Robotic surgical system and method for surface modeling

• US 7,974,674 B2
• Filed: 12/29/2006
• Issued: 07/05/2011
• Est. Priority Date: 05/28/2004
• Status: Active Grant

• Current Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Original Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Inventors: Schweitzer, Jeffrey A., Voth, Eric J., Hauck, John A., Olson, Eric S.
• Primary Examiner(s): Layno; Carl H.
• Assistant Examiner(s): MORALES, JON ERIC C
• Application Number:
  US11/647,304
• Publication Number:
  US 20070225558A1
• Time in Patent Office: 1,649 Days
• Field of Search: 607/17, 600/374
• US Class Current: 600/374
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• 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 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/3784 both receiver and transmitter being in the instrument or receiver being also transmitter
• 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 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 5/6885 Monitoring or controlling sensor contact pressure
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B

Abstract

A method of generating a three-dimensional model of at least a portion of a heart includes inserting an electrode within the portion of a heart, robotically moving the electrode therein, periodically detecting position information of the electrode to generate a plurality of location points defining a space occupied by the portion of the heart, and generating a three-dimensional model of the portion of the heart including position information for at least some of the plurality of location points within the portion of the heart. The plurality of location points includes at least some location points on the surface of the heart and at least some location points interior thereto. The model is generated by utilizing a surface construction algorithm such as a shrink-wrap algorithm to identify the surface points and isolate or eliminate the interior points.

Claims

1. A method of generating a three-dimensional model of at least a portion of a heart, comprising the steps of:

inserting an electrode within a portion of a heart;

robotically moving the electrode randomly within the portion of the heart;

periodically detecting position information of the electrode, thereby generating a plurality of location points that define a space occupied by the portion of the heart; and

generating a three-dimensional model of the portion of the heart, the three-dimensional model comprising position information for at least some of the plurality of location points within the portion of the heart,

wherein the plurality of location points includes at least some location points on a surface of the portion of the heart and at least some location points not on the surface of the portion of the heart.

2. The method of claim 1, wherein the plurality of location points comprises a cloud of location points, and wherein the step of generating a three-dimensional model of the portion of the heart comprises using a surface construction algorithm to wrap a surface around the cloud of location points.

3. The method of claim 2, wherein the surface construction algorithm comprises a shrink-wrap algorithm.

4. The method of claim 1, wherein the plurality of location points includes a majority of location points on the surface of the portion of the heart and a minority of location points not on the surface of the portion of the heart.

5. The method of claim 1, wherein the step of generating a three-dimensional model of the portion of the heart comprises using a surface construction algorithm to distinguish a subset of the plurality of location points defining a three-dimensional surface model of the portion of the heart, thereby generating a plurality of surface location points that define a surface of the portion of the heart.

6. The method of claim 1, wherein the step of generating a three-dimensional model of the portion of the heart comprises using a surface construction algorithm to eliminate location points that are determined to be interior to a three-dimensional surface model of the portion of the heart, thereby generating a plurality of surface location points that define a surface of the portion of the heart.

7. A method of generating a three-dimensional model of at least a portion of a heart, comprising the steps of:

inserting an electrode within a portion of a heart;

moving the electrode within the portion of the heart using a robotic controller;

periodically detecting position information of the electrode, thereby generating a plurality of location points that define a space occupied by the portion of the heart;

processing the plurality of location points using a surface construction algorithm to identify a subset of the plurality of location points, which subset of location points defines a three-dimensional surface model of the portion of the heart; and

outputting the identified subset of the plurality of location points,

wherein the plurality of location points includes at least some location points on a surface of the portion of the heart and at least some location points not on the surface of the portion of the heart.

8. The method of claim 7, wherein the step of processing comprises processing the plurality of location points using a shrink-wrap algorithm to eliminate location points that are determined to be interior to the three-dimensional surface model of the portion of the heart, thereby identifying a subset of the plurality of location points that define the three-dimensional surface model of the portion of the heart.

