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1. (WO2009120948) MODEL CATHETER INPUT DEVICE

Pub. No.:    WO/2009/120948    International Application No.:    PCT/US2009/038536
Publication Date: Oct 1, 2009 International Filing Date: Mar 27, 2009
IPC: A61B 18/18
Applicants: ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC.
KIRSCHENMAN, Mark
Inventors: KIRSCHENMAN, Mark
Title: MODEL CATHETER INPUT DEVICE
Abstract:
An input device (101) for a robotic medical system includes a sheath handle, comprising a flexible shaft (106, 110) defining a lumen therein. The input device also includes a catheter handle comprising a second flexible shaft which is at least partially disposed within the lumen of the first shaft. The sheath handle (102) and the catheter handle (104) are each coupled to a plurality of respective guide wires (130, 132), which are configured such that movement of the handles causes a corresponding tension response in one or more of the plurality of guide wires. Sensors (138, 140) are connected to the guide wires to measure the movement of the sheath handle and the catheter handle.