Systems and methods for interventional medicine
First Claim
1. An automated system for navigating a medical device through the lumens and cavities in an operating region in a patient, the system comprising:
- an elongate medical device, having a proximal end and a distal end adapted to be introduced into the operating region;
an imaging system for displaying an image of the operating region, including a representation of the distal end of the medical device in the operating region;
a localization system for determining the position of the medical device in a frame of reference translatable to the displayed image of the imaging system;
a magnetic navigation system for orienting the medical device in a selected direction in the operating region through the interaction of magnetic fields associated with the medical device inside the operating region and at least one external source magnet outside the patient'"'"'s body;
an advancer acting on the proximal end of the medical device for selectively advancing the distal end of the medical device;
an input device for receiving at least a destination for the distal end of the device input by the user using the displayed image of the imaging system;
and a controller, responsive to the destination input by the user, for operating the magnetic navigation system to orient the distal end of the medical device in the proper orientation to reach the selected destination, and once the distal end of the medical device is in the proper orientation, operating the advancer to advance the distal end of the medical device to the destination input by the user.
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Accused Products
Abstract
An automated system for navigating a medical device through the lumens and cavities in an operating region in a patient. The system includes an elongate medical device, having a proximal end and a distal end adapted to be introduced into the operating region. The system also includes an imaging system for displaying an image of the operating region, including a representation of the distal end of the medical device in the operating region. The system also includes a localization system for determining the position of the medical device in a frame of reference translatable to the displayed image of the imaging system. Finally, the system includes a system for orienting the medical device in a selected direction in the operating region, this system may be, for example, a magnetic navigation system which acts through the interaction of magnetic fields associated with the medical device inside the operating region and at least one external source magnet outside the patient'"'"'s body.
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Citations
54 Claims
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1. An automated system for navigating a medical device through the lumens and cavities in an operating region in a patient, the system comprising:
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an elongate medical device, having a proximal end and a distal end adapted to be introduced into the operating region;
an imaging system for displaying an image of the operating region, including a representation of the distal end of the medical device in the operating region;
a localization system for determining the position of the medical device in a frame of reference translatable to the displayed image of the imaging system;
a magnetic navigation system for orienting the medical device in a selected direction in the operating region through the interaction of magnetic fields associated with the medical device inside the operating region and at least one external source magnet outside the patient'"'"'s body;
an advancer acting on the proximal end of the medical device for selectively advancing the distal end of the medical device;
an input device for receiving at least a destination for the distal end of the device input by the user using the displayed image of the imaging system;
and a controller, responsive to the destination input by the user, for operating the magnetic navigation system to orient the distal end of the medical device in the proper orientation to reach the selected destination, and once the distal end of the medical device is in the proper orientation, operating the advancer to advance the distal end of the medical device to the destination input by the user. - View Dependent Claims (2, 3, 4)
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5. An interventional medical system for guidance of medical devices within patient body lumens and cavities comprising:
- a digitally controlled medical device advancer;
a digitally controlled medical device tip steering mechanism;
a means for determining the spatial coordinates of at least one point on the medical device adjacent the distal tip;
an imaging system which displays images of the operating region which include an image of the catheter superimposed on tissue;
a user interface that allows the operator to interact with the images to specify at least one of a location or a path;
a control computer that interprets operator specifications, and operates the medical device advancer and the medical device tip steering mechanism to guide the medical device to the specified location or along the specified path, and update the images of the catheter and tissue. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
- a digitally controlled medical device advancer;
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21. A method for navigating a medical device through the body lumens and cavities of a patient, consisting of:
- observing the operating region and medical device on a composite medical image;
specifying desired points or paths for the medical device on a user interface;
navigation of a computer controlled steering and advancer means which advances the medical device to the specified points. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28)
- observing the operating region and medical device on a composite medical image;
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29. A method of navigating the distal end of a medical device in an operating region in a patient, the method comprising:
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displaying an image of the operating region;
localizing the position of the distal end of the medical device in the operating region;
superposing a representation of the distal end of the medical device on the displayed image of the operating region;
accepting a destination for the distal end of the medical device input by the user using the displayed image of the operating region;
and iteratively localizing the position of the distal end of the medical device, orient determining the orientation for the distal end of the medical device to reach the destination input by the user, and orienting the distal end of the medical device in the determined orientation; and
automatically advancing the distal end of the medical device toward the destination until the distal end of the medical device is at the input destination.
