Method and apparatus for tracking insertion depth

• US 20040176683A1
• Filed: 03/07/2003
• Published: 09/09/2004
• Est. Priority Date: 03/07/2003
• Status: Abandoned Application

• Current Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Arne, Lawrence W., Roth, Alex, Belson, Amir, Ohline, Robert M., Whitin, Katherine
• Application Number:
  US10/384,252
• Publication Number:
  US 20040176683A1
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 1/31 for the rectum, e.g. proctoscopes, sigmoidoscopes , colonoscopes
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/068 using impedance sensors
• CPC Class Codes: A61B 5/1076 for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies

Abstract

Methods and apparatus for tracking insertion depth of endoscopes are described herein. One method for determining endoscopic insertion depth within a body is to utilize a fully instrumented endoscope configured to determine its depth of insertion. Another method uses a datum device which interacts with the endoscope to determine how much of the endoscope has passed by a reference boundary. A fully instrumented endoscope can poll the status of the entire endoscope and then determine its position relative to anatomical boundaries, e.g., the anus. The polled information is obtained by sensors or transponders located along the length of the endoscope. When using an endoscope with a datum, the datum can read positional information by polling the status of sensors or transponders located along the body of the endoscope as the endoscope passes through the anus. The datum can be affixed to the patient or to another fixed reference point.

Claims

1. An apparatus for determining a position of an elongate instrument insertable into a cavity, comprising:

at least one sensor adapted to be positioned adjacent to the elongate instrument; and

at least one magnetic field source positioned adjacent to the sensor,

wherein the sensor is further adapted to detect a motion of the elongate instrument when the instrument is advanced or withdrawn relative to the sensor.

2. The apparatus of claim 1 wherein the apparatus is adapted to be fixed relative to a position of the cavity.

3. The apparatus of claim 2 wherein the apparatus is positioned upon or within a body of a patient such that the sensor is in a fixed position relative to the cavity.

4. The apparatus of claim 2 wherein the apparatus is positioned on a platform external to a body of a patient such that the sensor is in a fixed position relative to the cavity.

5. The apparatus of claim 1 wherein the sensor comprises a conductor through which an electrical current is flowable.

6. The apparatus of claim 1 wherein the sensor is positioned between the magnetic field source and the elongate instrument.

7. The apparatus of claim 1 further comprising an additional sensor adjacent to the at least one sensor.

8. The apparatus of claim 1 wherein the sensor is positioned at a predetermined distance from the elongate instrument.

9. The apparatus of claim 1 wherein the magnetic field source comprises a permanent magnet.

10. The apparatus of claim 1 wherein the magnetic field source comprises an electromagnet.

11. The apparatus of claim 1 wherein the sensor is positioned perpendicularly to a magnetic field generated by the magnetic field source.

12. The apparatus of claim 1 wherein the elongate instrument comprises a plurality of ferromagnetic material or magnet positioned along at least a portion of a length of the instrument.

13. The apparatus of claim 12 wherein each of the ferromagnetic material or magnet is positioned along the length such that adjacent magnets are alternating in polarity.

14. The apparatus of claim 12 wherein each of the ferromagnetic material or magnet is positioned along the length such that adjacent magnets are uniform in polarity.

15. The apparatus of claim 12 wherein each of the ferromagnetic material or magnet is positioned at a predetermined distance from one another.

16. The apparatus of claim 12 wherein each of the ferromagnetic material or magnet is configured to be secured about the elongate instrument.

17. The apparatus of claim 12 wherein at least one of the ferromagnetic materials or magnets comprises a unique magnetic signature indicative of its position along the instrument.

18. The apparatus of claim 17 wherein each of the ferromagnetic materials or magnets comprises a unique magnetic signature each indicative of its position along the instrument.

19. The apparatus of claim 1 further comprising an elongate tool having a plurality of ferromagnetic material or magnet positioned along at least a portion of a length of the tool, wherein the tool is adapted to be inserted within a working channel of the elongate instrument.

20. The apparatus of claim 19 wherein each of the ferromagnetic material or magnet is positioned along the length of the tool such that adjacent magnets are alternating in polarity.

21. The apparatus of claim 19 wherein each of the ferromagnetic material or magnet is positioned along the length of the tool such that adjacent magnets are uniform in polarity.

