Remote control of medical devices using a virtual device interface
First Claim
Patent Images
1. A method of operating a navigation system that remotely configures the distal end portion of a medical device inside a subject'"'"'s body, the method comprising:
- displaying a virtual representation of at least a portion of the medical device, based upon a computational physics-based model of the medical device;
accepting inputs made by a user to change the configuration of the portion of the medical device represented by the displayed virtual representation, and updating the virtual representation of the portion of the medical device based upon the computational physics-based model; and
operating the navigation system using the computational physics-based model of the medical device to cause the portion of the medical device to conform to the desired configuration represented by the updated virtual representation.
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Abstract
An interface system and method for controlling a magnetic surgery system by displaying a virtual image of the device, adjusting the configuration of the device or the actuation controls to be applied to the device until the configuration of the displayed device assumes the configuration desired by the user, or selecting a desired target location for the tip, and causing a set of actuation controls to be applied to the actual device to cause the actual device to assume the configuration of the virtual device or to steer the device tip to the desired location.
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Citations
60 Claims
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1. A method of operating a navigation system that remotely configures the distal end portion of a medical device inside a subject'"'"'s body, the method comprising:
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displaying a virtual representation of at least a portion of the medical device, based upon a computational physics-based model of the medical device; accepting inputs made by a user to change the configuration of the portion of the medical device represented by the displayed virtual representation, and updating the virtual representation of the portion of the medical device based upon the computational physics-based model; and operating the navigation system using the computational physics-based model of the medical device to cause the portion of the medical device to conform to the desired configuration represented by the updated virtual representation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. A method of operating a navigation system that remotely configures the distal end portion of a flexible medical device inside a subject'"'"'s body to reach a target, the method comprising:
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displaying a representation of the operating region; accepting an input of the configuration of a portion of the device and displaying a representation of the configuration of said portion; accepting an input of a target on the display of the operation region; determining the inputs necessary to the navigation system to cause the medical device to assume a configuration to reach the target based upon a computational physics-based model incorporating properties of the medical device and the navigation system; and applying the determined inputs to the navigational system to cause the medical device to assume a configuration to reach the target. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48)
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49. A method of navigating the distal end of a medical device having a magnetically responsive element through the application of a magnetic field from an external source magnet, the method comprising:
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identifying a plurality of points on an image of the distal end portion of the medical device while a known magnetic field is applied to the distal end portion of the medical device; processing the identified points to determine at least one geometrical characteristic of the distal end of the medical device; allowing the user to input a desired magnetic field; displaying a virtual representation of the distal end of the medical device as if the desired magnetic field were applied based upon a calculation incorporating the at least one geometrical characteristic; and allowing the user to input an instruction to apply the desired magnetic field and reorient the medical device.
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50. A method of navigating the distal end of a flexible medical device having actuation elements controlled by applying a set of actuation controls, the method comprising:
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displaying a virtual representation of the distal end portion of the medical device; in response to inputs of desired changes in the shape and orientation of the distal end of the medical device that can be effected by changing the applied actuation controls, updating the displayed virtual representation of the distal end portion of the medical device by using a computational physics-based model for device deformation together with device properties; and in response to an input by the user, applying a set of actuation controls which is based upon the properties of the distal end portion of the medical device that will configure the distal end in the desired shape and orientation.
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51. A method of specifying a set of actuation controls to apply to a set of remotely actuated elements at the distal end of a flexible medical device in an operating region in a patient, the method comprising:
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identifying points on the distal end of the medical device on an image of the operating region; based upon information about the distal end of the medical device from the identified points, displaying a reconstructed virtual image of the medical device that can be computationally manipulated as if a new magnetic field were applied to the device; accepting inputs from the user to change the configuration of the virtual image of the medical device; and applying actuation controls to actuate the actual medical device in the operating region as computed from a combination of user-specified inputs and a computational physics-based model of device physics, corresponding to the user-manipulated virtual image.
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52. A method of specifying a set of actuation controls to apply to a set of remotely actuated elements at the distal end of a flexible medical device in an operating region in a patient, the method comprising:
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identifying points on the distal end of the medical device on an image of the operating region; based upon information about the distal end of the medical device from the identified points, displaying a reconstructed virtual image of the medical device that can be computationally manipulated as if a new magnetic field were applied to the device; accepting inputs from the user identifying a target location on the image of the operating region that the user desires the device tip to reach; and applying actuation controls to actuate the actual medical device in the operating region as computed from a combination of user-specified inputs and a computational model of device physics, corresponding to the user-specified target location.
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53. A method of specifying a set of actuation controls to apply to a set of remotely actuated elements at the distal end of a flexible medical device in an operating region in a patient, the method comprising:
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reconstructing the current device configuration from device localization data at one or more points on the device; displaying a reconstructed virtual image of the medical device that can be computationally manipulated as if a new set of actuation controls were applied to the device; accepting inputs from the user to change the configuration of the virtual image of the medical device; and applying actuation controls to actuate the actual medical device in the operating region as computed from a combination of user-specified inputs and a computational model of device physics, corresponding to the user-manipulated virtual image.
