Data capture and adaptive guidance for robotic procedures with an elongated medical device

Patent metadata

Field	Value
Publication number	US-12472011-B2
Application number	US-202017597038-A
Country	US
Kind code	B2
Filing date	Jul 14, 2020
Priority date	Jul 15, 2019
Publication date	Nov 18, 2025
Grant date	Nov 18, 2025

Abstract

An example data capture system generates profile using captured parameters from a reference operator. The data capture system includes a user interface to receive inputs from a reference operator for operation of one or more elongated medical devices (EMDs); a sensor system to capture parameters associated with the inputs from the reference operator; and a processing unit to generate at least one profile using the captured parameters, the profile being associated with a characteristic of the reference operator.

First claim

We claim:

1 . A system comprising:
a sensor system having sensors to capture parameters associated with inputs from a reference operator for operation of one or more elongated medical devices (EMDs); and a processing unit to
generate at least one profile using the parameters, the at least one profile being associated with a characteristic of the reference operator, and
provide, based on the at least one profile, feedback in the form of adaptive guidance to an operator during a simulated or live procedure performed by the operator, wherein
the operator and the reference operator are different operators.

2 . The system of claim 1 , wherein the parameters captured by the sensors include at least one of motion or load parameters.

3 . The system of claim 2 , wherein the at least one of motion or load parameters include at least one of displacement, linear velocity, linear force, rotational velocity, rotational torque, acceleration, or frequency.

4 . The system of claim 1 , wherein the parameters captured by the sensors include at least one of (a) a combination of linear velocity and linear force, (b) a combination of rotational velocity and rotational torque, (c) a combination of at least one of displacement, velocity or acceleration and linear force, or (d) a combination of at least one of angular displacement, angular velocity or angular acceleration and torque.

5 . The system of claim 1 , wherein the parameters captured by the sensors include a frequency of manipulation of the EMDs.

6 . The system of claim 1 , wherein the parameters captured by the sensors include a combination of two or more of motion parameters, load parameters, position, displacement, frequency, linear velocity, linear force, rotational velocity or rotational torque.

7 . The system of claim 1 , wherein the system is standalone or part of a robotic medical system or a training system.

8 . The system of claim 1 , wherein the sensor system includes at least one of contact or noncontact sensors to detect at least one of motion or load of an EMD or stack of EMDs.

9 . The system of claim 1 , wherein the sensor system includes signal conditioning.

10 . The system of claim 1 , further comprising:
a user interface to receive the inputs from the reference operator for operation of the one or more elongated medical devices (EMDs); wherein the user interface includes more than one EMD and the sensor system is configured to detect input parameters for concurrent operation of more than one EMD.

11 . The system of claim 1 , wherein the parameters are captured based on a heuristic model.

12 . The system of claim 1 , wherein the characteristic of the reference operator includes physician metadata, the physician metadata including a characteristic of a physician as the reference operator.

13 . The system of claim 1 , wherein at least a part of the parameters is associated with case metadata.

14 . The system of claim 1 , wherein at least a portion of the parameters is a combination of physician metadata and case metadata.

15 . The system of claim 1 , wherein recording and retrieving of data is local or non-local to the system.

16 . The system of claim 1 , wherein the processing unit is configured to utilize an algorithmic analysis of inputs from one or more reference operators in generating the at least one profile.

17 . The system of claim 1 , wherein the processing unit is configured to generate a power profile associated with the at least one profile containing motion and load parameters.

18 . The system of claim 1 , wherein the processing unit is configured to calculate and determine an envelope of ranges of motion, load and power parameters.

19 . The system of claim 1 , wherein the processing unit is configured to generate adaptive guidance parameters for providing the adaptive guidance based on motion and load parameters contained in the at least one profile.

20 . The system of claim 1 , wherein the processing unit is configured to generate at least one of a motion profile or a load profile associated with one or more EMD.

21 . The system of claim 20 , wherein the motion profile is built based on only motion parameters of the at least one profile for an EMD including concurrent rotational and linear motion of the EMD.

22 . The system of claim 20 , wherein the motion profile is built based on motion parameters of the at least one profile for more than one EMD including at least one of rotational or linear motion of a first EMD and at least one of rotational or linear motion of a second EMD.

23 . The system of claim 20 , wherein the motion profile is built based on load parameters of the at least one profile for more than one EMD.

24 . The system of claim 20 , wherein the motion profile is built based on both motion parameters and load parameters of the at least one profile for more than one EMD.

25 . The system of claim 1 , wherein the processing unit is configured to generate a master profile by combining physician metadata and case metadata.

26 . The system of claim 1 , wherein the processing unit is configured to combine the parameters with additional captured parameters from additional operators to generate aggregated profiles.

27 . The system of claim 1 , wherein the processing unit is configured to update the at least one profile with further captured data from further additional operators.

28 . The system of claim 1 , wherein the processing unit is configured to update the at least one profile as new input data are available after successive procedures on an ongoing basis.

29 . The system of claim 1 , wherein the processing unit is configured to convert the inputs from the reference operator, combined with other metadata, to operational governing equations, operational limits, and commands.

30 . The system of claim 1 , wherein the processing unit is configured to generate or update the at least one profile, and convert data of the at least one profile to operational rules either off-line or in real time.

31 . The system of claim 1 , wherein the operator selectively accepts or rejects the feedback.

32 . The system of claim 1 , wherein the processing unit is configured to generate adaptive guidance parameters for the adaptive guidance.

33 . The system of claim 32 , wherein the adaptive guidance parameters include at least one of operational governing equations or limits, procedural recommendations, motion profiles, or general rule-based motion and load, applied to the EMDs, or procedure.

34 . A robotic medical system, comprising:
modules to actuate one or more EMDs independently and in concert; a data capture portion to capture parameters applied to the one or more EMDs and detected by a sensor system having sensors, and which are associated with inputs from a reference operator to manipulate the one or more EMDs, the captured parameters including at least one motion or load parameter, wherein
the data capture portion is configured to associate the captured parameters with a characteristic of the reference operator; and
a processing unit to convert the captured parameters to operational governing equations for the one or more EMDs to provide adaptive guidance to an operator during a procedure using the ro

Assignees

• Corindus Inc
• Siemens Healthineers Endovascular Robotics Inc

Inventors

• Sokhanvar Saeed
• Canale Cameron
• Saber Omid
• Teany Douglas
• Bergman Per
• Blacker Steven J

Classifications

• A61B2090/376

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

• A61B2090/374

  NMR or MRI · CPC title

• A61B2034/256

  having a database of accessory information, e.g. including context sensitive help or scientific articles · CPC title

• A61B2090/378

  using ultrasound · CPC title

• A61B2034/301

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