Systems and methods for registration of location sensors

• US 10,524,866 B2
• Filed: 03/26/2019
• Issued: 01/07/2020
• Est. Priority Date: 03/28/2018
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Srinivasan, Subashini, Noonan, David Paul, Berman, David Burdick, Patenaude, Brian Matthew
• Primary Examiner(s): Oh, Harry Y
• Application Number:
  US16/365,386
• Publication Number:
  US 20190298458A1
• Time in Patent Office: 287 Days
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00809 Lung operations
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2074 Interface software
• 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 2090/306 using optical fibres
• CPC Class Codes: A61B 2090/309 using white LEDs
• CPC Class Codes: A61B 2090/3614 using optical fibre
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61G 13/04 tiltable around transverse or longitudinal axis

Abstract

Provided are systems and methods for registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.

Claims

1. A system, comprising:

an instrument comprising a set of one or more location sensors, the set of one or more location sensors configured to generate location data indicative of a position of the set of one or more location sensors in a location sensor coordinate system;

a set of instrument manipulators configured to control movement of a distal end of the instrument;

a set of processors of a computer system; and

at least one computer-readable memory of the computer system in communication with the set of processors and having stored thereon;

(i) a model of a luminal network of a patient, the model comprising a target within a model coordinate system and a path to the target and (ii) a registration route comprising a first branch of the luminal network outside the path to the target and a second branch of the luminal network that is a part of the path to the target, the memory further having stored thereon computer-executable instructions to cause the set of processors to;

provide a first set of commands to the set of instrument manipulators to drive the instrument along the first branch of the luminal network in accordance with the registration route,

track a set of one or more registration parameters during the driving of the instrument along the first branch,

determine that the set of one or more registration parameters satisfies a registration criterion,

provide a second set of commands to the set of instrument manipulators to return the instrument back to the path and to drive the instrument along the second branch in accordance with the registration route, and

determine a registration between the location sensor coordinate system and the model coordinate system based on the location data received from the set of one or more location sensors during the driving of the instrument along the first branch and the second branch.

2. The system of claim 1, wherein the registration comprises at least one of a translation and a rotation between the location coordinate system and the model coordinate system.

3. The system of claim 1, wherein the first branch and the second branch are asymmetrical.

4. The system of claim 1, wherein the first branch is located on a contra-lateral side of the luminal network with respect to the target.

5. The system of claim 1, wherein the registration between the location sensor coordinate system and the model coordinate system is further based on the first set of commands and the second set of commands.

6. The system of claim 1, further comprising:

a set of one or more user input devices,

wherein the memory further has stored thereon computer-executable instructions to cause the set of processors to generate the first set of commands and the second set of commands based on user input received from the one or more user input devices.

7. The system of claim 1, wherein the memory further has stored thereon computer-executable instructions to cause the set of processors to:

provide a third set of commands to the set of instrument manipulators to drive the instrument to a first location within the luminal network,

wherein the registration between the location sensor coordinate system and the model coordinate system is further based on the location data received from the set of one or more location sensors while the distal end of the instrument is within a threshold distance from the first location.

8. The system of claim 7, wherein the memory further has stored thereon computer-executable instructions to cause the set of processors to:

provide a fourth set of commands to the set of instrument manipulators to retract the instrument after reaching the first location, and

determine a position of the first location within the model coordinate system based on the third set of commands and the fourth of commands,

wherein the registration between the location sensor coordinate system and the model coordinate system is further based on the location data received prior to retracting the instrument from the first location.

9. The system of claim 7, wherein:

the instrument further comprises a camera,

wherein the memory further has stored thereon computer-executable instructions to cause the set of processors to;

determine a position of the distal end of the instrument based on an analysis of an image received from the camera, and

determine that the distal end of the distal end of the instrument is within a threshold distance from the first location based on determined position of the distal end of the instrument.

10. The system of claim 1, wherein the memory further has stored thereon computer-executable instructions to cause the set of processors to:

generate a set of location data points representative of the location of the distal end of the instrument with respect to the location coordinate system while driving the instrument along the first branch and second branch, and

generate a set of model points representative of the location of the distal end of the instrument with respect to the model coordinate system based on the first set of commands and the second set of commands,

wherein the registration between the location coordinate system and the model coordinate system is further based on a mapping of the set of location data points in the location coordinate system to the set of model points in the model coordinate system.

11. The system of claim 1, wherein:

the set of one or more registration parameters comprises an insertion depth into the first branch,

the memory further has stored thereon computer-executable instructions to cause the set of processors to;

determine that the set of registration parameters satisfies the registration criterion in response to the insertion depth into the first branch being greater than a threshold insertion depth.

12. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to:

provide a first set of commands to a set of instrument manipulators to drive an instrument along a first branch of a luminal network, the instrument comprising a set of one or more location sensors, the set of one or more location sensors configured to generate location data indicative of a position of the set of one or more location sensors in a location sensor coordinate system, the set of instrument manipulators configured to control movement of a distal end of the instrument, a memory having stored thereon;

(i) a model of a luminal network of a patient, the model comprising a target within a model coordinate system and a path to the target and (ii) a registration route comprising the first branch of the luminal network outside the path to the target and a second branch of the luminal network that is a part of the path to the target;

track a set of one or more registration parameters during the driving of the instrument along the first branch in accordance with the registration route;

determine that the set of one or more registration parameters satisfies a registration criterion;

provide a second set of commands to the set of instrument manipulators to return the instrument back to the path and to drive the instrument along the second branch in accordance with the registration route; and

determine a registration between the location sensor coordinate system and the model coordinate system based on the location data received from the set of one or more location sensors during the driving of the instrument along the first branch and the second branch.

