In-vivo visualization systems

• US 10,470,643 B2
• Filed: 05/18/2015
• Issued: 11/12/2019
• Est. Priority Date: 06/14/2006
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Saadat, Vahid, Fields, Antony Jonathan, Malchano, Zachary J., Rothe, Chris, Swanimathan, Veerappan, Watson, Jason Paul, Wylie, Bryan
• Primary Examiner(s): Roy, Baisakhi
• Application Number:
  US14/714,992
• Publication Number:
  US 20150250382A1
• Time in Patent Office: 1,639 Days
• CPC Class Codes: A61B 1/00085 Baskets
• CPC Class Codes: A61B 1/00089 Hoods
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/015 Control of fluid supply or evacuation
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/12 with cooling or rinsing arrangements
• CPC Class Codes: A61B 1/3137 for examination of the interior of blood vessels
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2218/002 Irrigation

Abstract

A computer implemented method comprises activating a control mechanism on a catheter handle in a first direction with respect to a user to steer a distal end of a catheter within a body in a second direction while the catheter handle is in a first rotational position. The control mechanism includes a first indicator associated with the first direction. The computer implemented method also includes obtaining an image from the distal end of the catheter of a tissue region of interest within the body and calibrating a first rotational motion of the catheter handle with a rotational motion of the image. With the catheter handle in a second rotational position that is different than the first rotational position, the control mechanism activated in the first direction with respect to the user moves the distal end of the catheter in the second direction.

Claims

1. A computer implemented method comprising:

activating a control mechanism on a catheter handle in a first direction with respect to a user to steer a distal end of a catheter within a body in a second direction while the catheter handle is in a first rotational position, the control mechanism including a first indicator associated with the first direction;

obtaining an image from the distal end of the catheter of a tissue region of interest within the body;

calibrating a first rotational motion of the catheter handle with a rotational motion of the image; and

with the catheter handle in a second rotational position that is different than the first rotational position, activating the control mechanism in the first direction with respect to the user to move the distal end of the catheter in the second direction.

2. The computer implemented method of claim 1 wherein the control mechanism includes a second indicator arranged approximately 90 degrees from the first indicator, the method further comprising:

associating a second directional motion of the second indicator with the second direction while the catheter handle is in the second rotational position.

3. The computer implemented method of claim 1 further comprising generating a model of the tissue region and projecting a graphic representation of the distal end of the catheter on the model of the tissue region.

4. The computer implemented method of claim 1 wherein obtaining the image includes obtaining the image through an open area created by an expanded hood extending from the distal end of the catheter.

5. The computer implemented method of claim 4 wherein obtaining the image includes obtaining the image through a purging fluid occupying the open area created by the expanded hood.

6. The computer implemented method of claim 1 wherein activating the control mechanism includes activating the control mechanism coupled to a proximal end of the catheter.

7. The computer implemented method of claim 1 further comprising calibrating an initial position of the first indicator with an initial rotational angle of the image.

8. The computer implemented method of claim 1 wherein the first indicator is associated with a graphical symbol.

9. The computer implemented method of claim 8 further comprising displaying the graphical symbol associated with the first indicator on the image of the tissue region of interest.