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30. A method of navigating the distal end of a medical device in an operating region in a patient, the method comprising:
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displaying an image of the operating region;
localizing the position of the distal end of the medical device in the operating region;
superposing a representation of the distal end of the medical device on the displayed image of the operating region;
accepting a destination for the distal end of the medical device input by the user using the displayed image of the operating region;
determining the orientation for the distal end of the medical device to reach the destination input by the user, and orienting the distal end of the medical device in the determined orientation;
automatically advancing the distal end of the medical device toward the destination, and iteratively localizing the position of the distal end of the medical device, orient determining the orientation for the distal end of the medical device to reach the destination input by the user, and orienting the distal end of the medical device in the determined orientation; and
automatically advancing the distal end of the medical device toward the destination until the distal end of the medical device is at the input destination. - View Dependent Claims (32)
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31. A method of navigating the distal end of a medical device in an operating region in a patient, the method comprising:
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displaying an image of the operating region;
localizing the position of the distal end of the medical device in the operating region;
superposing a representation of the distal end of the medical device on the displayed image of the operating region;
accepting a destination for the distal end of the medical device input by the user using the displayed image of the operating region; and
iteratively localizing the position of the distal end of the medical device, determining the orientation for the distal end of the medical device to reach the destination input by the user, and advancing the catheter upon input from the user.
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33. A method of navigating the distal end of a medical device in an operating region in a patient, the method comprising:
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displaying an image of the operating region;
localizing the position of the distal end of the medical device in the operating region;
superposing a representation of the distal end of the medical device on the displayed image of the operating region;
accepting a path for the distal end of the medical device input by the user using the displayed image of the operating region;
and iteratively localizing the position of the distal end of the medical device, determining the orientation for the distal end of the medical device to follow the path input by the user, and orienting the distal end of the medical device in the determined orientation; and
automatically advancing the distal end of the medical device along the path. - View Dependent Claims (34, 35)
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36. A method of navigating the distal end of a medical device in an operating region in a patient, the method comprising:
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creating a preoperative image of the operating region;
localizing the position of the distal end of the medical device in the operating region;
superposing a representation of the distal end of the medical device on the displayed image of the operating region;
accepting a destination for the distal end of the medical device input by the user using the displayed image of the operating region;
and iteratively localizing the position of the distal end of the medical device, orient determining the orientation for the distal end of the medical device to reach the destination input by the user, and orienting the distal end of the medical device in the determined orientation; and
automatically advancing the distal end of the medical device toward the destination until the distal end of the medical device is at the input destination.
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37. A method of navigating the distal end of a medical device in an operating region in a patient, the method comprising:
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creating a preoperative image of the operating region;
localizing the position of the distal end of the medical device in the operating region;
superposing a representation of the distal end of the medical device on the displayed image of the operating region;
accepting a destination for the distal end of the medical device input by the user using the displayed image of the operating region;
and iteratively localizing the position of the distal end of the medical device, orient determining the orientation for the distal end of the medical device to reach the destination input by the user, and orienting the distal end of the medical device in the determined orientation; and
automatically advancing the distal end of the medical device toward the destination until the distal end of the medical device is at the input destination.
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38. A method of controlling movement and navigation of a medical device inserted into a patient, said method comprising:
- (a) localization of the device tip, said device exhibiting deflection capability in response to application of external magnetic fields, (b) using localization information together with device elasticity properties to magnetically guide the device tip to a desired location by suitable application of magnetic fields together with device advancement/retraction, and (c) said guidance implemented by the use of feedback control algorithms based on the construction of mathematical models of the interaction of device elasticity and applied external forces and torques on said device.
- View Dependent Claims (39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50)
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51. A system for closed-loop feedback control of medical device steering and advancement, said system including:
- (a) a device localization sub-system for obtaining localization information at the device tip, (b) computer control of device advancement/retraction, (c) computer-controlled means of magnetic field application, (d) software and hardware for feedback control of catheter motion, said software including feedback control algorithms based on physics-based mathematical models of device elasticity, (e) automated computer control of device advancement and magnetic field application achieved by the use of localization data in conjunction with feedback control algorithms, and (f) a manual over-ride option for use in manual or semi-automated mode.
- View Dependent Claims (52, 53, 54)
Specification