METHOD AND SYSTEM FOR STEERABLE MEDICAL DEVICE PATH DEFINITION AND FOLLOWING DURING INSERTION AND RETRACTION

• US 20100121148A1
• Filed: 11/06/2009
• Published: 05/13/2010
• Est. Priority Date: 11/11/2008
• Status: Abandoned Application

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Yorkey, Thomas J., Zhang, Jun, Belson, Amir, Donowe, Kristoffer John, Krieg, Kenneth Robert, Storne, Eric Michael, Donhowe, Caitlin Quance
• Application Number:
  US12/613,739
• Publication Number:
  US 20100121148A1
• Time in Patent Office: Days
• US Class Current: 600/118
• CPC Class Codes: A61B 1/00009 of image signals during a use of endoscope
• CPC Class Codes: A61B 1/000096 using artificial intelligence
• CPC Class Codes: A61B 1/00147 Holding or positioning arrangements
• CPC Class Codes: A61B 1/00148 using anchoring means
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety

Abstract

Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.

Claims

1. A method comprising:

storing waypoints of a steerable medical device, wherein said stored waypoints comprise an ordered sequence of locations, and further wherein said ordered sequence of locations defines a safe path for moving an articulatable portion of said steerable medical device within a patient;

constraining said articulatable portion of said steerable medical device to follow said safe path as said articulatable portion moves within said patient.

2. The method of claim 1 wherein said constraining further comprises:

constraining said articulatable portion of said steerable medical device to remain within a boundary region enclosing said safe path as said articulatable portion of said steerable medical device follows said safe path.

3. The method of claim 2 wherein said boundary region comprises a tube having a cross-section.

4. The method of claim 3 wherein said cross-section comprises one of a circular cross-section, an oblate cross-section, and a rectangular cross cross-section.

5. The method of claim 2 wherein said articulatable portion is included in a plurality of segments of said steerable medical device.

6. The method of claim 5 wherein said constraining said articulatable portion of said steerable medical device to remain within a boundary region enclosing said safe path further comprises:

generating position and orientation data for each of said plurality of segments using said ordered sequence of locations and a kinematic model of said plurality of segments of said steerable medical device.

7. The method of claim 6 wherein said generating further comprises:

minimizing a cost function to generate said position and orientation data for each of said plurality of segments.

8. The method of claim 7 wherein said minimizing a cost function further comprises:

minimizing the sum of the absolute values of relative joint angles, with an additional constraint that link positions not deviate by more than a distance Δ

at each of the waypoints in said ordered sequence of locations.

9. The method of claim 1 wherein said articulatable portion of said steerable medical device comprises a segment of said steerable medical device and said segment comprises a plurality of links.

10. An apparatus comprising:

a steerable medical device having an articulatable portion; and

a controller, coupled to said steerable medical device, comprising;

a processor;

a memory coupled to said processor; and

a medical device controller coupled to said processor and to said steerable medical device; and

wherein said processor stores in said memory an ordered sequence of locations; and

said processor analyzes said ordered sequence of locations and outputs to said medical device controller at least one command to constrain said articulatable portion within a boundary region enclosing a safe path defined by said ordered sequence of locations.

11. The apparatus of claim 10 wherein said articulatable portion of said steerable medical device comprises a segment of said steerable medical device and said segment comprises a plurality of links.

12. The apparatus of claim 10 wherein said boundary region comprises a tube having a cross-section.

13. The apparatus of claim 12 wherein said cross-section comprises one of a circular cross-section, an oblate cross-section, and a square cross cross-section.