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54. A method of specifying a set of actuation controls to apply to a set of remotely actuated elements at the distal end of a flexible medical device, the method comprising:
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reconstructing the current device configuration from device localization data at one or more points on the device; displaying a reconstructed virtual image of the medical device that can be computationally manipulated as if a new set of actuation controls were applied to the device; accepting inputs from the user to identify a target location on the display that the user desires the device tip to reach; and applying actuation controls to actuate the actual medical device in the operating region as computed form a combination of user-specified inputs and a computational model of device physics, corresponding to the user-specified target location.
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55. A method of navigating the distal end of a flexible medical device having a set of remotely actuated elements through the application of a remote set of actuation controls, the method comprising:
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identifying a plurality of points on two projected images of the distal end portion of the medical device while a known (or zero) set of actuation controls is applied to the distal end portion of the medical device; identifying a desired location for the tip of the device on one or both planes of projected images of the device and its operating environment, or on a three-dimensional regional electrical map or its projections; calculating with a computer, based upon the elastic and magnetic properties of the device and automatically drawing one or more of;
(a) a locus of possible locations of the medial device tip within the plane of the distal device tip, shown on one or both planes of the projected images(s);
(b) an accessible surface of possible locations that can be accessed by the device tip by a combination of deflection and axial rotation, shown on one or both planes of the projected image(s);
or (c) said locus or accessible surface rendered together with device tip in a three-dimensional graphical view;identifying a desired location for the tip of the device as a point on said locus or on said accessible surface in either image plane, three dimensional graphical view, or regional electrical activity map; computing a set of actuation controls and device advancement/retraction that will enable the device to assume a configuration to closely reach the desired tip location; controlling advancement and retraction of said device with a computer-controlled device advancer; instructing the computer to automatically advance the device to the selected point by application of appropriate actuation controls and device advancer movements; and displaying one or more of (a) a new set of projected images of the device and its operating environment, or (b) a new three-dimensional regional electrical map or its projections.
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56. A method of navigating the distal end of a flexible medical device having a set of remotely actuated elements through the application of a set of actuation controls, the method comprising:
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identifying a plurality of points on two projected images of the distal end portion of the medical device while a known (or zero) set of actuation controls is applied to the distal end portion of the medical device; identifying a desired location for the tip of the device on one or both planes of projected images of the device and its operating environment, or on a three-dimensional region electrical map or its projections; calculating with a computer, based upon the elastic and magnetic properties of the device and automatically drawing one or more of;
(a) a locus of possible locations of the medical device tip within the plan of the distal device tip, shown on one or both planes of the bi-plane image;
(b) an accessible surface of possible locations that can be accessed by the device tip by a combination of deflection and axial rotation, shown on one or both planes of the projected image(s);
or (c) said locus or accessible surface rendered together with device tip in a three-dimensional graphical view;identifying a desired location for the tip of the device as a point that is beyond said locus or said accessible surface in either image plane, three-dimensional graphical view, or regional electrical activity map; computing a set of actuation controls and device advancement/retraction that will enable the device to assume a configuration to closely reach the desired tip location; controlling advancement and retraction of said device with a computer-controlled device advancer; instructing the computer to automatically advance the device to the selected point by application of appropriate magnetic fields and device advancer movements; and displaying one or more of (a) a new set of projected images of the device and its operating environment, or (b) a new three-dimensional regional electrical map or its projections.
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57. A method of navigating the distal end of a magnetically guidable catheter, whose distal tip is orientable with an applied magnetic field, and whose free length from the distal end of a guide sheath is telescopingly adjustable, to a selected target point in an operating region in a subject, the method comprising:
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using a computational physics-based model of the catheter and information about the position and orientation of the distal end of the guide sheath to determine the magnetic field to apply and to determine the free length to extend the catheter from the guide sheath to cause the distal end portion of the device to assume a configuration such that the distal tip reaches the target; and applying the determined magnetic field and extend the catheter from the guide sheath to the free length. - View Dependent Claims (58, 59)
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60. A method of navigating the distal end of an orientable catheter, whose distal tip is orientable with an applied control variable, and whose free length from the distal end of a guide sheath is telescopingly adjustable, to a selected target point in an operating region in a subject, the method comprising:
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using a computational physics-based model of the catheter and information about the position and orientation of the distal end of the guide sheath to determine the control variable to apply and to determine the free length to extend the catheter from the guide sheath to cause the distal end portion of the device to assume a configuration such that the distal tip reaches the target point; and applying the determined magnetic field and extend the catheter from the guide sheath to the free length.
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Specification