Robotic system configured for navigation path tracing

Patent metadata

Field	Value
Publication number	US-11058493-B2
Application number	US-201816143362-A
Country	US
Kind code	B2
Filing date	Sep 26, 2018
Priority date	Oct 13, 2017
Publication date	Jul 13, 2021
Grant date	Jul 13, 2021

Abstract

Certain aspects relate to systems and techniques for navigation path tracing. In one aspect, a system displays a preoperative model of a luminal network is displayed. The system determines a position of an instrument within the luminal network relative to the preoperative model. Based on the position of the instrument relative to the preoperative model, the system determines whether to enter a path tracing mode. In path tracing mode the system displays visual indicia indicative of a path of the instrument with respect to the displayed preoperative model. The visual indicia may be used to visual the navigation path of the instrument and/or to extend the preoperative model.

First claim

What is claimed is:

1. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause a processor of a device to at least:
display, on a user display, a preoperative model corresponding to a mapped portion of a luminal network of a patient;
determine a position of a distal end of an instrument that is configured to be positioned within the luminal network relative to the mapped portion of the preoperative model;
determine that the position of the distal end of the instrument is within a predetermined distance of a boundary corresponding to a transition from an end of the mapped portion of the preoperative model to a portion of the luminal network that is unmapped in the preoperative model prior to the distal end of the instrument reaching the boundary;
enter a path tracing mode in response to determining that the position of the distal end of the instrument is within the predetermined distance of the boundary prior to the distal end of the instrument reaching the boundary; and
when in the path tracing mode, display, on the user display, visual indicia indicative of a path traversed by the distal end of the instrument with respect to the displayed preoperative model as the instrument is navigated through the luminal network.

2. The non-transitory computer readable storage medium of claim 1 , wherein the instructions are configured to cause the processor of the device to deactivate the path tracing mode when the position of the distal end of the instrument returns to the mapped portion of the preoperative model from the unmapped portion of the preoperative model.

3. The non-transitory computer readable storage medium of claim 1 , wherein the instructions are configured to cause the processor of the device to enter the path tracing mode when the position of the distal end of the instrument is within 25%, 20%, 15%, 10%, or 5% an end of a last segment of the preoperative model.

4. The non-transitory computer readable storage medium of claim 1 , wherein the visual indicia are indicative of historical positions of the distal end of the instrument within the luminal network.

5. The non-transitory computer readable storage medium of claim 1 , wherein, in path tracing mode, the instructions are configured to cause the processor of the device to adjust a frequency of the visual indicia based on a distance traveled by the instrument between the visual indicia.

6. The non-transitory computer readable storage medium of claim 1 , wherein, in path tracing mode, the instructions are configured to cause the processor of the device to adjust a frequency of the visual indicia based on a time elapsed between the visual indicia.

7. The non-transitory computer readable storage medium of claim 1 , wherein the instructions are configured to cause the processor of the device to determine the position of the distal end of the instrument based on a plurality of navigation modalities when the instrument is positioned within the mapped portion of the preoperative model, wherein the plurality of navigation modalities comprise a plurality of preoperative model data, vision data, position sensor data, and robotic command and kinematics data.

8. The non-transitory computer readable storage medium of claim 7 , wherein the instructions are configured to cause the processor of the device to determine the position of the distal end of the instrument based on less than the plurality of navigation modalities when the instrument is positioned outside the mapped portion of the preoperative model.

9. The non-transitory computer readable storage medium of claim 1 , wherein the instructions are configured to cause the processor of the device to associate vision data with the visual indicia, wherein the vision data comprises an image received from an imaging device on the distal end of the instrument.

10. The non-transitory computer readable storage medium of claim 1 , wherein the instructions are configured to cause the processor of the device to associate robotic command and kinematics data with the visual indicia.

11. The non-transitory computer readable storage medium of claim 1 , wherein the instructions are configured to cause the processor of the device to:
receive user input data from a user input; and
associate the user input data with the visual indicia;
wherein the user input data comprises one or more of:
an indication of a lumen traveled;
an indication of a lumen not traveled;
an indication of an end of a lumen;
an indication of an opening of a lumen;
an indication that a current lumen extends beyond a current position of the instrument; and
a lumen diameter.

12. The non-transitory computer readable storage medium of claim 1 , wherein the instructions are configured to cause the processor of the device to:
detect when the position of the distal end of the instrument is moved into the mapped portion of the luminal network; and
stop displaying the visual indicia when the distal end of the instrument is positioned inside the mapped portion of the luminal network.

13. The non-transitory computer readable storage medium of claim 1 , wherein the instructions are configured to cause the processor of the device to determine the position of the distal end of the instrument based on a plurality of navigation modalities when the instrument is positioned within the mapped portion of the preoperative model.

14. The non-transitory computer readable storage medium of claim 13 , wherein the plurality of navigation modalities comprise a plurality of preoperative model data, vision data, position sensor data, and robotic command and kinematics data.

15. The non-transitory computer readable storage medium of claim 13 , wherein the instructions are configured to cause the processor of the device to determine the position of the distal end of the instrument based on less than the plurality of navigation modalities when the instrument is positioned outside the mapped portion of the preoperative model.

16. The non-transitory computer readable storage medium of claim 1 , wherein the instructions are configured to cause the processor of the device to determine the position of the distal end of the instrument based on EM data received from an EM sensor when the instrument is positioned outside the mapped portion of the preoperative model.

17. The non-transitory computer readable storage medium of claim 1 , wherein the instructions are configured to cause the processor of the device to determine the position of the distal end of the instrument based on a combination of vision data and robotic command and kinematics data when the instrument is positioned outside the mapped portion of the preoperative model.

18. The non-transitory computer readable storage medium of claim 1 , wherein the visual indicia comprise:
a first type of visual indicia indicative of a first historical position of the distal end of the instrument within the luminal network at which a first branch is present in the luminal network, the first type of visual indicia further indicating that the distal end of the instrument has traveled down all available child segments of the first branch, and
a second type of visual indicia indicative of a second historical position of the distal end of the instrument within the luminal network at which a second branch is present in the luminal network, the second type of visual indicia further indicating that the distal end of the instrument has not traveled down all available child segments of the second branch.

19. A robotic system

Assignees

• Auris Health Inc

Inventors

• Rafii-Tari Hedyeh
• Jeevan Prasanth

Classifications

• A61B2017/00809

  Lung operations · CPC title

• A61B2090/3614

  using optical fibre · CPC title

• A61B2034/105

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

• A61B2090/306

  using optical fibres · CPC title

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title