System and method for determining position of a steerable assembly within tissue of an animal body

Patent metadata

Field	Value
Publication number	US-12285224-B2
Application number	US-202418733527-A
Country	US
Kind code	B2
Filing date	Jun 4, 2024
Priority date	Nov 26, 2019
Publication date	Apr 29, 2025
Grant date	Apr 29, 2025

Abstract

A system and method for determining position of a steerable assembly within tissue of an animal body utilizes an elongated body structure with an implement arranged at a distal end thereof, and a premagnetized material proximate to the distal end. A signal indicative of a length of insertion of the elongated body structure into the tissue is used with a signal indicative of (i) force, strain, shape of a sensor associated with the elongated body structure and/or (ii) directionality of magnetic field applied to the premagnetized material, to determine a three-dimensional (3D) trajectory of the steerable assembly. The 3D trajectory is superimposed on a 3D model of the tissue to determine position of the steerable assembly within the tissue.

First claim

The invention claimed is:

1. A method for determining position of a steerable assembly within tissue of an animal body, the steerable assembly comprising an elongated body structure, an implement arranged at a distal end of the elongated body structure, and a premagnetized material arranged closer to the distal end than to a proximal end of the elongated body structure, the method comprising:
determining an insertion length corresponding to a length of insertion of the elongated body structure into the tissue of the animal body;
recording, with respect to time, directionality of a magnetic field source arranged to apply a magnetic field to the premagnetized material during insertion of the elongated body structure into the tissue of the animal body;
determining a three-dimensional trajectory of the steerable assembly from (i) the insertion length, and (ii) the directionality of the magnetic field; and
superimposing the three-dimensional trajectory of the steerable assembly on a three-dimensional model of the tissue of the animal body.

2. The method of claim 1 , wherein the determining of the insertion length comprises sensing position or velocity of a motor shaft controlling releasement of the elongated body structure during insertion of the elongated body structure into the animal body.

3. The method of claim 1 , wherein the determining of the insertion length comprises sensing linear position or displacement of at least a portion of the elongated body structure.

4. The method of claim 1 , wherein the recording of directionality of the magnetic field comprises recording control signals supplied to one or more actuators configured to adjust position of an end effector configured to apply the magnetic field to the premagnetized material.

5. The method of claim 1 , wherein the recording of directionality of the magnetic field comprises collecting signals received from one or more magnetic field sensors.

6. The method of claim 1 , further comprising providing a visual output of the three-dimensional trajectory of the steerable assembly superimposed on the three-dimensional model of the tissue of the animal body.

7. The method of claim 1 , further comprising determining an error between the three-dimensional trajectory of the steerable assembly and a desired path of the steerable assembly within the tissue of the animal body, and responsive to the error determination, adjusting directionality and/or position of the magnetic field source arranged to apply the magnetic field to the premagnetized material.

8. The method of claim 1 , further comprising sensing a condition indicative of respiration rate and/or respiration amplitude of the animal body, and responsive to the sensing, adjusting position of an end effector configured to magnetically interact with and induce movement of the premagnetized material within the tissue of the animal body.

9. The method of claim 1 , further comprising sensing a condition indicative of tension on the elongated body structure, generating an output signal, and comparing the output signal to a desired range of output signal values.

10. The method of claim 9 , further comprising, responsive to the comparison, adjusting position of an end effector configured to apply the magnetic field to the premagnetized material.

11. The method of claim 9 , further comprising, responsive to the comparison, performing at least one of: (i) adjusting tension applied to the elongated body structure, or (ii) retracting at least a portion of the elongated body structure from the tissue of the animal body.

12. A system for determining position of a steerable assembly within tissue of an animal body, wherein the steerable assembly comprises an elongated body structure, an implement arranged at a distal end of the elongated body structure, and a premagnetized material arranged closer to the distal end than to a proximal end of the elongated body structure, the system comprising:
at least one processor configured to receive or generate a signal indicative of an insertion length corresponding to a length of insertion of the elongated body structure into the tissue of the animal body; and
a memory configured to record, with respect to time, a signal indicative of directionality of a magnetic field to be applied, or a magnetic field source configured to apply the magnetic field, to the premagnetized material during insertion of the elongated body structure into the tissue of the animal body;
wherein the at least one processor is configured to determine a three-dimensional trajectory of the steerable assembly from (i) the insertion length, and (ii) the directionality of the magnetic field or the magnetic field source; and
wherein the at least one processor is configured to superimpose the three-dimensional trajectory of the steerable assembly on a three-dimensional model of the tissue of the animal body.

13. The system of claim 12 , wherein the signal indicative of directionality of the magnetic field comprises a control signal configured to be supplied to one or more actuators configured to adjust position of an end effector configured to apply the magnetic field to the premagnetized material.

14. The system of claim 12 , wherein the signal indicative of directionality of the magnetic field comprises a sensor signal received from one or more magnetic field sensors.

15. The system of claim 12 , further comprising a display configured to provide a visual output of the three-dimensional trajectory of the steerable assembly superimposed on the three-dimensional model of the tissue of the animal body.

16. The system of claim 12 , further comprising at least one first sensor configured to sense position or velocity of a motor shaft that controls releasement of the elongated body structure during insertion of the elongated body structure into the animal body.

17. The system of claim 16 , wherein the at least one first sensor comprises a rotary encoder.

18. The system of claim 12 , further comprising at least one second sensor configured to sense linear position or displacement of at least a portion of the elongated body structure.

19. The system of claim 18 , wherein the at least one second sensor comprises a linear encoder.

20. The system of claim 12 , further comprising at least one third sensor configured to sense a condition indicative of tension on the elongated body structure, wherein the at least one processor is configured to compare an output signal of the at least one third sensor to a desired range of output signal values.

21. The system of claim 20 , wherein the at least one processor is configured to generate a signal to effectuate at least one of the following actions responsive to comparison of the output signal of the at least one third sensor to the desired range of output signal values:
(i) adjust position of an end effector configured to apply the magnetic field to the premagnetized material;
(ii) adjust tension applied to the elongated body structure; or
(iii) retract at least a portion of the elongated body structure from the tissue of the animal body.

Assignees

• Marvi Hamidreza
• Ilami Mahdi
• Univ Arizona State

Inventors

• Marvi Hamidreza
• Ilami Mahdi

Classifications

• A61B2017/00699

  correcting for movement caused by respiration, e.g. by triggering · CPC title

• A61B34/73

  Manipulators for magnetic surgery · CPC title

• A61B2017/00991

  Telescopic means · CPC title

• A61B2090/062

  penetration depth · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title