Systems and methods for deformation compensation using shape sensing

Patent metadata

Field	Value
Publication number	US-10085671-B2
Application number	US-201313893008-A
Country	US
Kind code	B2
Filing date	May 13, 2013
Priority date	May 14, 2012
Publication date	Oct 2, 2018
Grant date	Oct 2, 2018

Abstract

A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

First claim

What is claimed is:

1. A method comprising:
generating, by a processor, a first three-dimensional model of a bronchial structure that includes a set of anatomical passageways having a plurality of proximal branches and distal branches, including a first proximal branch connected to a first distal branch, from anatomical data describing an anatomic structure of a patient;
positioning an elongate flexible body of a surgical device within the first proximal branch and the first distal branch of the set of anatomical passageways;
determining, by a tracking system disposed along a length of the elongate flexible body of the surgical device, a shape of the surgical device positioned within the first proximal branch and the first distal branch of the set of anatomical passageways;
computing, by the processor, based on the determined shape of the surgical device, a total set of forces acting on the set of anatomical passageways in response to the positioning of the surgical device within the first proximal branch and the first distal branch;
deforming, by the processor, the first three-dimensional model into a second three-dimensional model of the set of anatomical passageways by adjusting at least one joint between branches in the set of anatomical passageways in the first three-dimensional model based on the total set of forces computed, to thereby change a pose of at least one branch through which the surgical device extends and at least one additional branch through which the surgical device does not extend; and
displaying, to an operator, a representation of the second three-dimensional model and a representation of the surgical device as positioned within the second three-dimensional model in a display system.

2. The method of claim 1 wherein determining the shape of the surgical device includes receiving information from an optical fiber shape sensor of the tracking system disposed along the length of the elongate flexible body.

3. The method of claim 2 wherein determining the shape of the surgical device further includes receiving information from an electromagnetic sensor of the tracking system disposed along the length of the elongate flexible body.

4. The method of claim 1 further comprising fitting a sampling of points along the shape of the surgical device to the first three-dimensional model, wherein the tracking system produces the points, the points indicating the shape of the surgical device.

5. The method of claim 1 wherein computing the total set of forces includes computing a set of deformation forces exerted by the elongate flexible body on at least one anatomical passageway.

6. The method of claim 1 wherein computing the total set of forces includes computing a set of restorative forces that bias the set of anatomical passageways toward an original shape thereof.

7. The method of claim 1 wherein computing the total set of forces includes computing a set of maintenance forces, wherein each maintenance force is represented as a joint torque acting opposite to a deformation angle at a connection point of two anatomical passageways.

8. The method of claim 1 wherein computing the total set of forces includes creating a weighted sum of a set of deformation, restorative, and maintenance forces.

9. The method of claim 1 wherein the step of deforming the first three-dimensional model into the second three-dimensional model includes:
determining, by the processor, pitch and yaw angles for each of a plurality of connection points between anatomical passageways in the first three-dimensional model based on the total set of forces computed; and
converting the pitch and yaw angles for the plurality of connection points into poses of branches in the set of anatomical passageways so that the surgical device, which is registered as being located outside of a branch in the set of anatomical passageways in the first three-dimensional model, is registered as being located inside of the branch in the second three-dimensional model.

10. The method of claim 1 , wherein the at least one additional branch is situated proximally relative to a distal tip of the surgical device.

11. The method of claim 1 , further comprising implementing commands to move the surgical device, wherein the commands are received relative to the second three-dimensional model.

12. A method comprising:
generating, by a processor, an inspiration model and an expiration model of a bronchial structure that includes a set of anatomical passageways, from anatomical data describing an anatomic structure of a patient;
positioning an elongate flexible body of a surgical device within at least one branch of the set of anatomical passageways;
determining, by a tracking system disposed along a length of the elongate flexible body of the surgical device, a shape of the surgical device positioned within the at least one branch;
computing, by the processor, based on the determined shape of the surgical device, a total set of forces acting on the set of anatomical passageways in response to the positioning of the surgical device within the at least one branch;
deforming, by the processor, the inspiration model into a revised inspiration model by adjusting at least one joint between branches in the set of anatomical passageways in the inspiration model based on the total set of forces computed;
deforming, by the processor, the expiration model into a revised expiration model by adjusting at least one joint between branches in the set of anatomical passageways in the expiration model based on the total set of forces computed, to thereby change a pose of at least one branch through which the surgical device extends and at least one additional branch through which the surgical device does not extend in the revised expiration model; and
displaying, to an operator, a representation of the revised inspiration model and a representation of the surgical device positioned within the revised inspiration model in a display system when the bronchial structure of the patient is in a state of inspiration; and
displaying, to the operator, a representation of the revised expiration model and a representation of the surgical device positioned within the revised expiration model in the display system when the bronchial structure of the patient is in a state of expiration.

13. The method of claim 12 , further comprising alternating between displaying the representation of the revised inspiration model and displaying the representation of the revised expiration model as the bronchial structure of the patient alternates between the state of inspiration and the state of expiration, respectively.

Assignees

• Duindam Vincent
• Chopra Prashant
• Zhao Tao
• Intuitive Surgical Operations

Inventors

• Duindam Vincent
• Chopra Prashant
• Zhao Tao

Classifications

• A61B5/066 Primary

  Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging · CPC title

• A61B2562/043

  in a linear array · CPC title

• A61B2034/105

  Modelling of the patient, e.g. for ligaments or bones · CPC title

• A61B5/062

  using magnetic field · CPC title

• A61B5/065

  Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe · CPC title