METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE MEDICAL DEVICE

• US 20140357953A1
• Filed: 01/27/2014
• Published: 12/04/2014
• Est. Priority Date: 06/24/2010
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Roelle, Matthew J., Tanner, Neal A., Younge, Robert G., Carlson, Christopher R., Barbagli, Federico, Camarillo, David
• Granted Patent: US 10,143,360 B2
• Time in Patent Office: Days
• US Class Current: 600/118
• CPC Class Codes: A61B 1/00006 of control signals
• CPC Class Codes: A61B 1/00042 for mechanical operation
• CPC Class Codes: A61B 1/0011 Manufacturing of endoscope parts
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/008 Articulations
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• 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 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61M 25/0147 with movable mechanical means, e.g. pull wires

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.

Claims

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.

2. The method of claim 1, further comprising controlling advancement of the shapeable medical device if the differential between the real shape and the reference shape of the one or more portions is greater than a threshold value.

3. The method of claim 2, where controlling the advancement of the shapeable medical device comprises reversing the shapeable medical device along the anatomic path until the differential between the real shape and the reference shape decreases.

4. The method of claim 2, where controlling the advancement of the shapeable medical device comprises slowing advancement of the shapeable medical device along the anatomic path until the differential between the real shape and the reference shape decreases.

5. The method of claim 2, where controlling the advancement of the shapeable medical device comprises advancing a guide device from the shapeable medical device within the anatomic path and subsequently advancing the shapeable medical device along the guide track.

6. The method of claim 2, where controlling the advancement of the shapeable medical device comprises stopping the shapeable medical device and withdrawing a proximal end of the shapeable medical device until the differential between the real shape and the reference shape decreases.

7. A method of altering a data model of an anatomical region, the method comprising:

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.

8. The method of claim 7, further comprising measuring at least one force on at least one positioning element and where correlating the real shape of the first portion of the shapeable instrument includes assessing the force on the at least one positioning element to determine the data model of the anatomic feature affecting the real shape of at least the first portion of the shapeable instrument.

9. The method of claim 7, where advancing the shapeable instrument comprises cycling movement of the shapeable instrument by advancing and retracting the shapeable instrument, and where obtaining the localization data occurs after advancing the shapeable instrument.

10. The method of claim 7, further comprising repositioning the shapeable instrument to maintain a historical database of real shapes, where the historical database comprises a plurality of active spaces through which the shapeable instrument moved and a plurality of void spaces through which the shapeable instrument did not move, and determining a location of an atomic feature using the plurality of void spaces.

11-14. -14. (canceled)