US Patent 8390438 Robotic catheter system including haptic feedback

A haptic feedback system for a robotic catheter system including a robotic catheter manipulator assembly including 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. The haptic feedback system may include a user interface device for controlling an operation associated with the catheter and/or sheath device cartridges, and a control system for evaluating a predetermined and/or a measured operational parameter of the haptic feedback system. The user interface device may provide haptic feedback to a user based on the evaluation by the control system.