22. The apparatus of claim 19 wherein each of the ferromagnetic material or magnet is positioned at a predetermined distance from one another.

23. The apparatus of claim 19 wherein each of the ferromagnetic material or magnet is configured to be secured about the elongate tool.

24. The apparatus of claim 1 further comprising a pressure sensor disposed adjacent to the magnetic field source for sensing a pressure from the magnetic field generator when the instrument is advanced or withdrawn relative to the sensor.

25. The apparatus of claim 1 further comprising a plurality of additional magnetic field sources disposed about a circumference of a rotatable platform, the platform being in communication with the sensor.

26. The apparatus of claim 25 wherein each of the magnets is positioned about the circumference such that adjacent magnets are alternating in polarity.

27. The apparatus of claim 1 further comprising a connector attached to the sensor.

28. The apparatus of claim 1 further comprising a substrate upon which the sensor is mountable.

29. The apparatus of claim 28 wherein the substrate comprises an adhesive backing for temporarily adhering to a surface.

30. The apparatus of claim 28 wherein the substrate comprises an elongate and flexible member upon which the sensor is mountable.

31. The apparatus of claim 28 wherein the substrate defines a pocket thereon, the sensor being removably positionable within the pocket.

32. The apparatus of claim 28 wherein the substrate is adapted for placement adjacent a single side of a natal cleft defined on a body.

33. The apparatus of claim 28 wherein the substrate is adapted for placement across a natal cleft defined on a body.

34. The apparatus of claim 33 wherein the substrate defines an access opening therein through which the elongate instrument is insertable.

35. The apparatus of claim 1 wherein the apparatus is disposable in an undergarment to be worn by a patient.

39. The instrument of claim 28 wherein the at least one electrically conductive circuit is adapted to electrically couple with a grounding electrode positioned externally of the cavity.

40. The instrument of claim 39 wherein the grounding electrode comprises a pad.

41. The instrument of claim 39 wherein the electrically conductive circuit is adapted to inductively couple with the grounding electrode.

42. The instrument of claim 39 wherein the electrically conductive circuit is adapted to capacitively couple with the grounding electrode.

36. An instrument configured to determine a position of the instrument within a cavity, comprising:

an elongate device having a proximal portion and a selectively steerable distal portion; and

at least one electrically conductive circuit disposed along at least a portion of a length of the elongate device;

wherein the circuit is adapted to indicate an insertion depth of the elongate device within the cavity by indicating a change within the circuit indicative of a position along the length where the elongate device enters the cavity.

37. The instrument of claim 36 wherein the at least one electrically conductive circuit comprises a continuous circuit along at least the portion of the length.

38. The instrument of claim 36 wherein the at least one electrically conductive circuit comprises a flexible circuit disposed within an outer member of the elongate device.

43. The instrument of claim 36 wherein the at least one electrically conductive circuit comprises a plurality of electrically conductive switches located at predetermined intervals from one another along at least the portion of the length of the elongate device.

44. The instrument of claim 43 wherein each switch is adapted to close the conductive circuit upon the switch entering the cavity such that a closed switch is indicative of the position along the length where the elongate device enters the cavity.

45. The instrument of claim 43 wherein each switch is adapted to sense a change in an output selected from the group consisting of pressure, capacitance, conductivity, moisture, pH, temperature, light intensity, resistance, and photoresistance.

46. The instrument of claim 36 wherein the at least one electrically conductive circuit comprises a plurality of electrically conductive leads extending distally along the length such that at least two corresponding leads terminate at each of a plurality of predetermined locations along the length.

47. The instrument of claim 36 wherein the at least one electrically conductive circuit comprises a plurality of conductive contacts located at predetermined locations along the length, wherein each adjacent contact is positioned at a predetermined distance from one another such that the conductive circuit is closed upon adjacent contacts entering the cavity.

48. The instrument of claim 36 wherein the circuit is further adapted to indicate a portion of the elongate device external to the cavity.

49. An apparatus for determining a position of an elongate instrument insertable into a cavity, comprising:

a substrate for positioning upon or within a body of a patient; and

at least one sensor positionable upon the substrate such that the sensor is adjacent to an opening into the body,

wherein the sensor is adapted to detect a motion of the elongate instrument when the instrument is advanced or withdrawn through the opening.

