System and methods for tracking robotically controlled medical instruments

• US 10,130,345 B2
• Filed: 07/13/2017
• Issued: 11/20/2018
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Wong, Serena, Walker, Sean, Hsu, Jason, Park, June, Tanner, Neal, Murthy, Kiran
• Primary Examiner(s): Vu, Kim
• Assistant Examiner(s): DELANEY, MOLLY K
• Application Number:
  US15/649,522
• Publication Number:
  US 20170360418A1
• Time in Patent Office: 495 Days
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/3735 Optical coherence tomography [OCT]
• CPC Class Codes: A61B 2090/3782 transmitter or receiver in catheter or minimal invasive instrument
• CPC Class Codes: A61B 2090/3966 Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: G06T 2207/30004 Biomedical image processing
• CPC Class Codes: G06T 7/248 involving reference images or patches

Abstract

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

Claims

1. A robotic system configured to manipulate a tool within a patient'"'"'s anatomy, the system comprising:

the tool comprising a shape sensor that senses a shape of at least a portion of the tool while within the patient'"'"'s anatomy;

a robotic drive system comprising at least one actuator, the robotic drive system coupled to the tool and configured to articulate the tool within the patient'"'"'s anatomy and

a controller configured to register a sensor reference frame and a 3-dimensional (3D) model, reference frame based on the shape of the tool and features of a 3D model of the patient'"'"'s anatomy, the controller also being configured to direct the robotic drive system based on the registration.

2. The robotic system of claim 1, wherein the controller is further configured to combine a plurality of discrete registrations to produce a combined registration between the sensor reference frame and the 3D model reference frame to produce a plurality of signals to direct the robotic drive system based on the combined registration.

3. The robotic system of claim 1, wherein the shape sensor comprises at least one optical fiber.

4. The robotic system of claim 3, wherein the controller is further configured with an algorithm to match a curved shape of the tool determined by the at least one optical fiber with a corresponding shape in the 3D model.

5. The robotic system of claim 3, wherein the algorithm is one of an automated geometric search and a mathematical optimization technique.

6. The robotic system of claim 3, wherein the image is one of a pre-operative anatomical image and an intra-operative image.

7. The robotic system of claim 3, wherein the 3D model reference frame comprises a fluoroscopic model comprising a plurality of fluoroscopic images.

8. The robotic system of claim 3, wherein the 3D model is derived from an imaging device.

9. The robotic system of claim 3, wherein the 3D model is derived from Computed Tomography (CT).

10. The robotic system of claim 3, wherein the controller is configured to register the sensor reference frame and 3D model reference frame at least manually, semi-automatically, or automatically.

11. A system configured to control a medical device within in a patient'"'"'s anatomy for performing a procedure in the patient'"'"'s anatomy, the system comprising:

a user input device;

an actuator configured to articulate the medical device with respect to the patient'"'"'s anatomy, and

a controller configured to receive a signal from a shape sensor positioned on the medical device that can sense a shape of at least a portion of the medical device while in the patient'"'"'s anatomy, the controller also configured to register a sensor reference frame and a 3-dimensional (3D) model reference frame based on the shape of the medical device and features of a 3D model of the patient'"'"'s anatomy.

12. The system of claim 11, wherein the shape sensor comprises at least one optical fiber.

13. The system of claim 12, wherein the controller is further configured with an algorithm to match a curved shape of the medical device determined by the at least one optical fiber with a corresponding shape in the 3D model.

14. The system of claim 13, wherein the algorithm is one of an automated geometric search and a mathematical optimization technique.

15. The system of claim 11, wherein the 3D model is one of a pre-operative anatomical image and an intra-operative image.

16. The system of claim 11, wherein the 3D model reference frame comprises a fluoroscopic model comprising a plurality of fluoroscopic images.

17. The system of claim 11, wherein the 3D model is derived from an imaging device.

18. The system of claim 11, wherein the 3D model is derived from Computed Tomography (CT).

19. The system of claim 11, wherein the controller is configured to register the sensor reference frame and 3D model reference frame at least manually, semi-automatically, or automatically.