Robot-assisted driving systems and methods

Patent metadata

Field	Value
Publication number	US-10806535-B2
Application number	US-201916265818-A
Country	US
Kind code	B2
Filing date	Feb 1, 2019
Priority date	Nov 30, 2015
Publication date	Oct 20, 2020
Grant date	Oct 20, 2020

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 robotic medical system comprising:
A robotically controlled medical instrument;
an instrument driver coupled to the medical instrument;
a console including a user input device, wherein the console is configured to drive the medical instrument through an anatomical space based on user commanded data received;
a display for displaying a virtual representation of the medical instrument and a path depicting a recommended non-linear shape and orientation for navigation of the medical instrument from a current position towards a target location for the medical instrument on an image of the anatomical space; and
a controller configured to:
detect a localization sensor of the medical instrument and a location, an orientation, and a shape of the medical instrument based on the commanded data,
register the medical instrument to the anatomical space,
signal the display screen to display the virtual representation of the medical instrument on the image of the anatomical space based on the location, the orientation, and the shape of the medical instrument and the commanded data received as the medical instrument is driven through the anatomical space,
receive an identification of a target location for the medical instrument, and
signal the display screen to display, with the virtual representation of the medical instrument on the image of the anatomical space, the path in the form of a line depicting the recommended non-linear shape and orientation directed from the current position towards the target location for the medical instrument.

2. The medical system of claim 1 , wherein the medical instrument comprises a flexible instrument.

3. The medical system of claim 2 , wherein the medical instrument receives an imaging tool therein.

4. The medical system of claim 2 , wherein the medical instrument receives a diagnostic and/or therapeutic tool therein.

5. The medical system of claim 3 , wherein the medical instrument includes one or more pullwires disposed therein for articulating the medical instrument.

6. The medical system of claim 5 , wherein the instrument driver comprises one or more pulleys therein about which the one or more pullwires can be wound.

7. The medical system of claim 6 , wherein the localization sensor comprises a fiber optic sensor therein.

8. The medical system of claim 7 , further comprising an imaging subsystem.

9. The medical system of claim 8 , wherein the imaging subsystem comprises a CT or fluoroscopy system.

10. The medical system of claim 1 , wherein the localization sensor comprises an EM sensor.

11. The medical system of claim 10 , wherein the medical instrument includes a pair of EM sensors.

12. The medical system of claim 11 , wherein each of the EM sensors comprises at least a 5-DOF sensor.

13. The medical system of claim 1 , wherein the display is configured to display an anatomical target.

14. The medical system of claim 13 , wherein the display is configured to display more than one image of the anatomical space.

15. The medical system of claim 13 , wherein the display is configured to display a circle or ring indicator with the representation of the medical instrument.

16. A robotic medical system comprising:
a robotically controlled medical instrument, wherein the robotically controlled medical instrument comprises a flexible instrument for receiving a diagnostic tool;
an instrument driver coupled to the medical instrument;
a console including a user input device, wherein the console is configured to drive the medical instrument through an anatomical space based on user commanded data received;
a display for displaying a virtual representation of the medical instrument and a path depicting a recommended non-linear shape and orientation for navigation of the medical instrument from a current position towards a target location for the medical instrument on an image of the anatomical space; and
a controller configured to:
detect a localization sensor of the medical instrument and a location, an orientation, and a shape of the medical instrument based on the commanded data, register the medical instrument to the anatomical space,
signal the display screen to display the virtual representation of the medical instrument on the image of the anatomical space based on the location, the orientation, and the shape of the medical instrument and the commanded data received as the medical instrument is driven through the anatomical space,
receive an identification of a target location for the medical instrument,
signal the display screen to display, with the virtual representation of the medical instrument on the image of the anatomical space, the path in the form of a line depicting the recommended non-linear shape and orientation directed from the current position towards the target location for the medical instrument.

17. The medical system of claim 16 , wherein the instrument driver comprises a splayer with one or more pulleys received therein.

18. The medical system of claim 17 , further comprising an imaging subsystem including a CT system.

19. The medical system of claim 16 , wherein the display is configured to display an anatomical image obtained with the assistance of an injectable contrast agent.

20. The medical system of claim 16 , wherein the instrument comprises a fiber optic sensor.

Assignees

• Auris Health Inc

Inventors

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

Classifications

• A61B2090/376

  using X-rays, e.g. fluoroscopy · CPC title

• A61B34/25

  User interfaces for surgical systems · 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

• A61B2090/3966

  Radiopaque markers visible in an X-ray 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