Patent ID: 8792964
Filing Date: 2014-07-29
Classification: A61B,B25J

Abstract:
1. A system for conducting medical interventional procedures involving heart valves, comprising: a patient table configured to support a patient thereon; a catheter system configured to interact with the patient on the patient table to implement a medical procedure involving a heart valve of the patient, said catheter system comprising a catheter and a catheter robot that at least semi-automatically manipulates said catheter intracorporeally in the patient; a robotic x-ray imaging device comprising a robot arm having at least four degrees of freedom and a support arm carried by said robot arm, to which are mounted an x-ray source that emits x-rays and a radiation detector, said robot arm being operable to irradiate a region of the patient comprising said heart valve with said x-rays during said medical procedure from a plurality of different projection directions, with said radiation detector detecting x-rays attenuated by the patient at said different projection directions and emitting respective sets of projection data for said projection directions; a control unit in communication with said catheter robot and said robotic x-ray imaging device, said control unit being mounted at said patient table and being configured to operate both said catheter system, including said catheter robot thereof, and said robotic x-ray imaging system from a single location at said patient table; an image processor in communication with said radiation detector and supplied therefrom with the projection data sets that reconstructs a 3D image of said region from said projection data sets substantially in real time during said medical procedure; and a display in communication with said image processor on which said 3D image is displayed during said medical procedure.