System and methods for tracking robotically controlled medical instruments

Patent metadata

Field	Value
Publication number	US-2019117203-A1
Application number	US-201816165377-A
Country	US
Kind code	A1
Filing date	Oct 19, 2018
Priority date	Mar 15, 2013
Publication date	Apr 25, 2019
Grant date	—

Abstract

Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image.

First claim

1 - 20 . (canceled)

21 . A method of registering a tool of a robotic medical system to a desired frame, the method comprising:
tracking a position of the tool of the robotic medical system using one or more sensors coupled to the tool; tracking a position of a physical component of the robotic medical system using one or more sensors coupled to the physical component; comparing a tool reference frame to a physical component reference frame to generate a registration of the tool to the physical component; comparing the physical component reference frame to a visualization reference frame to generate a registration of the physical component to the visualization of the anatomy; and determining a location of the tool in the visualization of the anatomy based on the registration of the physical component to the visualization of the anatomy and the registration of the tool to the physical component.

22 . The method of claim 21 , wherein at least one of the one or more sensors coupled to the tool or the one or more sensors coupled to the physical component comprises an electromagnetic sensor.

23 . The method of claim 21 , wherein at least one of the one or more sensors of the tool or the one or more sensors of the physical component comprises a fiber sensor.

24 . The method of claim 21 , further comprising displaying the location of the tool in the visualization of the anatomy.

25 . The method of claim 24 , wherein displaying the location of the tool in the visualization of the anatomy comprises overlaying localization data related to the tool on the visualization of the anatomy.

26 . The method of claim 21 , wherein the visualization of the anatomy comprises a CT image.

27 . The method of claim 21 , wherein the visualization of the anatomy comprises a fluoroscopy image.

28 . The method of claim 21 , wherein the visualization of the anatomy is one of a pre-operative anatomical image or an intra-operative image.

29 . The method of claim 21 , wherein the physical component of the robotic medical system is a table.

30 . The method of claim 21 , wherein a location of the physical component with respect to a visualization system used to obtain the visualization of the anatomy is known.

31 . The method of claim 21 , wherein the tool is a catheter.

32 . The method of claim 21 , wherein the tool is a splayer.

33 . A method of registering a tool of a robotic medical system to a desired frame, the method comprising:
tracking a position of the tool of the robotic medical system using one or more sensors coupled to the tool; tracking a position of a physical component of the robotic medical system using one or more sensors coupled to the physical component; comparing a tool reference frame to a physical component reference frame to generate a registration of the tool to the physical component; comparing the physical component reference frame to a visualization reference frame to generate a registration of the physical component to the visualization of the anatomy; and displaying a location of the tool in the visualization of the anatomy based on the registration of the physical component to the visualization of the anatomy and the registration of the tool to the physical component.

34 . The method of claim 33 , wherein at least one of the one or more sensors coupled to the tool or the one or more sensors coupled to the physical component comprises an electromagnetic sensor.

35 . The method of claim 33 , wherein at least one of the one or more sensors of the tool or the one or more sensors of the physical component comprises a fiber sensor.

36 . The method of claim 33 , wherein displaying the location of the tool in the visualization of the anatomy comprises overlaying localization data related to the tool on the visualization of the anatomy.

37 . The method of claim 33 , wherein the visualization of the anatomy comprises a CT image.

38 . The method of claim 33 , wherein the visualization of the anatomy comprises a fluoroscopy image.

39 . The method of claim 33 , wherein the visualization of the anatomy is one of a pre-operative anatomical image or an intra-operative image.

40 . The method of claim 33 , wherein the physical component of the robotic medical system is a table.

41 . The method of claim 33 , wherein location of the physical component with respect to visualization system used to obtain the visualization of the anatomy is known.

42 . The method of claim 33 , wherein the tool is a catheter.

43 . The method of claim 33 , wherein the tool is a splayer.

Assignees

• Auris Health Inc

Inventors

• Wong Serena H
• Walker Sean Paul
• Hsu Jason Joseph
• Park June Gyu
• Tanner Neal A
• Murthy Kiran

Classifications

• A61B2034/2061

  using shape-sensors, e.g. fiber shape sensors with Bragg gratings · CPC title

• A61B2034/301

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

• A61B17/00 Primary

  Surgical instruments, devices or methods (A61B18/00 takes precedence; dental tools A61C3/00; eye surgery A61F9/007; ear surgery A61F11/20) · CPC title

• A61B90/39

  Markers, e.g. radio-opaque or breast lesions markers · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title