METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE MEDICAL DEVICE
First Claim
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1. A method of controlling advancement of a shapeable medical device within an anatomic path, the method comprising:
- identifying a reference shape of one or more portions of the shapeable medical device;
advancing the shapeable medical device along the anatomic path;
obtaining a plurality of localization data to determine a real shape of at least the one or more portions of the shapeable instrument when advanced along the anatomic path; and
monitoring advancement of the shapeable medical device by determining a differential between the real shape and the reference shape of the one or more portions.
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Abstract
Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region.
109 Citations
14 Claims
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1. A method of controlling advancement of a shapeable medical device within an anatomic path, the method comprising:
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identifying a reference shape of one or more portions of the shapeable medical device; advancing the shapeable medical device along the anatomic path; obtaining a plurality of localization data to determine a real shape of at least the one or more portions of the shapeable instrument when advanced along the anatomic path; and monitoring advancement of the shapeable medical device by determining a differential between the real shape and the reference shape of the one or more portions. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of altering a data model of an anatomical region, the method comprising:
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advancing a shapeable instrument relative to the anatomical region, the shapeable instrument comprising one or more positioning elements that alter a shape of a first portion of the shapeable instrument; obtaining a plurality of localization data to determine a real shape of the first portion of the shapeable instrument; correlating the real shape of the first portion of the shapeable instrument against a desired shape of the first portion to determine a data model of an anatomic feature affecting the real shape of at least the first portion of the shapeable instrument; and updating the data model with the data model of the anatomic feature. - View Dependent Claims (8, 9, 10)
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11. A method of preparing a robotic medical system for use with a shapeable instrument, where the shapeable instrument includes a working end and one or more positioning elements that move the shapeable instrument:
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obtaining a plurality of localization data to determine a real shape of at least the first portion of the shapeable instrument; pretensioning the shapeable instrument by incrementally actuating at least one of the actuators to determine a zero displacement point of the actuator after which the shapeable instrument moves from the real shape; and providing the zero displacement point to a controller including a master input device, where the controller adds the first displacement point to at least one actuation command where the actuation command manipulates one or more of the positioning elements to reposition the working end or the first portion of the shapeable instrument and where the first displacement point compensates for slack in the shapeable element. - View Dependent Claims (12, 13, 14)
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Specification