Patent ID: 8409172
Filing Date: 2013-04-02
Classification: A61B,A61M

Abstract:
1. A method for performing a medical procedure on an abnormality of a prostate of a patient using a robotically steerable catheter having a distal catheter portion and a surgical tool carried by the distal catheter portion, comprising: inserting a steerable sheath into the urethra using a robotically controlled system, wherein the distal catheter portion is advanced within the steerable sheath along the urethra until the surgical tool is adjacent the prostate; manipulating the catheter using the robotically controlled system; imaging an area of the prostate using an imaging device to obtain an image of the area of the prostate; locating an anatomical landmark using the image of the area of the prostate, and storing a position and orientation of the robotically steerable catheter to arrive at the anatomical landmark; creating a restricted zone, based on the image of the area of the prostate, into which the surgical tool is restricted from entering by a navigation logic of the robotically controlled system; operating the surgical tool using the robotically controlled system to treat abnormality of the prostate; and wherein the operation of the surgical tool is at least partially automatically controlled based on the image obtained by the imaging device.