SYSTEMS AND METHODS EMPLOYING FORCE SENSING FOR MAPPING INTRA-BODY TISSUE
First Claim
1. A medical instrument system, comprising:
- a controller;
an instrument driver in communication with the controller;
an elongate instrument coupled to the instrument driver, the instrument driver configured to manipulate a distal end portion of the instrument in response to control signals generated by the controller;
a force sensor associated with the instrument, wherein the force sensor generates force signals responsive to a force applied to the distal end portion of the instrument;
a position determining system which generates position data indicative of a position of the distal end portion of the instrument;
a processor operatively coupled to the force sensor and position determining system, and configured to process the respective force signals and position data to generate a geometric rendering of an internal body tissue surface based at least in part upon sensed forces applied to the distal end of the instrument as it is maneuvered within an interior region of a body containing the body surface; and
a display coupled to the processor for displaying the geometric rendering of an internal body tissue surface.
1 Assignment
0 Petitions
Accused Products
Abstract
A medical instrument system includes a controller and a guide instrument coupled to an instrument driver, the instrument driver configured to manipulate a distal end portion of the guide instrument in response to control signals generated by the controller. A force sensor is associated with the guide instrument or with a working instrument carried by the guide instrument, and generates force signals responsive to a force applied to a respective distal end portion of the guide instrument or working instrument. A position determining system generates position data indicative of a position of the respective guide or working instrument distal end portion associated with the force sensor, and a processor operatively coupled to the force sensor and position determining system processes respective force signals and position data to generate and display a geometric rendering of an internal body tissue surface based on sensed forces applied to the respective instrument distal end portion as the guide instrument is maneuvered within an interior region of a body containing the body surface.
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Citations
53 Claims
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1. A medical instrument system, comprising:
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a controller; an instrument driver in communication with the controller; an elongate instrument coupled to the instrument driver, the instrument driver configured to manipulate a distal end portion of the instrument in response to control signals generated by the controller; a force sensor associated with the instrument, wherein the force sensor generates force signals responsive to a force applied to the distal end portion of the instrument; a position determining system which generates position data indicative of a position of the distal end portion of the instrument; a processor operatively coupled to the force sensor and position determining system, and configured to process the respective force signals and position data to generate a geometric rendering of an internal body tissue surface based at least in part upon sensed forces applied to the distal end of the instrument as it is maneuvered within an interior region of a body containing the body surface; and a display coupled to the processor for displaying the geometric rendering of an internal body tissue surface. - View Dependent Claims (2, 3, 4, 5, 6, 8, 9)
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7. (canceled)
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10. (canceled)
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11. A medical instrument system, comprising:
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a controller; an instrument driver in communication with the controller; a guide instrument coupled to the instrument driver, the instrument driver configured to manipulate a distal end portion of the guide instrument in response to control signals generated by the controller; a working instrument carried by the guide instrument and having a distal tip portion; a force sensor associated with the working instrument, wherein the force sensor generates force signals responsive to a force applied to a distal end portion of the working instrument; a position determining system which generates position data indicative of a position of the distal end portion of the working instrument; a processor operatively coupled to the force sensor and position determining system, and configured to process the respective force signals and position data to generate a geometric rendering of an internal body tissue surface based at least in part upon sensed forces applied to the distal end of the working instrument while it is extended out of a distal opening of the guide instrument and maneuvered by the guide instrument within an interior region of a body containing the body surface; and a display coupled to the processor for displaying the geometric rendering of an internal body tissue surface. - View Dependent Claims (13)
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12. (canceled)
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14-24. -24. (canceled)
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25. A method of mapping an area of body tissue, comprising:
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(a) maneuvering a distal end portion of an elongate instrument within an interior body region; (b) determining a position of the instrument distal end portion within the body region; (c) sensing a force applied to the instrument distal end portion at the determined position; (d) repeating acts (a) to (c) for a multiplicity of determined positions of, and sensed forces applied to, the instrument distal end portion within the interior body region; (e) processing the respective determined positions and sensed forces for the multiplicity of determined positions to generate a geometric rendering of an internal body tissue surface located within the interior body region; and (f) displaying the generated geometric rendering of the body tissue surface. - View Dependent Claims (26, 27, 28)
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29. A method of mapping an area of body tissue, comprising:
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(a) maneuvering a distal end portion of an elongate instrument within an interior body region; (b) sensing forces applied to a distal end portion of the instrument; (c) determining a position of the instrument distal end portion when a sensed force applied thereto is indicative of tissue surface contact; and (d) repeating acts (a) to (c) for a multiplicity of determined tissue surface contact positions within the interior body region; (e) processing the multiplicity of determined positions to generate a geometric rendering of an internal body tissue surface located within the interior body region; and (f) displaying the generated geometric rendering of the body tissue surface. - View Dependent Claims (30, 31, 32, 33, 37, 38, 39, 40, 41)
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34-36. -36. (canceled)
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42. A medical instrument system, comprising:
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a controller having a user interface for receiving operator input commands; an instrument driver in communication with the controller; an elongate instrument coupled to the instrument driver, the instrument driver configured to manipulate a distal end portion of the instrument in response to control signals generated by the controller at least partially in response to received operator commands; a force sensor associated with the instrument, wherein the force sensor generates force signals responsive to a force applied to the distal end portion of the instrument; a processor operatively coupled to the force sensor and controller, and configured to process the respective force signals to generate applied force data based at least in part upon sensed forces applied to the distal end of the instrument; and a display coupled to the processor for displaying the applied force data. - View Dependent Claims (43)
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44. A method of diagnosing and/or treating internal body tissue, comprising maneuvering a distal end portion of an elongate instrument against an internal body tissue surface until either (i) sensing that a threshold level of force is being applied by the instrument distal end against the tissue surface, or (ii) the instrument distal end is extended to or beyond a determined movement limitation.
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45-50. -50. (canceled)
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51. A medical instrument system, comprising:
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an elongate instrument; a controller configured to selectively actuate one or more motors operatively coupled to the instrument to thereby selectively move the instrument; a force sensor associated with the instrument, wherein the force sensor generates force signals responsive to a force applied to the distal end portion of the instrument; a processor operatively coupled to the force sensor and controller, and configured to process the respective force signals to generate applied force data based at least in part upon sensed forces applied to the distal end of the instrument; and a haptic input device in communication with the controller and configured for generating instrument motion commands in response to a directional movement of the input device, wherein the controller transmits signals to the input device to cause the input device to impart a detectable resistance to movement of the input device corresponding to an actual amount of force being applied against the instrument distal end portion.
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52. A method of diagnosing and/or treating internal body tissue, comprising:
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maneuvering a distal end portion of an elongate instrument against an internal body tissue surface; sensing an axial force vector applied by the body surface to the instrument distal end portion; determining an angle of incidence at which the instrument distal end portion is contacting the body surface; and projecting, based on the sensed axial force vector and determined contact angle of incidence, a component of the axial force in a direction normal to the tissue surface at the contact location. - View Dependent Claims (53)
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Specification