BIOPSY APPARATUS AND SYSTEM

• US 20180325499A1
• Filed: 05/09/2018
• Published: 11/15/2018
• Est. Priority Date: 05/12/2017
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Landey, Casey Teal, Connolly, Ryan Jeffrey, Draper, Jeffrey William, Dull, Douglas Bruce, Tanaka, Don A.
• Granted Patent: US 11,529,129 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/0684 using light emitting diodes [LED]
• CPC Class Codes: A61B 1/07 using light-conductive means, e.g. optical fibres
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 2010/0208 Biopsy devices with actuators, e.g. with triggered spring mechanisms
• CPC Class Codes: A61B 2010/0225 for taking multiple samples
• CPC Class Codes: A61B 2010/045 Needles pointed biopsy devices with vacuum aspiration A61B10/0283
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2017/00809 Lung operations
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/306 using optical fibres
• CPC Class Codes: A61B 2090/309 : using white LEDs
• CPC Class Codes: A61B 2090/3614 : using optical fibre
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/372 : Details of monitor hardware
• CPC Class Codes: A61B 2090/373 : using light, e.g. by using optical scanners
• CPC Class Codes: A61B 2090/376 : using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3782 : transmitter or receiver in catheter or minimal invasive instrument
• CPC Class Codes: A61B 2090/3966 : Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 2090/502 : Headgear, e.g. helmet, spectacles
• 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: A61B 34/32 : operating autonomously
• CPC Class Codes: A61B 5/061 : Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/062 : using magnetic field
• CPC Class Codes: A61B 5/08 : Detecting, measuring or recording devices for evaluating the respiratory organs A61B5/0205 takes precedence
• CPC Class Codes: A61B 5/0816 : Measuring devices for examining respiratory frequency measuring frequency of electric signals G01R23/00
• CPC Class Codes: A61B 5/113 : occurring during breathing
• CPC Class Codes: A61B 5/7292 : Prospective gating, i.e. predicting the occurrence of a physiological event for use as a synchronisation signal
• CPC Class Codes: A61B 6/032 : Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/12 : Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/50 : specially adapted for specific body parts; specially adapted for specific clinical applications
• CPC Class Codes: A61B 90/30 : Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation

Abstract

Certain aspects relate to biopsy apparatuses, systems and techniques for biopsy using a biopsy pattern. Some aspects relate to moving a distal portion of a medical instrument to one or more sample locations of the biopsy pattern and guiding the instrument to obtain tissue samples from the sample locations within the biopsy pattern. Some aspects relate to obtaining the biopsy pattern and adjusting the sample locations within the biopsy pattern based on various factors such as anatomical features.

Claims

1. A system configured to aid obtaining a set of one or more biopsy samples from a tissue site, the system comprising:

an instrument through which the one or more biopsy samples can be collected;

an actuator configured to control movements of the instrument;

at least one computer-readable memory having stored thereon executable instructions; and

one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least;

access a biopsy pattern comprising one or more sample locations within the tissue site;

calculate movement of the instrument according to the biopsy pattern; and

move the instrument to one or more positions corresponding to the one or more sample locations.

2. The system of claim 1, further comprising a user input device configured to receive the biopsy pattern, a command to access the biopsy pattern, or a command to calculate movement of the instrument according to the biopsy pattern.

3. The system of claim 2, further comprising a user interface screen configured to show the biopsy pattern.

4. The system of claim 1, wherein the one or more processors are configured to execute the instructions to cause the system to at least:

adjust the biopsy pattern or a route representing the movement of the instrument to the one or more positions based on information received from a user.

5. The system of claim 1, further comprising a set of one or more location sensors;

and wherein the one or more processors are configured to execute the instructions to cause the system to at least;

calculate (1) at least one position of the set of location sensors or (2) a position of a distal end of the instrument based on a data signal from the set of location sensors; and

control movement to the one or more positions based on the calculated position.

6. The system of claim 1, wherein the instrument comprises:

a scope configured to reach the tissue site; and

a collection device configured to (1) be removably placed within the scope or (2) pass through the scope and collect the one or more biopsy samples.

7. The system of claim 1, wherein the one or more processors are further configured to execute the instructions to cause the system to at least:

position the scope to a first position, confirm receiving a first sample, and position the scope to a second position in response to a confirmation of receiving the first sample.

8. The system of claim 1, wherein the instrument comprises a collection device configured to obtain the one or more biopsy samples;

wherein the actuator is configured to control movements of the collection device;

wherein the collection device further comprises a marker at a distal end of the collection device; and

wherein the one or more processors are further configured to execute the instructions to cause the system to at least;

determine movement of the collection device according to a movement of the marker; and

adjust the one or more sample locations according to the movement of the collection device.

9. The system of claim 1, wherein the biopsy pattern comprises one or more sample positions arranged in at least two dimensions.

10. The system of claim 9, wherein the biopsy pattern comprises one or more sample positions arranged in a shape fitted to a shape of the tissue site.

11. The system of claim 9, wherein the biopsy pattern further comprises one or more penetration depths, one or more sampling velocities, one or more sampling intervals, or one or more sampling forces corresponding to the one or more sample positions.

