Catheters with control modes for interchangeable probes

• US 10,238,837 B2
• Filed: 10/14/2011
• Issued: 03/26/2019
• Est. Priority Date: 10/14/2011
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Duindam, Vincent, Prisco, Giuseppe Maria
• Primary Examiner(s): Leubecker, John P
• Assistant Examiner(s): Diaz, Arnaldo Torres
• Application Number:
  US13/274,198
• Publication Number:
  US 20130096497A1
• Time in Patent Office: 2,720 Days
• Field of Search: 600117-118, 600146, 600148
• CPC Class Codes: A61B 18/24 with a catheter A61B18/26, A61B18/28 take precedence
• 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 34/30 Surgical robots
• CPC Class Codes: A61M 2025/0166 Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/0133 Tip steering devices
• CPC Class Codes: A61M 25/0147 with movable mechanical means, e.g. pull wires
• CPC Class Codes: A61M 25/0158 with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials

Abstract

A medical system including a catheter containing a mechanical system that is remotely operable uses a sensor to at least partly measure a pose of the catheter and a control system coupled to the mechanical system. The control system has multiple operating modes including one or more holding modes in which the control system operates the mechanical system to maintain a working configuration of the catheter based on feedback from the sensor.

Claims

1. A control system for a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter, and a sensor configured to at least partly measure a pose of the distal tip coupled to the mechanical system, the control system comprising:

a plurality of modules that control operational aspects of a plurality of modes for controlling the mechanical system based on feedback from the sensor; and

memory storing an indicator identifying parameters of a desired working configuration for the distal tip, wherein each of the modules operates the mechanical system, based on feedback from the sensor and without user input, to compensate for disturbances external to the mechanical system and thereby return the distal tip in the desired working configuration identified by the indicator, and wherein the plurality of modules are configured to;

steer the catheter to a working site using the mechanical system that is remotely operable to control the distal tip of the catheter;

identify the desired working configuration of the distal tip, wherein the desired working configuration poses the distal tip for performance of a medical task at the work site; and

select a holding mode from a plurality of modes for controlling the catheter using feedback from the sensor that measures the pose of the distal tip; and

maintain the desired working configuration of the distal tip through operation of the catheter in the selected holding mode, wherein the plurality of modules, in the selected holding mode, are further configured to;

sense a current pose of the distal tip;

determine a difference between the current pose and the desired working configuration, wherein the difference is due to an external disturbance; and

without user input, operate the mechanical system to move the catheter to minimize the difference between the current pose and the working configuration.

2. The system of claim 1, wherein the desired working configuration is stored as coordinates and an angle indicating a direction from the coordinates.

3. The system of claim 1, wherein the plurality of modules includes an orientation mode module that implements a process including moving the distal tip from a measured orientation to a desired orientation.

4. The system of claim 1, wherein the plurality of modules includes a target mode module that maintains a combination of a position and an orientation of the distal tip such that the distal tip remains pointed at a target.

5. The system of claim 1, wherein the plurality of modules includes a target axial mode module that maintains a combination of a position and an orientation of the distal tip such that the distal tip remains on a target line and pointed along the target line.

6. A method comprising:

steering a catheter to a working site using a mechanical system that is remotely operable to control a distal tip of the catheter;

identifying a working configuration of the distal tip, wherein the working configuration poses the distal tip for performance of a medical task at the work site;

selecting a holding mode from one of a plurality of modes for controlling the catheter using feedback from a sensor that measures a pose of the distal tip; and

maintaining the working configuration of the distal tip through operation of the catheter in the selected holding mode, wherein operation in the selected holding mode includes;

sensing a current pose of the distal tip;

determining a difference between the current pose and the working configuration, wherein the difference is due to an external disturbance; and

without user input, operating the mechanical system to move the catheter to minimize the difference between the current pose and the working configuration.

7. The method of claim 6, wherein the plurality of modes includes a position mode that maintains a position of the distal tip relative to the work site.

8. The method of claim 6, wherein the plurality of modes includes an orientation mode that maintains an orientation of the distal tip relative to the work site.

9. The method of claim 6, wherein the plurality of modes includes a target mode that maintains a combination of a position and an orientation of the distal tip such that the distal tip remains pointed at a target in the work site.

10. The method of claim 6, wherein the plurality of modes includes a target axial mode that maintains a combination of a position and an orientation of the distal tip such that the distal tip remains on a target line and pointed along the target line.