Systems and methods for tracking robotically controlled medical instruments

Patent metadata

Field	Value
Publication number	US-11129602-B2
Application number	US-201916675832-A
Country	US
Kind code	B2
Filing date	Nov 6, 2019
Priority date	Mar 15, 2013
Publication date	Sep 28, 2021
Grant date	Sep 28, 2021

Abstract

Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image.

First claim

The invention claimed is:

1. A method of registering a tool of a robotic drive system to a fluoroscopy image of an anatomy of a patient, the method comprising:
identifying one or more distinctive elements of the tool in the fluoroscopy image, the identifying including receiving a user input via an input device coupled to a controller, wherein the input device and the controller are part of the robotic drive system, the user input including the user selecting certain marked points of the tool in the fluoroscopy image, the one or more distinctive elements being defined by the certain marked points selected by the user such that the user identifies the distinctive elements;
tracking a location of the tool of the robotic drive system using one or more sensors coupled to the tool;
comparing the distinctive elements of the tool in the fluoroscopy image to corresponding measured points of the tool to generate a registration of the tool to the fluoroscopy image; and
determining a location of the tool in the fluoroscopy image of the anatomy, based on the registration of the tool to the fluoroscopy image.

2. The method of claim 1 , wherein the one or more distinctive elements of the tool comprises one or more of a tip of the tool, a shape of tool, or an articulation band of the tool.

3. The method of claim 1 , wherein the one or more distinctive elements of the tool comprises one or more fluoroscopy markers.

4. The method of claim 3 , wherein the one or more fluoroscopy markers is positioned outside the patient.

5. The method of claim 3 , wherein the one or more fluoroscopy markers is positioned on a splayer, the splayer operatively connected to the tool.

6. The method of claim 1 , wherein the one or more sensors comprises a fiber sensor.

7. The method of claim 1 , wherein a position, an orientation, or a shape of the one or more sensors are known in relation to the tool.

8. The method of claim 1 , further comprising:
receiving a user input via an input device coupled to a controller, wherein the input device and the controller are part of the robotic drive system; and
using the location of the tool in the fluoroscopy image to permit intuitive driving of the tool using the robotic drive system.

9. The method of claim 1 , further comprising driving the tool to one or more marked points in the fluoroscopy image.

10. A method of registering a tool of a robotic drive system to a fluoroscopy image of an anatomy of a patient, the method comprising:
tracking a location of the tool of the robotic drive system using one or more sensors coupled to the tool;
comparing distinctive elements of the tool in the fluoroscopy image to corresponding measured points of the tool to generate a registration of the tool to the fluoroscopy image, the registration being generated by determining a transformation matrix that transforms one or more reference frames corresponding to the one or more sensors into a fluoroscopy reference frame;
determining a location of the tool in the fluoroscopy image of the anatomy, based on the registration of the tool to the fluoroscopy image; and
displaying a location of the tool in the fluoroscopy image of the anatomy, based on the registration of the tool to the fluoroscopy image.

11. The method of claim 10 , further comprising identifying the distinctive elements of the tool.

12. The method of claim 11 , wherein the distinctive elements of the tool comprises one or more of a tip of the tool, a shape of tool, or an articulation band of the tool.

13. The method of claim 11 , wherein the distinctive elements of the tool comprises one or more fluoroscopy markers.

14. The method of claim 13 , wherein the one or more fluoroscopy markers is positioned outside the patient.

15. The method of claim 13 , wherein the one or more fluoroscopy markers is positioned on a splayer, the splayer operatively connected to the tool.

16. The method of claim 10 , wherein the one or more sensors comprises a fiber sensor.

17. The method of claim 10 , wherein a position, an orientation, or a shape of the one or more sensors are known in relation to the tool.

18. The method of claim 10 , further comprising:
receiving a user input via an input device coupled to a controller, wherein the input device and the controller are part of the robotic drive system; and
using the location of the tool in the fluoroscopy image to permit intuitive driving of the tool using the robotic drive system.

19. The method of claim 10 , further comprising driving the tool to one or more marked points in the fluoroscopy image.

20. A method comprising:
tracking a location of a tool in a patient using one or more sensors coupled to the tool;
comparing distinctive elements of the tool in a fluoroscopy image to corresponding measured points of the tool to generate a registration of the tool to the fluoroscopy image, the fluoroscopy image including anatomy of the patient, the registration being generated by determining a transformation matrix that transforms one or more reference frames corresponding to the one or more sensors into a fluoroscopy reference frame;
determining a location of the tool in the fluoroscopy image, based on the registration of the tool to the fluoroscopy image; and
displaying a location of the tool in the fluoroscopy image, based on the registration of the tool to the fluoroscopy image.

Assignees

• Auris Health Inc

Inventors

• Wong Serena
• Walker Sean
• Hsu Jason
• Park June
• Tanner Neal
• Murthy Kiran

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B34/25

  User interfaces for surgical systems · CPC title

• G06T7/248

  involving reference images or patches · CPC title

• A61B90/39

  Markers, e.g. radio-opaque or breast lesions markers · CPC title