Methods, systems, and computer readable media for controlling a concentric tube probe

Patent metadata

Field	Value
Publication number	US-10846928-B2
Application number	US-201615576619-A
Country	US
Kind code	B2
Filing date	May 23, 2016
Priority date	May 22, 2015
Publication date	Nov 24, 2020
Grant date	Nov 24, 2020

Abstract

Systems for controlling concentric tube probes are disclosed. In some examples, the system includes a concentric tube position display interface and a control system. The concentric tube display interface includes a display for displaying visual feedback to a user indicating a position (and possibly orientation) of a tip of a concentric tube probe and a user input device for receiving user input from the user designating a goal position (and possibly orientation) for the tip of the concentric tube probe. The control system is configured for interactive-rate motion planning of the concentric tube probe by creating, in real-time or near real-time, a motion plan to move the tip of the concentric tube probe to the goal position (and possibly orientation) while avoiding contact by the concentric tube probe with one or more obstacles and for configuring the concentric tube probe as specified by the motion plan.

First claim

What is claimed is:

1. A system for controlling a concentric tube probe, the system comprising:
a concentric tube position display interface comprising a display for displaying visual feedback to a user indicating a position of a tip of a concentric tube probe and a user input device for receiving user input from the user designating a goal position and optionally orientation for the tip of the concentric tube probe, wherein the concentric tube probe comprises at least two concentric tubes so that translation and rotation of one of the tubes inside another of the tubes creates curvilinear motion of the concentric tube probe; and
a control system for interactive-rate motion planning of the concentric tube probe by creating a motion plan to move the tip of the concentric tube probe to the goal position while avoiding contact by the concentric tube probe with one or more obstacles and for configuring the concentric tube probe as specified by the motion plan;
wherein the user input device continually receives goal positions from the user and wherein the control system updates configurations of the concentric tube probe for collision-free motions to the goal positions;
wherein the control system comprises a roadmap planner for generating collision-free motions for the concentric tube probe to the goal position by approximating shapes, positions, and orientations of the curved tubes using a kinematic model of the concentric tube probe; and
wherein the roadmap planner is configured to, in a preoperative phase, receive a probe specification specifying the shape of each component tube of the concentric tube probe, an obstacle specification specifying a location and shape of each of the one or more obstacles, and an insertion pose of the concentric tube probe, and wherein the roadmap planner is configured to, in the preoperative phase, output a roadmap comprising a set of configurations of the concentric tube probe and motions between the configurations, wherein the configurations and motions are verified to be collision-free according to the kinematic model, the probe specification, the obstacle specification, and the insertion pose.

2. The system of claim 1 , wherein the control system is configured to cache a plurality of collision-free configurations of the concentric tube probe.

3. The system of claim 1 , wherein the concentric tube position display interface is an augmented reality interface.

4. The system of claim 1 , wherein the roadmap planner is configured to generate the roadmap using a rapidly-exploring random graph algorithm and evaluate, for each of a plurality of candidate configurations of the concentric tube probe, whether the candidate configuration satisfies one or more kinematic constraints of the kinematic model and is collision-free according to the obstacle specification.

5. The system of claim 4 , wherein the roadmap planner is configured to cache the shapes, positions, and orientations of the concentric tube probe as computed by a kinematic model for the plurality of configurations and motions in the roadmap.

6. The system of claim 1 , wherein the roadmap planner is configured to register a probe coordinate frame of the concentric tube probe with a target coordinate frame of the obstacle specification.

7. The system of claim 6 , wherein the goal position is in proximity of a patient's lungs, and wherein registering the probe coordinate frame with the target coordinate frame comprises determining a current breath phase of the patient and registering the probe coordinate frame to the target coordinate frame using the current breath phase and breath phase data associated with the obstacle specification.

8. The system of claim 1 , wherein the roadmap planner is configured to, during an intraoperative phase, respond to a new user-specified goal position or orientation by searching the roadmap using a graph search algorithm to produce a collision-free motion plan for the concentric tube probe from a previous position and orientation to the new user-specified goal position.

9. The system of claim 1 , wherein the control system comprises a tip error corrector for sensing the position of the tip of the concentric tube probe and moving the tip closer to the goal position.

10. The system of claim 9 , wherein the tip error corrector is configured to receive measurements from a tip position sensing system and use inverse kinematics (IK) to move the tip closer to the goal position.

11. The system of claim 1 , wherein the control system comprises a physical actuation unit for rotating and translating the curved tubes of the concentric tube probe to achieve a configuration specified by the motion plan.

12. The system of claim 1 , wherein the user input device comprises a 3D mouse.

13. The system of claim 1 , wherein displaying feedback indicating the position of the tip comprises displaying a video feed of the concentric tube probe with an overlaid 3D cursor to indicate an intended goal.

14. A method for controlling a concentric tube probe, the method comprising:
displaying, by a concentric tube position display interface of a system of one or more computers, visual feedback to a user indicating a position of a tip of a concentric tube probe, wherein the concentric tube probe comprises at least two concentric tubes so that translation and rotation of one of the tubes inside another of the tubes creates curvilinear motion of the concentric tube probe;
receiving, by a user input device of the system of one or more computers, user input from the user designating a goal position for the tip of the concentric tube probe;
creating, by the system of one or more computers, a motion plan to move the tip of the concentric tube probe to the goal position while avoiding contact by the concentric tube probe with one or more obstacles; and
configuring, by the system of one or more computers, the concentric tube probe as specified by the motion plan;
continually receiving goal positions from the user and updating configurations of the concentric tube probe for collision-free motions to the goal positions and/or orientations; and
in a preoperative phase:
receiving a probe specification specifying the shape of the concentric tube probe, an obstacle specification specifying a location of each of the one or more obstacles, and an insertion pose of the concentric tube probe; and
outputting a roadmap comprising a set of configurations of the concentric tube probe and motions between the configurations, wherein the configurations are verified to be collision-free according to the kinematic model, the probe specification, the obstacle specification, and the insertion pose.

15. The method of claim 14 , comprising caching, for a given position and orientation of the tip and the goal position and/or orientation, a plurality of collision-free configurations of the concentric tube probe to reach the goal position.

16. The method of claim 14 , wherein displaying visual feedback comprises displaying an augmented reality interface.

17. The method of claim 14 , comprising generating the roadmap using a rapidly-exploring random graph algorithm and evaluating, for each of a plurality of candidate configurations of the concentric tube probe, whether the candidate configuration satisfies one or more kinematic constraints of the kinematic model and is collision-free according to the obstacle specification.

18. The method of claim 14 , comprising registering a probe coordinate frame of the concentric tube probe with a target coordinate frame of the obstacle specification.

19.

Assignees

• Univ North Carolina Chapel Hill
• Univ Vanderbilt

Inventors

• Alterovitz Ron
• Torres Luis Guillermo
• Swaney Philip Joseph
• Gilbert Hunter Bryant
• Webster Robert James
• Hendrick Richard Joseph

Classifications

• G06T19/00 Primary

  Manipulating three-dimensional [3D] models or images for computer graphics · CPC title

• A61B34/30

  Surgical robots · CPC title

• G06T2210/41

  Medical · CPC title

• G06T2210/21

  Collision detection, intersection · CPC title

• A61B1/01

  Guiding arrangements therefore · CPC title