Detecting endolumenal buckling of flexible instruments

• US 10,244,926 B2
• Filed: 12/28/2016
• Issued: 04/02/2019
• Est. Priority Date: 12/28/2016
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Noonan, David P., Tanaka, Don A.
• Primary Examiner(s): Leubecker, John P
• Application Number:
  US15/392,917
• Publication Number:
  US 20180177383A1
• Time in Patent Office: 825 Days
• CPC Class Codes: A61B 1/00006 of control signals
• CPC Class Codes: A61B 1/00055 for alerting the user
• CPC Class Codes: A61B 1/00097 Sensors
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 1/051 Details of CCD assembly
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• 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 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2034/743 Keyboards
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• 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 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 5/065 : Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe

Abstract

A robotic system is described for determining whether a flexible instrument has buckled. The robotic system comprises a medical instrument comprising an elongate body, and further comprises a first sensor placed in a first portion of the elongate body, and a controller. A command is directed to the elongate body. The first sensor generates sensor data providing information regarding a first measured status of the portion of the elongate body. The controller receives sensor data generated from the first sensor, and compare the first measured status with a first expected status expected to be caused by the command; and responsive to the first measured status deviating from the first expected status one of more or less than a first associated threshold, determine that the elongate body has buckled.

Claims

1. A method for detecting buckling of a medical instrument comprising an elongate body, the method comprising:

directing a command to move an elongate body;

receiving sensor data generated from a first sensor placed in a first portion of the elongate body, the sensor data comprising information regarding a first measured status of the first portion of the elongate body;

determining a first expected status of the first sensor from command data useable to control a manipulator coupled to the elongate body to effect movement of the elongate body;

comparing the first measured status with the first expected status; and

responsive to the first measured status deviating from the first expected status relative to a first associated threshold, determining that the elongate body has buckled.

2. The method of claim 1, wherein the elongate body comprises at least one of a catheter and an endoscope.

3. The method of claim 1, wherein the elongate body comprises of a leader and a sheath, the leader being telescopically disposed within the sheath.

4. The method of claim 3, wherein the first portion of the elongate body comprises at least one of:

a first region covering a volume near a tip of the leader;

a second region covering a portion of the leader in a range from a distal end of the sheath to an edge of the first region; and

a third region covering the distal end of the sheath where the leader extending from as well as a portion of the sheath proximal to its distal end.

5. The method of claim 3, wherein the first portion of the elongate body comprises at least one of:

a first region covering a volume near an end of the sheath, wherein the end of the sheath is where the leader extends from;

a second region covering a first portion of the sheath in a range from a first location of the sheath to an edge of the first region; and

a third region covering a second portion of the sheath in a range from a second location of the sheath to an edge of the second region, wherein the second location is further from the first region than the second location.

6. The method of claim 1, wherein the first sensor is coupled to at least one of:

a portion of an outer surface of the elongate body;

a portion of a wall of the elongate body;

a portion of an inner surface of a lumen within the elongate body;

a portion of an inner surface of a conduit within the elongate body; and

a portion of a pull wire within a lumen within the elongate body.

7. The method of claim 1, wherein the first sensor comprises a position sensor wherein the first measured status and the first expected status represent determinations of a change in position of the elongate body, and wherein responsive to the first measured status deviating from the first expected status less than the first threshold, determining that the elongate body has buckled.

8. The method of claim 1, wherein the first sensor comprises a force sensor wherein the first measured status and the first expected status represent determinations of force experienced by the force sensor, and wherein responsive to the first measured status deviating from the first expected status more than the first threshold, determining that the elongate body has buckled.

9. The method of claim 1, wherein the first sensor comprises an image sensor wherein the first measured status and the first expected status represent determinations of movement of the elongate body based on at least one image captured by the image sensor, and wherein responsive to the first measured status deviating from the first expected status less than the first threshold, determining that the elongate body has buckled.

10. The method of claim 1, wherein the first sensor comprises a shape sensor wherein the first measured status and the first expected status represent determination of bending by the elongate body, and wherein responsive to the first measured status deviating from the first expected status more than the first threshold, determining that the elongate body has buckled.

11. The method of claim 10, wherein the shape sensor comprises an optical fiber shape sensing sensor or wherein the shape sensor comprises a plurality of position sensors, wherein the plurality of position sensors generates a plurality of discrete positions able to be fitted by a function to estimate a shape.

12. The method of claim 1, wherein the command data is generated from a robotic manipulator physically coupled to the elongate body, wherein the command data is configured to control the robotic manipulator to cause the first portion of the elongate body to move towards an expected position.

13. The method of claim 1, the method further comprises:

receiving sensor data generated from a second sensor placed in a second portion of the elongate body, the second sensor data comprising information regarding a second measured status of the second portion of the elongate body;

determining a second expected status of the second sensor from the command data useable to control the manipulator coupled to the elongate body to effect movement of the elongate body;

comparing the second measured status with the second expected status; and

responsive to the first measured status deviating from the first expected status relative to a first associated threshold and the second measured status deviating from the second expected status relative to a second associated threshold, determining that the elongate body has buckled.

