FIBER OPTIC INSTRUMENT SENSING SYSTEM

• US 20110319815A1
• Filed: 06/24/2010
• Published: 12/29/2011
• Est. Priority Date: 06/24/2010
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: TANNER, Neal A., YOUNGE, Robert G., CARLSON, Christopher, ROELLE, Matthew J., BARBAGLI, Federico, CAMARILLO, David
• Granted Patent: US 8,460,236 B2
• Time in Patent Office: Days
• US Class Current: 604/95.01
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/00165 with light-conductive means, e.g. fibre optics A61B1/07 takes precedence
• CPC Class Codes: A61B 1/008 Articulations
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/2053 Tracking an applied voltage gradient
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• 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 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2034/744 Mouse
• 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 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61M 25/0133 Tip steering devices

Abstract

Systems are described herein that improve control of a shapeable or steerable instrument using shape data. Additional systems use such shape data for improved mapping or adjusting models of the instrument. Such systems include robotic medical systems for controlling a shapeable instrument within an anatomical region having a controller, one or more actuators, and a localization system for guiding one or more shapeable instruments.

Claims

1. A robotic medical system for controlling a shapeable instrument within an anatomical region, where the shapeable instrument includes at least a working section and one or more positioning elements that move the shapeable instrument, the medical system comprising:

a controller including a master input device, where the controller generates a position control signal in response to the master input device to position the working section at a desired position;

one or more actuators operatively coupleable to the one or more positioning elements, where the actuators manipulate the positioning elements based on the position control signal to drive at least a first portion of the shapeable instrument to position the working section toward the desired position;

a localization system configured to obtain a plurality of localized shape data from the first portion of the shapeable instrument; and

where the controller generates a signal based upon a differential between the localized shape data and a desired configuration of the first portion of the shapeable instrument.

2. The robotic medical system of claim 1, where the desired configuration of the first portion comprises a desired position of the first portion or the desired position of the working section.

3. The robotic medical system of claim 1, where the desired configuration of the first portion comprises a desired shape of the first portion.

4. The robotic medical system of claim 1, where the localization system determines a position of the working section from the plurality of localized shape data.

5. The robotic medical system of claim 4, where the desired configuration of the first portion comprises a desired position of the first portion and where controller generates the signal based upon the differential between the position of the working section and the desired position of the working section.

6. The robotic medical system of claim 4, wherein the controller is configured to derive a position of the working section from a kinematic model of the shapeable instrument.

7. The robotic medical system of claim 1, where the localization system determines a shape of the first portion of the shapeable instrument from the plurality of localized shape data.

8. The robotic medical system of claim 7, where the desired configuration of the first portion comprises a desired shape of the first portion and where controller generates the signal based upon the differential between the shape of the first portion and the desired shape of the first portion.

9. The robotic medical system of claim 7, where the localization system also determines a position of the working section from the plurality of localized shape data, and where the desired configuration of the first portion also includes a desired position of the first portion.

10. The robotic medical system of claim 9, where the controller generates the signal also based upon the differential between a desired position of the first portion and the position of the first portion.

11. The robotic medical system of claim 9, where localization system defines the shape relative to a reference frame, where the reference frame is independent of the shapeable element and such that any location along the shape can be defined by a plurality of coordinate of the reference frame.

12. The robotic medical system of claim 7, where the controller selects at least one pre-determined shape to match the shape of the first portion, such that a position of the working section can be obtained using the pre-determined shape.

13. The robotic medical system of claim 12, further comprising a registration system having at least one sensor and configured to identify the shape of the first portion, such that a position of the working section can be obtained using the pre-determined shape.

14. The robotic medical system of claim 1, where controller feeds the signal to the actuators such that the actuators manipulate one or more of the positioning elements using the signal to position the working section or the first portion of the shapeable instrument.

15. The robotic medical system of claim 1, where the localization system comprises a fiber optic localization system configured to supply the plurality of localization data.

16. The robotic medical system of claim 1, where shapeable instrument includes at least one optic fiber and where the localization system is configured to measure a plurality of data of Rayleigh scatter of the optic fiber.

