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Steerable flexible needle with embedded shape sensing

  • US 10,638,953 B2
  • Filed: 09/26/2016
  • Issued: 05/05/2020
  • Est. Priority Date: 02/03/2012
  • Status: Active Grant
First Claim
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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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