Robot-assisted driving systems and methods

Patent metadata

Field	Value
Publication number	US-11464591-B2
Application number	US-202017025593-A
Country	US
Kind code	B2
Filing date	Sep 18, 2020
Priority date	Nov 30, 2015
Publication date	Oct 11, 2022
Grant date	Oct 11, 2022

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 system comprising:
(a) an instrument comprising:
(i) a first flexible elongate member, the elongate member having a distal end and an articulation section, the articulation section being operable to bend the first flexible elongate member to thereby reorient the distal end, and
(ii) a second flexible elongate member, the first flexible elongate member being further configured to slidably receive the second flexible elongate member;

(b) an arm having an instrument driver, the instrument driver being operable to drive the articulation section of the instrument; and
(c) a controller in communication with the instrument driver, the controller being configured to:
(i) receive user inputs to activate the instrument driver,
(ii) transmit commands to the instrument driver,
(iii) track a real-time shape of the first flexible elongate member,
(iv) track a real-time position of the first flexible elongate member with respect to a frame of reference,
(v) determine when a region of the instrument proximal to the distal end deviates from a predetermined position, and
(vi) automatically return the region of the instrument proximal to the distal end to the predetermined position in response to a determination that the region of the instrument proximal to the distal end has deviated from the predetermined position.

2. The system of claim 1 , the first flexible elongate member comprising a catheter.

3. The system of claim 1 , the second flexible elongate member comprising a guidewire.

4. The system of claim 1 , the instrument further comprising a third flexible elongate member, the third flexible elongate member being further configured to slidably receive the first flexible elongate member.

5. The system of claim 3 , the third flexible elongate member comprising a sheath.

6. The system of claim 1 , the instrument further comprising one or more pullwires, the one or more pullwires being operable to drive the articulation section to thereby bend the first flexible elongate member.

7. The system of claim 1 , the instrument further comprising one or more sensors configured to generate signals, the controller being configured to track the real-time shape of the elongate member based on signals from the one or more sensors.

8. The system of claim 7 , the one or more sensors comprising one or more fiber optic shape sensing sensors.

9. A method of operating an instrument via an arm;
the instrument comprising a first elongate member and a second elongate member, the second elongate member being slidably disposed in the first elongate member, the first elongate member having a distal end and an articulation section, the articulation section being operable to bend the first elongate member to thereby reorient the distal end;
the arm having an instrument driver, the instrument driver being operable to drive the articulation section of the instrument;
the method comprising:
(a) receiving a user input to drive the instrument toward a first target location in a patient, the first target location representing a target point for the second elongate member in the patient;
(b) transmitting commands to the instrument driver in response to the user input;
(c) tracking a real-time shape of the first elongate member as the instrument advances toward the first target location;
(d) tracking a real-time position of the first elongate member with respect to a frame of reference;
(e) determining when a region of the instrument proximal to the distal end deviates from a predetermined position; and
(f) automatically returning the region of the instrument proximal to the distal end to the predetermined position in response to a determination that the region of the instrument proximal to the distal end has deviated from the predetermined position.

10. The method of claim 9 , the receiving a user input to drive the instrument toward a first target location in a patient including receiving a user input to drive the instrument through an airway of the patient.

11. The method of claim 9 , the determining when the region of the instrument proximal to the distal end deviates from the predetermined position comprising determining when the region of the instrument proximal to the distal end buckles or prolapses.

12. The method of claim 9 , the receiving the user input to drive the instrument toward the first target location in the patient comprising receiving a first target indication from a user via the user input.

13. The method of claim 12 , further comprising:
(a) determining a route toward the first target location; and
(b) communicating the determined route to the user.

14. The method of claim 13 , further comprising communicating progress along the route to the user as the user drives the instrument toward the first target location, the communicated progress being based at least in part on the tracking of the real-time position of the first elongate member with respect to the frame of reference.

15. The method of claim 13 , further comprising automatically activating the instrument driver to assist in driving of the instrument along the route toward the first target location.

16. The method of claim 9 , further comprising automatically generating a second target location based on the first target location, the second target location representing a target point for the first elongate member in the patient, the target point for the first elongate member being located along the determined route toward the first target location.

17. The method of claim 16 , further comprising:
(a) receiving input from the user to arrest movement of the first elongate member in response to the distal end reaching the second target location; and
(b) receiving input from the user to continue movement of the second elongate member toward the first target location while the first elongate member remains stationary.

18. A processor-readable medium including contents that are configured to cause a processor to process data by performing a method of operating an instrument via an arm;
the instrument comprising a first elongate member and a second elongate member, the second elongate member being slidably disposed in the first elongate member, the first elongate member having a distal end and an articulation section, the articulation section being operable to bend the elongate member to thereby reorient the distal end;
the arm having an instrument driver, the instrument driver being operable to drive the articulation section of the instrument;
the method comprising:
(a) receiving a user input to drive the instrument toward a target location in a patient, the first target location representing a target point for the second elongate member in the patient;
(b) transmitting commands to the instrument driver in response to the user input;
(c) tracking a real-time shape of the first elongate member as the instrument advances toward the target location;
(d) tracking a real-time position of the first elongate member with respect to a frame of reference;
(e) determining when a region of the instrument proximal to the distal end deviates from a predetermined position; and
(f) automatically returning the region of the instrument proximal to the distal end to the predetermined position in response to a determination that the region of the instrument proximal to the distal end has deviated from the predetermined position.

Assignees

• Auris Health Inc

Inventors

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

Classifications

• A61B2034/2051

  Electromagnetic tracking systems · CPC title

• A61B6/032

  Transmission computed tomography [CT] · CPC title

• A61B2090/3966

  Radiopaque markers visible in an X-ray image · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title