Robotic catheter systems and methods

• US 20080255505A1
• Filed: 03/26/2008
• Published: 10/16/2008
• Est. Priority Date: 03/26/2007
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Carlson, Christopher R., Barbagli, Frederico
• Granted Patent: US 8,391,957 B2
• Time in Patent Office: Days
• US Class Current: 604/95.04
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• 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 2034/741 Glove like input devices, e.g. "data gloves"
• 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 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61M 2025/0161 wherein the distal tips have two or more deflection regions
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/0147 with movable mechanical means, e.g. pull wires
• CPC Class Codes: A61M 25/0662 Guide tubes

Abstract

A robotic instrument system having an elongate sheath instrument and an elongate catheter instrument positioned within a working lumen of the sheath instrument is controlled by selectively operating an instrument driver coupled to the catheter instrument to place a control element extending through the catheter instrument in tension, and thereby articulate at least a distal end portion the catheter instrument, while automatically compensating for a torsional force exerted on the sheath instrument in a first direction due to articulation of the distal end portion of the catheter, by urging the sheath instrument to twist in a second direction opposite of the first direction.

Claims

1. A method of controlling a robotic instrument system, the system comprising an elongate sheath instrument and an elongate catheter instrument positioned within a working lumen of the sheath instrument, the method comprising:

operating an instrument driver coupled to the catheter instrument to place a control element extending through the catheter instrument in tension, and thereby articulate at least a distal end portion the catheter instrument; and

automatically compensating for a torsional force exerted on the sheath instrument in a first direction due to articulation of the distal end portion of the catheter, by urging the sheath instrument to twist in a second direction opposite of the first direction.

2. The method of claim 1, wherein the sheath instrument is urged to twist by operating the instrument driver to place a control element of the sheath instrument in tension.

3. The method of claim 1, wherein compensating for the torsional force is performed when the catheter instrument is bent in a first plane and the sheath instrument is bent in a second plane different than the first plane.

4. The method of claim 3, wherein the sheath instrument defines a first axis and is bent to define a second axis, and the catheter instrument is bent to define a third axis, wherein compensating for the torsional force is based on:

β

=K sin(θ

)sin(α

)

wherein

β

=compensation of the rotational position of the catheter instrument within the sheath instrument,

α

=an angle defined between the first axis and the second axis,

θ

=an angle defined between the second axis and the third axis,

K=a tuning gain factor.

5. A robotically controlled medical instrument system, comprising:

a controller;

an instrument driver operatively coupled to the controller;

a sheath instrument operatively coupled to the instrument driver; and

a catheter instrument operatively coupled to the instrument driver, wherein the catheter instrument is positioned in a working lumen of the sheath instrument, the catheter instrument having a control element extending there through for controllably articulating a distal end portion of the catheter instrument,

wherein placing the control element in tension places a torsional force on the sheath instrument that urges the sheath instrument to twist in a first direction, and

wherein the controller is configured to automatically compensate for the torsional force exerted on the sheath instrument by urging the sheath instrument to twist in a second direction opposite of the first direction through selected operation of the instrument driver.

6. The system of claim 5, wherein the sheath instrument defines a first axis and is bent to define a second axis, and the catheter instrument is bent to define a third axis, wherein the controller is configured to compensate for the torsional force based on the relationship:

β

=K sin(θ

)sin(α

)

wherein

β

=compensation of the rotational position of the catheter instrument within the sheath instrument,

α

=an angle defined between the first axis and the second axis,

θ

=an angle defined between the second axis and the third axis,

K=a tuning gain factor.

7. A method of controlling a robotic instrument system, the system comprising an elongate flexible sheath instrument and an elongate flexible catheter instrument positioned within a working lumen of the sheath instrument, the method comprising:

determining a length of a distal end portion of the catheter instrument that extends beyond a distal end opening of the sheath instrument; and

selectively actuating one or more motors in an instrument driver to thereby cause articulation of a distal end portion of the catheter instrument extending through a distal end opening of the sheath instrument, wherein actuation of the motors is based at least in part on the determined length so that the resulting articulation of the distal end portion of the catheter instrument is scaled.

