Steerable flexible needle with embedded shape sensing
First Claim
1. A minimally invasive system, comprising:
- an elongate medical instrument including a lumen having an inner diameter;
an elongate, flexible stylet configured to be removably received within the lumen, the stylet including an outer diameter that is smaller than the inner diameter of the lumen of the elongate medical instrument;
a sensor system coupled to the stylet, the sensor system configured to detect characteristics of at least a portion of the elongate medical instrument, the characteristics of at least the portion of the elongate medical instrument including at least a shape of at least the portion of the elongate medical instrument; and
a processor comprising;
an error detection module configured to;
receive the detected characteristics of at least the portion of the elongate medical instrument from the sensor system;
compare the detected characteristics of at least the portion of the elongate medical instrument with expected characteristics of at least the portion of the elongate medical instrument; and
notify a user of a deviation between the detected characteristics and the expected characteristics of at least the portion of the elongate medical instrument; and
a path planning module configured to intraoperatively generate, based on the shape of at least the portion of the elongate medical instrument detected by the sensor system, a target trajectory for continuing advancement of the elongate medical instrument within a patient anatomy.
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Accused Products
Abstract
A minimally invasive system comprises an elongate medical instrument including a lumen; an elongate, flexible stylet removably receivable within the lumen; a sensor system coupled to the stylet, the sensor system configured to detect characteristics of at least a portion of the elongate medical instrument; and a processor. The processor comprises an error detection module configured to receive the detected characteristics from the sensor system; compare the detected characteristics with expected characteristics of at least the portion of the elongate medical instrument; and notify a user of a deviation between the detected characteristics and the expected characteristics. The processor further comprises a path planning module configured to intraoperatively generate, based on a shape of at least the portion of the elongate medical instrument detected by the sensor system, a target trajectory for continuing advancement of the elongate medical instrument within a patient anatomy.
64 Citations
20 Claims
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1. A minimally invasive system, comprising:
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an elongate medical instrument including a lumen having an inner diameter; an elongate, flexible stylet configured to be removably received within the lumen, the stylet including an outer diameter that is smaller than the inner diameter of the lumen of the elongate medical instrument; a sensor system coupled to the stylet, the sensor system configured to detect characteristics of at least a portion of the elongate medical instrument, the characteristics of at least the portion of the elongate medical instrument including at least a shape of at least the portion of the elongate medical instrument; and a processor comprising; an error detection module configured to; receive the detected characteristics of at least the portion of the elongate medical instrument from the sensor system; compare the detected characteristics of at least the portion of the elongate medical instrument with expected characteristics of at least the portion of the elongate medical instrument; and notify a user of a deviation between the detected characteristics and the expected characteristics of at least the portion of the elongate medical instrument; and a path planning module configured to intraoperatively generate, based on the shape of at least the portion of the elongate medical instrument detected by the sensor system, a target trajectory for continuing advancement of the elongate medical instrument within a patient anatomy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification