Systems And Methods For Device-Aware Flexible Tool Registration

Patent metadata

Field	Value
Publication number	US-2016302869-A1
Application number	US-201415101518-A
Country	US
Kind code	A1
Filing date	Dec 9, 2014
Priority date	Dec 9, 2013
Publication date	Oct 20, 2016
Grant date	—

Abstract

Described herein is a method of determining the accurate positioning of a device within a patient anatomy. In one aspect, the method comprises generating a first model of at least one anatomical passageway from anatomical data describing the patient anatomy, determining a shape of a device positioned within branched anatomical passageways of the patient anatomy, the device including a plurality of sections, each section of the plurality of sections having a distinct physical property, computing a set of deformation forces for each section of the plurality of sections of the device, and generating a second model of the device positioned within the plurality of branched anatomical passageways by adjusting the first model based upon the determined shape of the device and the set of deformation forces for each section of the plurality of sections of the device.

First claim

1 . A method comprising:
determining a shape of a device portioned at least partially within an anatomical passageway; determining a set of deformation forces for a plurality of sections of the device; and generating a composite model indicating a position of the device relative to the anatomical passageway based on the shape of the device, the set of deformation forces, and anatomical data describing the anatomical passageway.

2 . The method of claim 1 , wherein determining the shape of the device comprises receiving information from an optical fiber shape sensor.

3 . The method of claim 1 , wherein determining the shape of the device comprises receiving information from an electromagnetic sensor.

4 . The method of claim 1 , wherein the anatomical data describing the anatomical passageway comprises data describing a shape of the anatomical passageway, and wherein generating the composite model composes comparing the shape of the device to the shape of the anatomical passageway.

5 . The method of claim 1 , wherein determining the set of deformation forces comprises determining a stiffness of each section of the plurality of sections of the device.

6 . The method of claim 1 , wherein determining the set of deformation forces comprises determining a steerability of each section of the plurality of sections of the device.

7 . The method of claim 1 , further comprising determining a set of restorative forces, and wherein-the composite model is additionally based on the set of restorative forces.

8 . The method of claim 1 , further comprising determining a set of maintenance forces and wherein the composite model is additionally based on the set of maintenance forces.

9 . The method of claim 1 further comprising:
determining a set of restorative forces; determining a set of maintenance forces; and determining a weighted sum of the set of deformation forces the set of restorative forces, and the set of maintenance forces, wherein the composite model is additionally based on the weighted sum.

10 . The method of claim 1 , therein the anatomical data describing the anatomical passageway comprises a first model depicting at least part of the anatomical passageway, and wherein generating the composite model comprises adjusting the first model using the shape of the device and the set of deformation forces.

11 . The method of claim 10 , wherein generating the composite model comprises adjusting a modeled connection point of the first model joining two modeled sections of the anatomical passageway.

12 . A medical system comprising;
a flexible device configured to be positioned at least partially within an anatomical passageway, the device including a plurality of sections and a shape sensor; and a memory device including computer executable instructions, the computer executable instructions comprising:
instructions for determining a shape of the flexible device;
instructions for determining a set of deformation forces for the plurality of sections of the flexible device; and
instructions for generating a composite model indicating a position of the flexible device relative to the anatomical passageway based on the shape of the flexible device, the set of deformation forces, and anatomical data describing the anatomical passageway

13 . The medical system of claim 12 , wherein the shape sensor comprises an optical fiber shape sensor.

14 . The medical system of claim 12 , wherein the shape sensor comprises an electromagnetic sensor

15 . The medical system of claim 12 , wherein the anatomical data describing the anatomical passageway comprises data describing a shape of the anatomical passageway, and wherein the instructions for generating the composite model comprise instructions for comparing the shape of the flexible device to the shape of the anatomical passageway.

16 . The medical system of claim 12 , wherein the instructions for determining the set of deformation forces comprises instructions for determining a stiffness of each section of the plurality of sections of the flexible device.

17 . The medical system of claim 12 , wherein the instructions for determining the set of deformation forces comprise instructions for determining a steerability of each section of the plurality of sections of the flexible device.

18 . The medical system of claim 12 , wherein the computer executable instructions further comprise instructions for determining a set of restorative forces, and wherein the composite model is additionally base on the set of restorative forces.

19 . The medical system of claim 12 , wherein the computer executable instructions further comprise instructions for determining a set of maintenance forces, and wherein the composite model is additionally based on the set of maintenance forces.

20 . The medical system of claim 12 , the computer executable instructions further comprising:
instructions for determining a set of restorative forces; instructions for determining a set of maintenance forces; and instructions for determining a weighted sum of the set of deformative forces, the set of restorative forces and the set of maintenance forces wherein the composite model is additionally based on the weighted sum.

21 . The medical system of claim 12 , wherein the computer executable instructions further comprise instructions for determining a percentage chance of error of the composite model.

22 . The medical system of claim 12 , wherein the anatomical data describing the anatomical passageway comprises a first model depicting at least part of the anatomical passageway and wherein the instructions for generating the composite modes comprises instructions for adjusting the first model using the shape of the device and the set of deformation forces.

23 . The medical system of claim 22 , wherein the instructions for generating the composite model comprise instructions for adjusting a modeled connection point of the first model joining two modeled sections of anatomical passageway.

Assignees

• Intuitive Surgical Operations

Inventors

• Chopra Prashant

Classifications

• A61B2034/2051

  Electromagnetic tracking systems · CPC title

• A61B2017/00809

  Lung operations · CPC title

• G16H50/50

  for simulation or modelling of medical disorders · 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