Robot-assisted driving systems and methods

Patent metadata

Field	Value
Publication number	US-11857281-B2
Application number	US-202217888570-A
Country	US
Kind code	B2
Filing date	Aug 16, 2022
Priority date	Nov 30, 2015
Publication date	Jan 2, 2024
Grant date	Jan 2, 2024

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 elongate member, and
(ii) a second elongate member slidably disposed in the first elongate member,
the instrument being insertable into a patient via an instrument entry point in a patient;

(b) an arm having an instrument driver, the instrument driver being operable to drive movement of the instrument in the patient; and
(c) a controller in communication with the instrument driver, the controller being configured to:
(i) receive a first target indication from a user, the first target indication indicating a first target point for the second elongate member in a patient,
(ii) automatically generate a second target indication based on the first target indication, the second target indication representing a second target position for the first elongate member in the patient, the second target position being en route from an instrument entry point in a patient to the first target point, and
(iii) provide guidance to a user to direct the first elongate member toward the second target indication.

2. The system of claim 1 , the second target indication being positioned within a first anatomical passageway, the first target indication being outside the first anatomical passageway.

3. The system of claim 2 , the first target indication being positioned within a second anatomical passageway.

4. The system of claim 3 , the second elongate member being configured to traverse the first anatomical passageway to reach the second anatomical passageway to thereby reach the first target point.

5. The system of claim 1 , the controller being further configured to provide a visual indication of a path for the instrument on a display, based at least in part on the received first target indication from the user.

6. The system of claim 1 , the controller being further configured to provide a visual indication of the second target indication on a display.

7. The system of claim 1 , the first 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.

8. The system of claim 7 , the controller being further 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.

9. The system of claim 7 , 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.

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

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

12. 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.

13. The system of claim 12 , the third flexible elongate member comprising a sheath.

14. 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.

15. The system of claim 14 , the one or more sensors comprising one or more fiber optic shape sensing sensors.

16. A method of operating an instrument via an arm;
the instrument comprising a first elongate member and a second elongate member slidably disposed in the first elongate member, the instrument being insertable into a patient via an instrument entry point in a patient,
the arm having an instrument driver, the instrument driver being operable to drive movement of the instrument in the patient;
the method comprising:
(a) receiving a first target indication from a user, the first target indication indicating a first target point for the second elongate member in a patient;
(b) automatically generating a second target indication based on the first target indication, the second target indication representing a second target position for the first elongate member in the patient, the second target position being en route from an instrument entry point in a patient to the first target point; and
(c) providing guidance to a user to direct the first elongate member toward the second target indication.

17. The method of claim 16 , further comprising providing a visual indication of a path for the instrument on a display, based at least in part on the received first target indication from the user.

18. The method of claim 16 , further comprising providing a visual indication of the second target indication on a display.

19. The method of claim 16 , further comprising driving articulation of a distal region of the instrument as the distal region of the instrument advances toward one or both of the first target position or the second target position.

20. 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 slidably disposed in the first elongate member, the instrument being insertable into a patient via an instrument entry point in a patient,
the arm having an instrument driver, the instrument driver being operable to drive movement of the instrument in the patient;
the method comprising:
(a) receiving a first target indication from a user, the first target indication indicating a first target point for the second elongate member in a patient;
(b) automatically generating a second target indication based on the first target indication, the second target indication representing a second target position for the first elongate member in the patient, the second target position being en route from an instrument entry point in a patient to the first target point; and
(c) providing guidance to a user to direct the first elongate member toward the second target indication.

Assignees

• Auris Health Inc

Inventors

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

Classifications

• A61B34/37 Primary

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

• A61B5/066

  Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging · CPC title

• A61B6/504

  for diagnosis of blood vessels, e.g. by angiography · CPC title

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B34/25

  User interfaces for surgical systems · CPC title