13. The non-transitory computer readable storage medium of claim 12, wherein the registration comprises at least one of a translation and a rotation between the location coordinate system and the model coordinate system.

14. The non-transitory computer readable storage medium of claim 12, wherein the first branch and the second branch are asymmetrical.

15. The non-transitory computer readable storage medium of claim 12, wherein the first branch is located on a contra-lateral side of the luminal network with respect to the target.

16. The non-transitory computer readable storage medium of claim 12, wherein the registration between the location sensor coordinate system and the model coordinate system is further based on the first set of commands and the second set of commands.

17. The non-transitory computer readable storage medium of claim 12, further having stored thereon instructions that, when executed, cause at least one computing device to:

generate the first set of commands and the second set of commands based on user input received from a set of one or more user input devices.

18. The non-transitory computer readable storage medium of claim 12, further having stored thereon instructions that, when executed, cause at least one computing device to:

provide a third set of commands to the set of instrument manipulators to drive the instrument to a first location within the luminal network,

wherein the registration between the location sensor coordinate system and the model coordinate system is further based on the location data received from the set of one or more location sensors while the distal end of the instrument is within a threshold distance from the first location.

19. The non-transitory computer readable storage medium of claim 18, further having stored thereon instructions that, when executed, cause at least one computing device to:

provide a fourth set of commands to the set of instrument manipulators to retract the instrument after reaching the first location, and

determine a position of the first location within the model coordinate system based on the third set of commands and the fourth of commands,

wherein the registration between the location sensor coordinate system and the model coordinate system is further based on the location data received prior to retracting the instrument from the first location.

20. The non-transitory computer readable storage medium of claim 18, wherein:

the instrument further comprises a camera,

wherein the non-transitory computer readable storage medium further has stored thereon instructions that, when executed, cause at least one computing device to;

determine a position of the distal end of the instrument based on an analysis of an image received from the camera, and

determine that the distal end of the distal end of the instrument is within a threshold distance from the first location based on determined position of the distal end of the instrument.

21. The non-transitory computer readable storage medium of claim 12, further having stored thereon instructions that, when executed, cause at least one computing device to:

generate a set of location data points representative of the location of the distal end of the instrument with respect to the location coordinate system while driving the instrument along the first branch and second branch, and

generate a set of model points representative of the location of the distal end of the instrument with respect to the model coordinate system based on the first set of commands and the second set of commands,

wherein the registration between the location coordinate system and the model coordinate system is further based on a mapping of the set of location data points in the location coordinate system to the set of model points in the model coordinate system.

22. The non-transitory computer readable storage medium of claim 12, wherein:

the set of one or more registration parameters comprises an insertion depth into the first branch,

wherein the non-transitory computer readable storage medium further has stored thereon instructions that, when executed, cause at least one computing device to;

determine that the set of registration parameters satisfies the registration criterion in response to the insertion depth into the first branch being greater than a threshold insertion depth.

23. A method of registering a set of one or more location sensors, comprising:

providing a first set of commands to a set of instrument manipulators to drive an instrument along a first branch of a luminal network, the instrument comprising the set of one or more location sensors, the set of one or more location sensors configured to generate location data indicative of a position of the set of one or more location sensors in a location sensor coordinate system, the set of instrument manipulators configured to control movement of a distal end of the instrument, a memory having stored thereon;

(i) a model of a luminal network of a patient, the model comprising a target within a model coordinate system and a path to the target and (ii) a registration route comprising the first branch of the luminal network outside the path to the target and a second branch of the luminal network that is a part of the path to the target;

tracking a set of one or more registration parameters during the driving of the instrument along the first branch in accordance with the registration route;

determining that the set of one or more registration parameters satisfies a registration criterion,

providing a second set of commands to the set of instrument manipulators to return the instrument back to the path and to drive the instrument along the second branch in accordance with the registration route; and

determining a registration between the location sensor coordinate system and the model coordinate system based on the location data received from the set of one or more location sensors during the driving of the instrument along the first branch and the second branch.

24. The method of claim 23, wherein the registration comprises at least one of a translation and a rotation between the location coordinate system and the model coordinate system.

25. The method of claim 23, wherein the first branch and the second branch are asymmetrical.

26. The method of claim 23, wherein the first branch is located on a contra-lateral side of the luminal network with respect to the target.

27. The method of claim 23, wherein the registration between the location sensor coordinate system and the model coordinate system is further based on the first set of commands and the second set of commands.

28. The method of claim 23, further comprising:

generating the first set of commands and the second set of commands based on user input received from a set of one or more user input devices.

29. The method of claim 23, further comprising:

providing a third set of commands to the set of instrument manipulators to drive the instrument to a first location within the luminal network,

wherein the registration between the location sensor coordinate system and the model coordinate system is further based on the location data received from the set of one or more location sensors while the distal end of the instrument is within a threshold distance from the first location.

30. The method of claim 29, further comprising:

providing a fourth set of commands to the set of instrument manipulators to retract the instrument after reaching the first location, and

determining a position of the first location within the model coordinate system based on the third set of commands and the fourth of commands,

wherein the registration between the location sensor coordinate system and the model coordinate system is further based on the location data received prior to retracting the instrument from the first location.