14. The method of claim 1, further comprising:

generating feedback for a user indicating that the elongate body has buckled, wherein generating feedback for the user comprises at least one of;

determining one or more modifications to a recommendation to move the endoscope,

generating a message indicating that the elongate body has buckled, and

generating a warning indicating that the elongate body has bucked; and

providing the feedback to the user.

15. The method of claim 14, wherein the recommendation comprises at least one of:

retracting the elongate body;

adjusting movement of a tip of the elongate body;

adjusting insertion force provided by a robotic manipulator; and

stopping movement of the elongate body.

16. A robotic system, comprising:

a medical instrument comprising an elongate body;

a first sensor placed in a first portion of the elongate body; and

a controller configured to;

direct a command to move the elongate body,

receive sensor data generated from the first sensor, the sensor data comprising information regarding a first measured status of the first portion of the elongate body,

determine a first expected status of the first sensor from command data useable to control a manipulator coupled to the elongate body to effect movement of the elongate body,

compare the first measured status with the first expected status; and

responsive to the first measured status deviating from the first expected status relative to a first associated threshold, determine that the elongate body has buckled.

17. The system of claim 16, wherein the elongate body comprises of at least one of a catheter and an endoscope.

18. The system of claim 16, wherein the elongate body comprises of a leader and a sheath, the leader being telescopically disposed within the sheath.

19. The system of claim 18, wherein the first portion of the elongate body comprises at least one of:

a first region covering a volume near a tip of the leader;

a second region covering a portion of the leader in a range from a distal end of a sheath of the elongated body within the patient to an edge of the first region; and

a third region covering the distal end of the sheath where the leader extending from as well as a portion of the sheath proximal to its distal end.

20. The system of claim 18, wherein the first portion of the elongate body comprises at least one of:

a first region covering a volume near an end of the sheath;

a second region covering a first portion of the sheath in a range from a first location of the sheath within the patient to an edge of the first region; and

a third region covering a second portion of the sheath in a range from a second location of the sheath to an edge of the second region, wherein the second location is further from the first region than the second location.

21. The system of claim 16, wherein the first sensor is coupled to at least one of:

a portion of an outer surface of the elongate body;

a portion of a wall of the elongate body;

a portion of an inner surface of a lumen inside the elongate body;

a portion of an inner surface of a conduits inside the elongate body; and

a portion of a pull wire of the elongate body.

22. The system of claim 16, wherein the first sensor comprises a position sensor wherein the first measured status and the first expected status represent determinations of a change in position of the elongate body, and wherein responsive to the first measured status deviating from the first expected status less than the first threshold, determining that the elongate body has buckled.

23. The system of claim 16, wherein the first sensor comprises a force sensor wherein the first measured status and the first expected status represent determinations of force experienced by the force sensor, and wherein responsive to the first measured status deviating from the first expected status more than the first threshold, determining that the elongate body has buckled.

24. The system of claim 16, wherein the first sensor comprises an image sensor wherein the first measured status and the first expected status represent determinations of movement of the elongate body based on at least one image captured by the image sensor, and wherein responsive to the first measured status deviating from the first expected status less than the first threshold, determining that the elongate body has buckled.

25. The system of claim 16, wherein the first sensor comprises a shape sensor wherein the first measured status and the first expected status represent determination of bending by the elongate body, and wherein responsive to the first measured status deviating from the first expected status more than the first threshold, determining that the elongate body has buckled.

26. The system of claim 22, wherein the shape sensor comprises an optical fiber shape sensing sensor, or wherein the shape sensor comprises a plurality of position sensors, wherein the plurality of position sensors generates a plurality of discrete positions able to be fitted by a function to estimate a shape.

27. The system of claim 16, wherein the command data is generated from a robotic manipulator coupled to the instrument, wherein the command data is configured to control the manipulator to cause the portion of the elongate body to move towards an expected position.

28. The system of claim 16, the system further comprising:

a second sensor placed in a second portion of the elongate body;

the controller further configured to;

receive sensor data generated from the second sensor, the second sensor data comprising information regarding a second measured status of the second portion of the elongate body;

determine a second expected status of the second sensor from the command data useable to control the manipulator coupled to the elongate body to effect movement of the elongate body

compare the second measured status with the second expected status, and

responsive to the first measured status deviating from the first expected status relative to a first associated threshold and the second measured status deviating from the second expected status relative to a second associated threshold, determine that the elongate body has buckled.

29. The system of claim 16, wherein the controller is further configured to:

generate feedback for a user indicating that the elongate body has buckled, wherein generating feedback for the user comprises at least one of;

determining one or more modifications to a recommendation to move the elongate body,

generating a message indicating that the elongate body has buckled, and

generating a warning indicating that the elongate body has bucked; and

provide the feedback to the user.

30. The system of claim 29, wherein the recommendation comprises at least one of:

retracting the elongate body;

adjusting movement of a tip of the elongate body;

adjusting insertion force provided by a robotic manipulator; and

stopping movement of the elongate body.