Method for generating an actuation signal for a robotic system for robot-assisted navigation of a medical object and overall system

Patent metadata

Field	Value
Publication number	US-12193771-B2
Application number	US-202217851332-A
Country	US
Kind code	B2
Filing date	Jun 28, 2022
Priority date	Jun 29, 2021
Publication date	Jan 14, 2025
Grant date	Jan 14, 2025

Abstract

A system and method for generating an actuation signal for a robotic system for robot-assisted navigation of a medical object with a curved tip in a hollow organ of a patient. An an X-ray system for image monitoring of the intervention is assigned to the robotic system. The method includes determining a current relative position and relative orientation of the curved tip of the object relative to the hollow organ using the X-ray system, calibrating the robotic system on the basis of the determined current relative position and relative orientation of the tip of the object relative to the hollow organ, retrieving first information on a planned path section in the hollow organ, retrieving second information on at least one relative position and relative orientation or relative position sequence and relative orientation sequence of the curved tip of the same or a similar object relative to the hollow organ used during a navigation movement along at least one previously traversed path section in the hollow organ or another hollow organ from a memory unit, and generating an actuation signal for actuating the robotic system. The actuation takes account of the first and second information and the current relative position and relative orientation of the tip relative to the hollow organ.

First claim

The invention claimed is:

1. A method for generating an actuation signal for a robotic system for robot-assisted navigation of an object with a tip in a hollow organ of a patient, wherein an imaging system for image monitoring of an intervention is assigned to the robotic system, the method comprising:
determining a current position and a current orientation of the tip of the object using the imaging system;
calibrating the robotic system based on the determined current position and current orientation of the tip of the object;
retrieving first information on a planned path section in the hollow organ on a basis of the current position of the object;
determining a current relative position and a current relative orientation of the tip of the object relative to at least part of the hollow organ;
retrieving second information on at least one relative position and at least one relative orientation or relative position sequence and relative orientation sequence of the tip of the object or a similar object relative to at least part of the hollow organ used previously along a path section in the hollow organ or another hollow organ; and
generating an actuation signal for actuating the robotic system, wherein the actuation takes account of the first and second information and the current relative position and the current relative orientation of the tip relative to at least part of the hollow organ.

2. The method of claim 1 , wherein the actuation includes single or multiple adaptation of the relative position and the relative orientation of the tip relative to at least part of the hollow organ.

3. The method of claim 1 , wherein actuated relative position sequence and relative orientation sequence of the tip of the object relative to at least part of the hollow organ is stored in conjunction with the path section traversed in this way.

4. The method of claim 3 , wherein the actuated relative position sequence and relative orientation sequence of the tip of the object is stored in conjunction with the path section traversed in this way and a manual or automatic suitability assessment.

5. The method of claim 1 , wherein an evaluation of at least one projection image by at least one image processing algorithm or by a trained function is used to determine the current position and the current orientation of the tip of the object.

6. The method of claim 1 , wherein the second information includes a relative position and the relative orientation or the relative position sequence and the relative orientation sequence of the tip of the same or a similar object relative to at least part of the hollow organ used during a navigation retraction movement through at least one path in the hollow organ or another comparable hollow organ.

7. The method as of claim 6 , wherein the second information includes a suitability assessment of the relative position and the relative orientation or the relative position sequence and the relative orientation sequence used during the robot-assisted navigation or navigation retraction movement.

8. The method of claim 7 , wherein the second information is taken into account in such a way that in an event of a positive suitability assessment, the corresponding relative position and relative orientation or relative position sequence and relative orientation sequence is used or in an event of a negative suitability assessment, the corresponding relative position and relative orientation or relative position sequence and relative orientation sequence is not used.

9. The method of claim 8 , wherein the second information is taken into account in such a way that, in an event of multiple positive suitability assessments, the corresponding relative position and the relative orientation or the relative position sequence and the relative orientation sequence with the best suitability assessment is used.

10. The method of claim 1 , wherein a look-up table with a plurality of data items stored therein on navigation movements along path sections in hollow organs made before the method together with relative positions and relative orientations or relative position sequences and relative orientation sequences of curved tips of objects relative to at least part of the hollow organ used thereby is present from which the second information is taken.

11. The method of claim 10 , wherein the data is processed by a machine-learning algorithm.

12. A system comprising:
a robotic system with at least one robot control unit and a robot-assisted drive system, the robot control unit configured to generate an actuation signal for actuating robot-assisted navigation of an object with a curved tip in a hollow organ of a patient by the robot-assisted drive system; and
an imaging system for image monitoring of navigation, the imaging system comprising a radiation source and an image detector for recording projection images, a system control unit for actuating the imaging system, and an evaluation unit for evaluating the projection images;
the imaging system configured to determine a current position and orientation of the curved tip of the object by recording and evaluating at least one projection image, calibrate the robotic system, retrieve first information on a planned path section in the hollow organ, determine a current relative position and a current relative orientation of the curved tip of the object relative to at least part of the hollow organ, retrieve second information on at least one relative position and at least one relative orientation or relative position sequence and relative orientation sequence of the curved tip of the object or a similar object relative to at least part of the hollow organ used previously along a path section in the hollow organ or another hollow organ, and generate an actuation signal for actuating the robotic system, wherein the actuation takes account of the first and second information and the current relative position and relative orientation of the curved tip.

13. The system of claim 12 , further comprising:
at least one memory unit configured to store actuated relative position sequences and relative orientation sequences of the curved tip of the object relative to at least part of the hollow organ in conjunction with the path section traversed during a navigation movement or navigation retraction movement and optionally with a manual or automatic suitability assessment.

14. The system of claim 12 , wherein the actuated relative position sequence and relative orientation sequence of the curved tip of the object relative to at least part of the hollow organ is stored in conjunction with the path section traversed in this way.

15. The system of claim 12 , wherein an evaluation of at least one projection image by at least one image processing algorithm or by a trained function is used to determine the current position and the current orientation of the curved tip of the object.

16. The system of claim 12 , wherein the second information includes a relative position and the relative orientation or the relative position sequence and the relative orientation sequence of the curved tip of the same or a similar object relative to at least part of the hollow organ used during a navigation retraction movement through at least one path in the hollow organ or another comparable hollow organ.

17. The system of claim 16 , wherein the second information includes a suitability assessment of the relative position and the relative orientation or the relative position sequence and the relative orientation sequence used during the robot-assisted navigation or navigation retract

Assignees

• Siemens Healthcare Gmbh
• Siemens Healthineers Ag

Inventors

• Kaethner Christian
• Wiets Michael
• Meyer Andreas

Classifications

• A61B6/12 Primary

  Arrangements for detecting or locating foreign bodies · CPC title

• A61B2034/301

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

• G06T7/0012

  Biomedical image inspection · CPC title

• A61B2090/376

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

• A61B6/5229

  combining image data of a patient, e.g. combining a functional image with an anatomical image · CPC title