17. The robotic medical system of claim 16, where the localization system is further configured to supply the plurality of localization data using the plurality of data of Rayleigh scatter.

18. The robotic medical system of claim 1, where the localization system comprises a system selected from the group consisting of a plurality of positioning sensors, a vision system, a plurality of strain sensors.

19. The robotic medical system of claim 1, where the localization system comprises an electromagnetic localization system and where the shapeable instrument includes at least one electromagnetic coil.

20. The robotic medical system of claim 1, where the localization system comprises an impedance based localization system and where the shapeable instrument includes at least one sensor, where the system further includes at least one electrode where the impedance based localization system determines a voltage gradient between the sensor and the electrode.

21. The robotic medical system of claim 1, where the controller uses a plurality of data from a kinematic model of the shapeable instrument to generate the signal.

22. The robotic medical system of claim 21, where the plurality of data from the kinematic model of the shapeable instrument comprises data selected from a group of characteristics of the shapeable element consisting of:

a beam structure of the shapeable element, a force in one or more positioning elements, and a displacement of one or more positioning elements.

23. The robotic medical system of claim 21, where the controller uses the signal to alter at least one parameter of the kinematic model to produce an improved kinematic model and where the controller generates the position control signal based on a plurality of data from the improved kinematic model.

24. The robotic medical system of claim 1, where the controller applies the signal to modify the position control signal.

25. The robotic medical system of claim 1, where the controller generates the position control feed signal using an inverse kinematic model of the shapeable instrument.

26. The robotic medical system of claim 25, where the controller generates the position control signal to maximize a probability of achieving a prescribed shape or position by optimizing a cost function subject to a set of constraints based upon a model and a measurement estimate.

27. The robotic medical system of claim 26, where the model is selected from the group consisting of a kinematic and solid mechanic model.

28. The robotic medical system of claim 26, where the measurement projection is selected from the group consisting of a shape, a strain, and a projection.

29. The robotic medical system of claim 25, where the controller uses the signal to alter at least one parameter of the inverse kinematic model of the shapeable instrument to produce an improved inverse kinematic model of the shapeable instrument.

30. The robotic medical system of claim 29, where the controller modifies the position control signal using the improved kinematic model.

31. The robotic medical system of claim 1, where the actuators alter a force applied to one or more of the positioning elements based on the signal to reposition the working section or the first portion of the shapeable instrument.

32. The robotic medical system of claim 1, where the localization system is further configured to measure an axial deformation of the shapeable member, and where the controller further generates the signal based on the axial deformation of the shapeable member.

33. The robotic medical system of claim 1, where the controller further determines an applied force on the first portion of the shapeable instrument using a shape of the first portion of the shapeable instrument, the position control signal and at least one characteristic of the shapeable instrument.

34. The robotic medical system of claim 33, where the controller actuates one or more actuators to reposition the portion of the shapeable instrument to reduce the applied force.

35. The robotic medical system of claim 33, where the master input device provides a target position, and where the controller actuates one or more actuators to advance the shapeable instrument to the target position while repositioning the portion of the shapeable instrument to reduce the applied force.

36. The robotic medical system of claim 1, where on generating the signal, the controller triggers an operator alert signal alarm to the master input device.

37. The robotic medical system of claim 36, where the operator alert signal causes a haptic effect on the master input device.

38. The robotic medical system of claim 36, where the controller triggers the operator alert signal only if the signal is greater than a pre-determined level.

39. The robotic medical system of claim 38, where on generating the operator alert signal, the controller is configured to stop movement of the shapeable instrument.

40. The robotic medical system of claim 38, where on generating the operator alert signal, the controller is configured to reverse movement of the shapeable instrument.

41. The robotic medical system of claim 38, where on generating the operator alert signal, the controller is configured to increase a force required to operate the master input device.

42. The robotic medical system of claim 1, where the controller further determines a calculated curvature from the real shape and compares the calculated curvature to a pre-determined curvature to assess a fracture of the shapeable element.

43-91. -91. (canceled)