System and methods for tracking robotically controlled medical instruments

• US 10,531,864 B2
• Filed: 10/19/2018
• Issued: 01/14/2020
• 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 H., Walker, Sean, Hsu, Jason, Park, June, Tanner, Neal A., Murthy, Kiran
• Primary Examiner(s): Vu, Kim Y
• Assistant Examiner(s): Delaney, Molly
• Application Number:
  US16/165,377
• Publication Number:
  US 20190117203A1
• Time in Patent Office: 452 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 method of registering a tool of a robotic medical system to a desired frame, the method comprising:

tracking a position of the tool of the robotic medical system using one or more sensors coupled to the tool;

tracking a position of a physical component of the robotic medical system using one or more sensors coupled to the physical component;

comparing a tool reference frame to a physical component reference frame to generate a registration of the tool to the physical component;

comparing the physical component reference frame to a visualization reference frame to generate a registration of the physical component to a visualization of the anatomy; and

determining a location of the tool in the visualization of the anatomy based on the registration of the physical component to the visualization of the anatomy and the registration of the tool to the physical component.

2. The method of claim 1, wherein at least one of the one or more sensors coupled to the tool or the one or more sensors coupled to the physical component comprises an electromagnetic sensor.

3. The method of claim 1, wherein at least one of the one or more sensors of the tool or the one or more sensors of the physical component comprises a fiber sensor.

4. The method of claim 1, further comprising displaying the location of the tool in the visualization of the anatomy.

5. The method of claim 4, wherein displaying the location of the tool in the visualization of the anatomy comprises overlaying localization data related to the tool on the visualization of the anatomy.

6. The method of claim 1, wherein the visualization of the anatomy comprises a CT image.

7. The method of claim 1, wherein the visualization of the anatomy comprises a fluoroscopy image.

8. The method of claim 1, wherein the visualization of the anatomy is one of a pre-operative anatomical image or an intra-operative image.

9. The method of claim 1, wherein the physical component of the robotic medical system is a table.

10. The method of claim 1, wherein a location of the physical component with respect to a visualization system used to obtain the visualization of the anatomy is known.

11. The method of claim 1, wherein the tool is a catheter.

12. The method of claim 1, wherein the tool is a splayer.

13. A method of registering a tool of a robotic medical system to a desired frame, the method comprising:

tracking a position of the tool of the robotic medical system using one or more sensors coupled to the tool;

tracking a position of a physical component of the robotic medical system using one or more sensors coupled to the physical component;

comparing a tool reference frame to a physical component reference frame to generate a registration of the tool to the physical component;

comparing the physical component reference frame to a visualization reference frame to generate a registration of the physical component to a visualization of the anatomy; and

displaying a location of the tool in the visualization of the anatomy based on the registration of the physical component to the visualization of the anatomy and the registration of the tool to the physical component.

14. The method of claim 13, wherein at least one of the one or more sensors coupled to the tool or the one or more sensors coupled to the physical component comprises an electromagnetic sensor.

15. The method of claim 13, wherein at least one of the one or more sensors of the tool or the one or more sensors of the physical component comprises a fiber sensor.

16. The method of claim 13, wherein displaying the location of the tool in the visualization of the anatomy comprises overlaying localization data related to the tool on the visualization of the anatomy.

17. The method of claim 13, wherein the visualization of the anatomy comprises a CT image.

18. The method of claim 13, wherein the visualization of the anatomy comprises a fluoroscopy image.

19. The method of claim 13, wherein the visualization of the anatomy is one of a pre-operative anatomical image or an intra-operative image.

20. The method of claim 13, wherein the physical component of the robotic medical system is a table.

21. The method of claim 13, wherein location of the physical component with respect to visualization system used to obtain the visualization of the anatomy is known.

22. The method of claim 13, wherein the tool is a catheter.

23. The method of claim 13, wherein the tool is a splayer.