8. The method of claim 7, wherein articulation of the distal end portion of the catheter instrument is scaled based on a filtered curvature relationship,

K_F=a*K_C

wherein

K_F=a filtered or adjusted position or curvature of the catheter instrument,

K_C=the commanded position or curvature of the catheter instrument, and

“

a”

=a scaling factor.

9. The method of claim 8, wherein the scaling factor “

a”

is a non-linear function.

10. The method of claim 8, wherein the non-linear function is a function of the length “

l’

of the catheter instrument that extends beyond the distal end of the sheath instrument, based on the expression;

11. The method of claim 8, wherein the scaling is a minimum for maximum compensation of articulation of the catheter instrument when the catheter instrument is fully retracted within the sheath instrument.

12. A robotic instrument system, comprising:

an elongate flexible instrument;

a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move a distal end portion of the instrument within an anatomical workspace in which the instrument is located; and

an imaging device coupled the distal end portion of the instrument and configured to acquire images of tissue regions and structures located within in a field of view,

wherein the controller is further configured to determine which tissue regions and structures within the anatomical workspace are locatable within the field of view of the imaging device based, at least in part, upon a present relative position of the instrument distal end portion.

13. The system of claim 12, wherein the controller determines a reach of the instrument distal end portion and of the field of view of the imaging device within the based at least in part on a kinematic model of the instrument.

14. The system of claim 12, further comprising a display in communication with the controller, wherein the controller displays the determined reach of the field of view of the imaging device on the display.

15. The system of claim 12, further comprising a display in communication with the controller, wherein the controller displays the tissue regions and structures in the anatomical workspace determined to be within reach of the field of view of the imaging device on the display.

16. The system of claim 15, wherein the controller displays the tissue regions and structures in the anatomical workspace determined to be within reach of the field of view of the imaging device overlaying an image of the anatomic workspace.

17. The system of claim 16, wherein the image of the anatomic workspace is obtained from a model of the workspace, from an imaging system, or both.

18. The system of claim 12, wherein the imaging device comprises an ICE catheter positioned in a working lumen of the instrument.

19. The system of claim 12, wherein the tissue regions and structures in the anatomical workspace determined to be within reach of the field of view of the imaging device reach of the instrument distal end portion is displayed in a manner that indicates which tissue regions and structures of the workspace may be captured within the field of view of the imaging device from its present position, and which tissue regions and structures of the workspace may not be captured within the field of view of the imaging device from its present position.

20. The system of claim 12, wherein the tissue regions and structures in the anatomical workspace determined to be within reach of the field of view of the imaging device are displayed as a scaled gradation, including at least

a first location zone highlighted on the display to indicate the tissue regions and structures that can be captured within the field of view of the imaging device from its present position by normal maneuvering of the instrument,

a second location zone highlighted on the display to indicate the tissue regions and structures that can be captured within the field of view of the imaging device from its present position by using with additional or special maneuvering of the instrument, and

a third location zone highlighted on the display to indicate the tissue regions and structures that cannot be captured within the field of view of the imaging device from its present position regardless of maneuvering of the instrument.

21. The system of claim 12, wherein the reach of the imaging device field of view is displayed as a “

yes”

or “

no”

, or as a numeric or other scaled gradation.

22. The system of claim 12, wherein in determining the reach of the imaging device field of view, the controller determines and causes to be displayed a relative ease or difficulty in reaching respective locations and positions in the workspace.

23. The system of claim 23, wherein in determining the reach of the imaging device field of view, the controller takes into account one or more of locations of sensitive tissue structures in the workspace to be avoided, locations of target tissue structures in the workspace to be reached, planned trajectories of the instrument distal end portion, and planned end points of the instrument distal end portion and of the imaging device.