50. The apparatus of claim 49 further comprising at least one magnetic field source positionable upon the substrate.

51. The apparatus of claim 50 wherein the magnetic field source is positioned adjacent to the sensor.

52. The apparatus of claim 49 wherein the sensor is adapted to be fixed relative to the opening.

53. The apparatus of claim 49 wherein the sensor comprises a pressure sensor adapted to contact the elongate instrument and detect pressure changes as the instrument is advanced or withdrawn.

54. The apparatus of claim 49 wherein the sensor is further adapted to detect a change in a diameter of the elongate instrument when the instrument is advanced or withdrawn through the opening.

55. The apparatus of claim 54 wherein the sensor is further adapted to maintain contact with the elongate instrument and move accordingly when the change in diameter is detected.

56. The apparatus of claim 49 wherein the substrate comprises an adhesive backing for temporarily adhering to the body.

57. The apparatus of claim 49 wherein the substrate comprises an elongate and flexible member upon which the sensor is mountable.

58. The apparatus of claim 49 wherein the substrate defines a pocket thereon, the sensor being removably positionable within the pocket.

59. The apparatus of claim 49 wherein the substrate is adapted for placement adjacent a single side of a natal cleft defined adjacent the opening.

60. The apparatus of claim 49 wherein the substrate is adapted for placement across a natal cleft defined on the body.

61. The apparatus of claim 49 wherein the substrate is adapted for placement along or within the natal cleft defined on the body.

62. The apparatus of claim 49 wherein the substrate defines an access opening therein through which the elongate instrument is insertable.

63. The apparatus of claim 49 wherein the apparatus is disposable in an undergarment to be worn by the patient.

64. A method of determining a position of an elongate instrument insertable into a cavity, comprising:

positioning at least one sensor adjacent to an opening of the cavity;

providing a magnetic field adjacent to the sensor;

passing the elongate instrument through the opening adjacent to the sensor such that the magnetic field is altered; and

correlating alterations in the magnetic field to movement of the elongate instrument.

65. The method of claim 64 wherein positioning the at least one sensor comprises positioning the sensor in a fixed relationship relative to the opening.

66. The method of claim 64 wherein positioning the at least one sensor comprises positioning at least an additional sensor adjacent to the opening.

67. The method of claim 64 wherein positioning the at least one sensor comprises positioning the sensor upon or within a body of a patient.

68. The method of claim 64 wherein positioning the at least one sensor comprises positioning the sensor on a platform external to a body of a patient.

69. The method of claim 64 wherein positioning the at least one sensor comprises positioning the sensor between the magnetic field and the elongate instrument.

70. The method of claim 64 wherein positioning the at least one sensor comprises positioning the sensor upon a substrate.

71. The method of claim 70 wherein positioning the at least one sensor comprises positioning the sensor upon an elongate and flexible member extending from the substrate.

72. The method of claim 70 wherein positioning the at least one sensor comprises removably positioning the sensor within a pocket defined by the substrate.

73. The method of claim 64 wherein positioning the at least one sensor comprises placing the sensor adjacent a single side of a natal cleft defined on a body.

74. The method of claim 64 wherein positioning the at least one sensor comprises placing the sensor across a natal cleft defined on a body.

75. The method of claim 64 wherein positioning the at least one sensor comprises placing the sensor along or within a natal cleft defined on a body.

76. The method of claim 64 wherein positioning the at least one sensor comprises positioning the sensor perpendicularly to the magnetic field.

77. The method of claim 64 further comprising passing an electrical current through the sensor prior to or while passing the elongate instrument through the opening.

78. The method of claim 64 wherein providing the magnetic field comprises positioning at least one magnet adjacent to the sensor.

79. The method of claim 64 wherein providing the magnetic field comprises positioning at least one electromagnet adjacent to the sensor.

80. The method of claim 64 further comprising placing a plurality of magnets along the elongate instrument at predetermined locations such that adjacent magnets are alternating in polarity prior to passing the elongate instrument through the opening.

81. The method of claim 64 further comprising placing a plurality of magnets along the elongate instrument at predetermined locations such that adjacent magnets are uniform in polarity prior to passing the elongate instrument through the opening.

82. The method of claim 64 wherein passing the elongate instrument further comprises altering the magnetic field such that the field is not steady through the sensor.

83. The method of claim 64 wherein correlating alterations in the magnetic field comprises determining an insertion depth of the elongate instrument during advancement or withdrawal through the opening.