12. An apparatus configured to aid obtaining one or more biopsy samples from a tissue site, the apparatus comprising:

at least one computer-readable memory having stored thereon executable instructions; and

one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the apparatus to at least;

determine a pattern for taking one or more biopsy samples from the tissue site, the pattern comprising one or more sample positions arranged in at least two dimensions;

determine a procedure plan for movement of a distal portion of an instrument of a robotic medical system based on the pattern; and

guide the distal portion of the instrument to one or more locations corresponding to the at least two dimensional pattern.

13. The apparatus of claim 12, wherein the one or more processors are configured to execute the instructions to cause the apparatus to at least:

calculate (1) at least one position of a set of location sensors or (2) a position of the distal portion of the instrument based on a data signal from the set of location sensors; and

control movement of the instrument based on the calculated position.

14. The apparatus of claim 12, wherein the one or more processors are configured to execute the instructions to cause the apparatus to at least:

calculate movement of a scope according to the pattern; and

guide a distal portion of the scope to the one or more locations corresponding to the pattern.

15. The apparatus of claim 12, wherein the one or more processors are configured to execute the instructions to cause the apparatus to at least:

calculate movement of a collection device according to the pattern;

guide a distal portion of the collection device to the one or more locations corresponding to the pattern;

in response to the collection device'"'"'s collection of the biopsy samples, calculate one or more sampling locations at which the collection device obtains the biopsy samples based on the movement of a marker located on the collection device;

compare between the one or more sampling locations and the one or more sample locations of the biopsy pattern; and

adjust the one or more sample locations of the biopsy pattern based on the one or more sampling locations.

16. The apparatus of claim 12, wherein the pattern comprises one or more sample positions arranged in a shape fitted to a shape of the tissue site.

17. A method for collecting one or more samples from a target tissue site of a patient, the method comprising:

through a user interface of a robotic medical system, receiving a user input that selects a pattern for the one or more samples within the target tissue site;

moving a distal portion of an instrument of the robotic medical system to a first position corresponding to a first sample location within the pattern;

guiding the instrument to obtain a first tissue sample at the first sample location within the pattern;

moving the distal portion of the instrument of the robotic medical system to a second position corresponding to a second sample location within the pattern; and

guiding the instrument to obtain a second tissue sample at the second sample location within the pattern.

18. The method of claim 17, further comprising adjusting the pattern for the one or more samples to the first sample location or the second sample location after receiving the user input.

19. The method of claim 18, wherein adjusting the pattern is based on one or more anatomical features.

20. The method of claim 18, wherein adjusting the pattern comprises measuring an initial location of the distal portion of the instrument and fitting the pattern to the tissue site based on the initial location of the distal portion of the instrument.

21. The method of claim 20, wherein fitting the pattern comprises adjusting one or more penetration depths, one or more sampling velocities, one or more sampling intervals, or one or more sampling forces of the instrument at the first sample location or the second sample location.

22. The method of claim 17, further comprising adjusting movement of the distal portion of the instrument based on a respiration frequency of the patient when guiding the instrument to obtain the first tissue sample or the second tissue sample.

23. The method of claim 17, wherein moving the distal portion of the instrument of the robotic medical system to the second position occurs after receiving a notification of collection of the first tissue sample at the first sample location.

24. The method of claim 17, wherein moving the distal portion of the instrument of the robotic medical system to the first position or the second position comprises:

calculating at least one position of the distal portion of the instrument based on a data signal from a set of location sensors; and

controlling movement of the instrument based on the calculated at least one position.

25. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to at least:

receive a pattern for one or more biopsy samples, the pattern comprising one or more biopsy positions arranged in at least two dimensions within a target tissue site of a patient; and

move a distal portion of an instrument of the robotic medical system to one or more sampling positions that correspond to the one or more biopsy positions arranged in the at least two dimensional pattern.

26. The non-transitory computer readable storage medium of claim 25, wherein the instructions, when executed, cause the at least one computing device to at least:

calculate at least one position of the distal portion of the instrument based on a data signal from a set of location sensors; and

controlling movement of the instrument based on the calculated at least one position.

27. The non-transitory computer readable storage medium of claim 25, wherein the instructions, when executed, cause the at least one computing device to at least:

adjust the pattern for the one or more biopsy samples based on one or more anatomical features of the tissue site or a respiratory rate of the patient.

28. The non-transitory computer readable storage medium of claim 27, wherein the instructions, when executed, cause the at least one computing device to at least:

adjust the pattern for the one or more biopsy samples based on one or more blood vessels within the tissue site.

29. The non-transitory computer readable storage medium of claim 25, wherein the instructions, when executed, cause the at least one computing device to at least:

fit the pattern to a shape of the tissue site.

30. The non-transitory computer readable storage medium of claim 25, wherein the instructions, when executed, cause the at least one computing device to at least:

receive one or more collection locations at which the instrument obtains the one or more biopsy samples; and

adjust the pattern based on the one or more collection locations.