Robot-assisted driving systems and methods

Patent metadata

Field	Value
Publication number	US-10143526-B2
Application number	US-201615365230-A
Country	US
Kind code	B2
Filing date	Nov 30, 2016
Priority date	Nov 30, 2015
Publication date	Dec 4, 2018
Grant date	Dec 4, 2018

Abstract

Systems and methods for driving a flexible medical instrument to a target in an anatomical space with robotic assistance are described herein. The flexible instrument may have a tracking sensor embedded therein. An associated robotic control system may be provided, which is configured to register the flexible instrument to an anatomical image using data from the tracking sensor and identify one or more movements suitable for navigating the instrument towards an identified target. In some embodiments, the robotic control system drives or assists in driving the flexible instrument to the target.

First claim

What is claimed is:

1. A method for driving a flexible medical instrument in three dimensional space within an anatomy, the method performed by a robotic medical system and comprising:
acquiring an anatomical image using an imaging subsystem of the robotic medical system;
acquiring localization information for the instrument from a tracking sensor integrated in the instrument;
registering the instrument to the anatomical image;
overlaying a representation of the instrument on the anatomical image for display to a user;
identifying a target on the anatomical image;
receiving a user command to drive the instrument, the user command received from the user via a user input device;
identifying, based on the localization information of the instrument and the identified target, a pathway suitable for navigating the instrument from its current position towards the target;
overlaying a representation of the pathway suitable for navigating the instrument from its current position towards the target on the anatomical image for display to the user.

2. The method of claim 1 , wherein identifying the suitable movement comprises determining a suitable change in instrument position in at least one degree of freedom.

3. The method of claim 2 , further comprising directing the change in instrument position in the at least one degree of freedom.

4. The method of claim 3 , wherein the change in instrument position in at least one degree of freedom is repeatedly and automatically identified, directed, and implemented by a controller and a communicatively coupled instrument driver using a closed loop control algorithm as the instrument moves towards the target.

5. The method of claim 1 , wherein receiving the user command to drive the instrument comprises receiving one or more user commands to position the instrument in one or more degrees of freedom, and wherein the method further comprises adjusting the instrument in accordance with the user commands and automatically adjusting the instrument in one or more uncommanded degrees of freedom.

6. The method of claim 1 , further comprising automatically driving the instrument to the target using the instrument driver.

7. The method of claim 1 , wherein receiving the user command comprises receiving a command at the user input device to drive the instrument in a single two-dimensional plane, and wherein identifying the suitable movement comprises identifying a suitable rotation of the instrument in a third dimension.

8. The method of claim 1 , further comprising setting a sequence of additional targets to navigate the instrument through a specific path.

9. The method of claim 1 , wherein the imaging subsystem is a fluoroscopy system.

10. The method of claim 1 , further comprising updating the anatomical image during a medical procedure.

11. The method of claim 1 , wherein the tracking subsystem comprises at least one of an electromagnetic tracking system and a fiber optic shape sensing and tracking system.

12. The method of claim 1 , wherein the target is selected from a group consisting of: an ostium of a branch vessel, an ablation location, a fenestration of an endograft, a branch of an endograft, and an annulus of a valve.

13. The method of claim 1 , wherein the anatomical image comprises an image of vasculature obtained by injection of a contrast agent into the vasculature.

14. The method of claim 1 , wherein the anatomical image is derived from a CT or MRI 3-D data set and the target is identified from markers on the CT or MRI 3-D data set.

15. The method of claim 1 , wherein identifying the target comprises marking a position, orientation, and size of the target.

16. The method of claim 1 , further comprising adding indicators indicative of a roll orientation of the instrument onto the overlay of the instrument on the anatomical image.

17. A method for driving a flexible medical instrument in three dimensional space within an anatomy, the method performed by a robotic medical system and comprising:
acquiring an anatomical image using an imaging subsystem of the robotic medical system;
acquiring localization information for the instrument from a tracking sensor integrated in the instrument;
registering the instrument to the anatomical image;
overlaying a representation of the instrument on the anatomical image for display to a user;
identifying a target on the anatomical image;
receiving a user command to drive the instrument, the user command received from the user via a user input device; and
identifying, based on the localization information of the instrument and the identified target, a pathway suitable for navigating the instrument from its current position towards the target, wherein the instrument comprises an outer member and an inner member in a telescoping configuration; wherein identifying the suitable pathway comprises identifying a route to the target for the inner member; and wherein the method further comprises navigating a distal tip of the inner member to the target and advancing the outer member over the inner member such that the outer member follows over a path defined by the inner member.

18. The method of claim 17 , further comprising setting a separate target for the outer member.

19. A method for driving a flexible medical instrument in three dimensional space within an anatomy, the method performed by a robotic medical system and comprising:
acquiring an anatomical image using an imaging subsystem of the robotic medical system;
acquiring localization information for the instrument from a tracking sensor integrated in the instrument;
registering the instrument to the anatomical image;
overlaying a representation of the instrument on the anatomical image for display to a user;
identifying a target on the anatomical image;
receiving a user command to drive the instrument, the user command received from the user via a user input device; and
identifying, based on the localization information of the instrument and the identified target, a pathway suitable for navigating the instrument from its current position towards the target, wherein overlaying the representation of the instrument on the anatomical image comprises overlaying the instrument representation on at least two different images to depict the instrument relative to the anatomy at different viewing angles.

20. The method of claim 19 , wherein a first of the at least two different images is a live fluoroscopic view and a second of the at least two different images is a stored reference image from a previous projection.

Assignees

• Auris Health Inc

Inventors

• Walker Sean
• Caton Curtis
• Welsh Terence
• Virmani Neha
• Chiu Yu
• Park June

Classifications

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61B5/7425

  Displaying combinations of multiple images regardless of image source, e.g. displaying a reference anatomical image with a live image · CPC title

• A61B2090/365

  augmented reality, i.e. correlating a live optical image with another image · CPC title

• A61B5/066

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

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title