaged thereto when the finger or the slider block is linearly driven in a predetermined direction. The cartridge may be a transseptal cartridge having a transseptal needle connected thereto, a catheter cartridge having a catheter connected thereto, or a sheath cartridge having a sheath connected thereto.

Robotic catheter device cartridge

An input device for a robotic medical system includes a handle configured to be rotatable about a center axis, and to be longitudinally displaceable along the center axis. The input device also includes a deflection control element disposed on the handle and configured to selectively control deflection of the distal end of a flexible medical instrument electrically coupled to the input device. Longitudinal displacement of the handle may cause or result in a corresponding longitudinal motion or deflection of the flexible medical instrument. Rotation of the handle may cause or result in a corresponding rotation of the deflection plane. Longitudinal displacement and rotation of the handle may be detected or sensed electronically.

Robotic catheter system input device

A robotic catheter system including one or more robotic catheter manipulator assemblies supported on a manipulator support structure. The robotic catheter manipulator assembly may include one or more removably mounted robotic catheter device cartridges and robotic sheath device cartridges, with each cartridge being generally linearly movable relative to the robotic catheter manipulator assembly. An input control system may be provided for controlling operation of the robotic catheter manipulator assembly. A visualization system may include one or more display monitors for displaying a position of a catheter and/or a sheath respectively attached to the robotic catheter and sheath device cartridges.

Robotic catheter system

The present disclosure relates to a control system for user-guided robotic control of a medical device and includes an electronic control unit, a computer-readable memory coupled to the ECU, and a visualization system configured to provide a view of an anatomical model. The memory contains user interface logic configured to be executed by the ECU, and configured to obtain input from a touch screen display with respect to the view of an anatomical model. Control logic stored in the memory is also configured to be executed by said ECU and is configured to produce an actuation control signal responsive to the input to control actuation of a manipulator assembly so as to move the medical device.

Intuitive user interface control for remote catheter navigation and 3D mapping and visualization systems

A radio frequency digital-to-analog converter with a programmable current output. In exemplary aspects of the invention, improved apparatus and methods for providing (i) current mirror matching, (ii) enhanced current pulse rising edge performance, (ii) reduced base voltage swing, and (iv) compensated high voltage swing, are provided. The foregoing apparatus and methods can be applied to any RF signal application (wireless or otherwise), including for example wireless cellular handsets.

Radio frequency digital-to-analog converter

According to one embodiment of the invention, a programmable finite impulse response (FIR) filter is implemented with differential isolation circuits to isolate parasitic capacitance from attenuating an output signal at both a first and second differential output terminals of the FIR filter. The FIR includes a summing circuit that provides operational advantages to the FIR filter.

Analog finite impulse response filter

A 'gain control differential pair' (GCDP) (10) conducts current in response to a differential drive signal, with the gain of a signal path formed via the current circuit of one of its transistors controlled by the drive signal. The GCDP is preferably driven with a drive circuit (20) that receives a symmetrical input signal and produces an offset differential drive signal which has the effect of keeping one of the GCDP's transistors turned off over a wider portion of a symmetrical input signal's voltage range, thereby reducing GCDP-caused noise. One or more GCDPs are implemented as part of a Gilbert mixer (30) to regulate the amount of RF current that flows between the mixer's output and input stages, which eliminates the need to provide gain control in other circuits fed by the mixer. When driven with an offset drive signal, the Gilbert mixer simultaneously provides gain control, low distortion, low power consumption and excellent LO/RF isolation.

Differential pair gain control stage

A compensating transistor (Q5) is connected in series with the collector of a main transistor (Q3), and a level shifted replica (Vin + V1) of an input signal (Vin) is applied to the base of the compensating transistor (Q5) to maintain a constant voltage difference between the base and collector of the main transistor (Q3) and compensate for base width modulation ΔVce. A voltage-controlled current source (S1) is responsive to the input signal (Vin) and applies a compensating current ΔIload which is equal and opposite to the load current variation caused by a change (ΔVin) in the input voltage (Vin) to the emitter of the main transistor (Q3) to compensate for load current modulation ΔVbe. Alternatively, the compensating current can be applied to the junction of the base of the main transistor (Q3) and the emitter of pre-distortion transistor (Q4) which has a base connected to receive the input signal (Vin). Another compensating transistor (Q12) applies a current (ΔIb) which is equal and opposite to a non-linear base current variation to the emitter or collector of the main transistor (Q3) to compensate for current gain modulation ΔIb. The modulation compensation arrangements are applicable to common-collector, common-base and common emitter amplifiers in single-ended and differential configurations, and to substantially all bipolar and field-effect transistor technologies.

Single-ended and differential transistor amplifier circuits with full signal modulation compensation techniques which are technology independent

A subranging analog to digital converter (ADC). The ADC (200) includes a novel resistive ladder (56) for a differential quantizer (50) and a novel summing node circuit (150). The novel resistive ladder (56) includes an input terminal (52), a plurality of serially connected resistors R coupled to the input terminal (52), and a pair of complementary current sources (66 and 68) for maintaining a constant current flow through the ladder (56). The novel summing node circuit (150) includes an input terminal (152) for receiving an input signal, a pair of complementary DACs (156 and 158) for generating a reconstruction signal, and a summing amplifier (164) for subtracting the reconstruction signal from the input signal to produce a residue signal. The invention also includes a method for trimming the subranging ADC. The novel method (250) includes the steps of trimming the complementary current sources of the coarse quantizer to match each other (252), trimming each of the DAC cells on one of the complementary DACs (254), trimming the overall DAC gain to match the gain of the coarse quantizer (256); and trimming the gain of the fine quantizer to match one coarse quantization Q level (260).

Resistive ladder, summing node circuit, and trimming method for a subranging analog to digital converter

First and second current feedback transconductance amplifiers (102,104) each have a high impedance voltage input, a low impedance current input and a pair of push-pull current outputs. In a single-ended configuration, an input signal is applied to the voltage input of the first transconductance amplifier (102) and the push-pull outputs of the both transconductance amplifiers are connected through a current mirror (136,138) to a node (134) where the current outputs are summed. The node current is integrated by a capacitor (174) to produce a voltage which is amplified by a transimpedance amplifier (190) to produce an output voltage which is fed back to the voltage input of the second transconductance amplifier (104). The current inputs of the transconductance amplifiers (102,104) are interconnected by a resistor (132). The high impedance voltage inputs produce common-mode cancellation of distortion in the transconductance amplifiers (102,104) and low input shot noise. In a differential configuration, differential input signals are applied to the voltage inputs of transconductance amplifiers (260,262), and a separate transimpedance amplifier (292,316) and current mirror (278,280) (302,304) is provided for each transconductance amplifier (260,262). A common-mode feedback circuit (352) controls the common-mode output voltages of the transimpedance amplifiers (292,316) to ground. Switch means (402,404,406,408,410,412) may be added to selectively ground the voltage inputs of the transconductance amplifiers (260,262) and disable their input stages by disconnecting their power supplies (VCC,VEE).

Lloyd F. Linder

Papers

Analog finite impulse response filter

Differential pair gain control stage

Single-ended and differential transistor amplifier circuits with full signal modulation compensation techniques which are technology independent

Resistive ladder, summing node circuit, and trimming method for a subranging analog to digital converter

Single-ended and differential amplifiers with high feedback input impedance and low distortion