Robotic control of an endovascular deployment device with optical shape sensing feedback

Patent metadata

Field	Value
Publication number	US-10939967-B2
Application number	US-201615544547-A
Country	US
Kind code	B2
Filing date	Jan 6, 2016
Priority date	Jan 22, 2015
Publication date	Mar 9, 2021
Grant date	Mar 9, 2021

Abstract

A robotic system for operating a endovascular deployment device (40) including a treatment device (43) mounted to a delivery tool (42) connected to a proximal control (41), and further including an optical shape sensor (44) (e.g., an endograft endovascular deployment device incorporating an optical shape sensor). The robotic system employs a robot (50) attachable to proximal control (41) and/or delivery tool (42) for navigating the treatment device (43) within a cardiovascular system (e.g., a robot controlling an axial rotation and/or axial translation of an endograft mounted to a sheath catheter). The robotic system further employs a robot controller (74) for controlling a navigation of treatment device (43) within the cardiovascular system by the robot (50) derived from a spatial registration between a shaping sensing by the optical shape sensor (44) of a portion or entirety of endovascular deployment device (40) to a medical image of the cardiovascular system (e.g., an X-ray/reconstructed image of an abdominal aorta).

First claim

The invention claimed is:

1. A robotic system, comprising:
an endovascular deployment device comprising a treatment device mounted to a delivery tool connected to a proximal control, the endovascular deployment device further comprising an optical shape sensor;
a robot attached to the proximal control and to the delivery tool to navigate the treatment device within a cardiovascular system; and
a robot controller in communication with the robot to control a navigation of the treatment device within the cardiovascular system by the robot, wherein the robot controller is configured to derive the control of the navigation of the treatment device within the cardiovascular system by the robot from a spatial registration between a shaping sensing by the optical shape sensor of at least a portion of the treatment device and a medical image of the cardiovascular system.

2. The robotic system of claim 1 ,
wherein the robot controller is configured to control the navigation of the treatment device within the cardiovascular system responsive to a delineation within the medical image of the cardiovascular system of at least one of a delivery position target for the treatment device within the cardiovascular system and a delivery orientation target for the treatment device within the cardiovascular system.

3. The robotic system of claim 1 ,
wherein the robot controller is configured to control the navigation of the treatment device within the cardiovascular system responsive to a delineation within the medical image of the cardiovascular system of at least one of an axial translation of the treatment device within the cardiovascular system and an axial rotation of the treatment device within the cardiovascular system.

4. The robotic system of claim 1 ,
wherein the robot controller is configured to control the navigation of the treatment device within the cardiovascular system responsive to an interaction within the medical image of the cardiovascular system of at least one of a delivery tool model illustrated within the medical image and a treatment device model illustrated within the medical image.

5. The robotic system of claim 1 ,
wherein the robot controller is configured to control the navigation of the treatment device within the cardiovascular system responsive to a delineation within the medical image of the cardiovascular system of at least one of a delivery position restriction for the treatment device within the cardiovascular system and a delivery orientation restriction for the treatment device within the cardiovascular system.

6. The robotic system of claim 1 ,
wherein the robot is further attached to the proximal control to deploy the treatment device within the cardiovascular system.

7. The robotic system of claim 1 ,
wherein the robot is further attached to at least one of the proximal control and the delivery tool to ascertain at least one force applied by the robot to the delivery tool to thereby navigate or maintain a position of the treatment device within the cardiovascular system.

8. The robotic system of claim 1 , further comprising:
an imaging controller configured to control a generation of the medical image of the cardiovascular system by an imaging modality.

9. The robotic system of claim 8 ,
wherein the robot controller is configured to control the navigation of the treatment device within the cardiovascular system responsive to a delineation within the medical image of the cardiovascular system of at least one of a delivery position target for the treatment device within the cardiovascular system and a delivery orientation target for the treatment device within the cardiovascular system.

10. The robotic system of claim 8 ,
wherein the robot controller is configured to control the navigation of the treatment device within the cardiovascular system responsive to a delineation within the medical image of the cardiovascular system of at least one of an axial translation of the treatment device within the cardiovascular system and an axial rotation of the treatment device within the cardiovascular system.

11. The robotic system of claim 8 ,
wherein the robot controller is configured to control the navigation of the treatment device within the cardiovascular system responsive to an interaction within the medical image of the cardiovascular system of at least one of a delivery tool model illustrated within the medical image and a treatment device model illustrated within the medical image.

12. The robotic system of claim 8 ,
wherein the robot controller is configured to control the navigation of the treatment device within the cardiovascular system responsive to a delineation within the medical image of the cardiovascular system of at least one of a delivery position restriction for the treatment device within the cardiovascular system and a delivery orientation restriction of the treatment device within the cardiovascular system.

13. The robotic system of claim 8 ,
wherein the robot is further attached to the proximal control to deploy the treatment device within the cardiovascular system.

14. The robotic system of claim 8 ,
wherein the robot is further attached to at least one of the proximal control and the delivery tool to ascertain at least one force applied by the robot to the delivery tool to thereby navigate the treatment device within the cardiovascular system.

Assignees

• Koninklijke Philips Nv

Inventors

• Flexman Molly Lara
• Cole Gregory
• Noonan David Paul
• Kahya Neriman Nicoletta

Classifications

• A61B6/4441

  the rigid structure being a C-arm or U-arm · CPC title

• A61B6/12

  Arrangements for detecting or locating foreign bodies · CPC title

• A61B2090/376

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

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title

• A61F2/954 Primary

  for placing stents or stent-grafts in a bifurcation · CPC title