9. The method of claim 7, wherein the step of moving the electrode within the portion of the heart comprises moving the electrode randomly within the portion of the heart.

10. The method of claim 7, wherein the step of moving the electrode within the portion of the heart comprises moving the electrode in a predetermined pattern within the portion of the heart.

11. The method of claim 10, wherein the step of moving the electrode in a predetermined pattern within the portion of the heart comprises:

moving the electrode in a first predetermined pattern within the portion of the heart until a determination is made that the electrode is in contact with a surface of the portion of the heart; and

moving the electrode in a second predetermined pattern after the electrode has made contact with the surface of the portion of the heart.

12. The method of claim 11, wherein the second predetermined pattern is not substantially continuous along the surface of the portion of the heart.

13. The method of claim 7, wherein the steps of moving the electrode within the portion of the heart using a robotic controller and periodically detecting position information of the electrode comprise:

a) moving the electrode within a first region of the portion of the heart;

b) detecting position information of the electrode to measure at least one interior point within the first region;

c) robotically actuating the electrode to incrementally approach a surface of the portion of the heart within the first region;

d) detecting position information of the electrode to measure at least one surface point upon sensing that the electrode is in contact with the surface; and

e) robotically actuating the electrode to move anti-normal to the surface of the portion of the heart and laterally into a second region of the portion of the heart.

14. The method according to claim 13, further comprising repeating steps a), b), c), d), and e) for a plurality of regions of the portion of the heart.

15. The method according to claim 7, wherein the step of moving the electrode within the portion of the heart using a robotic controller comprises robotically actuating the electrode to move within substantially all of the portion of the heart.

16. A method of generating a three-dimensional model of at least a portion of a heart, comprising the steps of:

inserting an electrode within a portion of a heart;

using a robotic controller to move the electrode randomly within the portion of the heart;

detecting position information of the electrode, thereby generating a plurality of location points that define a space occupied by the portion of the heart;

generating a plurality of triangles by connecting the plurality of location points; and

generating a three-dimensional model of the portion of the heart comprising position information for a plurality of location points that describe a three-dimensional surface model of the portion of the heart

wherein the plurality of location points includes at least some location points on a surface of the portion of the heart and at least some location points not on the surface of the portion of the heart.

17. The method of claim 16, wherein the step of generating a three-dimensional model of the portion of the heart comprises processing the plurality of location points using a surface construction algorithm to eliminate location points that are determined to be interior to the three-dimensional surface model of the portion of the heart, thereby identifying a subset of the plurality of location points that define vertices for a plurality of triangles representing the three-dimensional surface model of the portion of the heart.

18. A system for generating a three-dimensional model of at least a portion of a heart, comprising:

an electrode for inserting within a portion of a heart;

a robotic controller for moving the electrode within the portion of the heart;

a detector for detecting position information of the electrode and for generating a plurality of location points that define a space occupied by the portion of the heart; and

a modeling processor for generating a three-dimensional model of the portion of the heart comprising position information for a plurality of location points that describe a three-dimensional surface model of the portion of the heart

wherein the plurality of location points includes at least some location points on a surface of the portion of the heart and at least some location points not on the surface of the portion of the heart.

19. The system of claim 18, wherein the modeling processor processes the plurality of location points to eliminate location points that are determined to be interior to the three-dimensional surface model of the portion of the heart.

20. The system of claim 19, wherein the modeling processor processes the plurality of location points to eliminate location points that are determined to be interior to the three-dimensional surface model of the portion of the heart, thereby identifying a subset of the plurality of location points defining vertices for a plurality of triangles representing the three-dimensional surface model of the portion of the heart.

21. An apparatus for generating a three-dimensional model of at least a portion of a heart, comprising:

means for inserting an electrode within a portion of a heart;

means for robotically moving the electrode randomly within the portion of the heart;

means for periodically detecting position information of the electrode, thereby generating a plurality of location points that define a space occupied by the portion of the heart; and

means for generating a three-dimensional model of the portion of the heart, the three-dimensional model comprising position information for at least some of the plurality of location points within the portion of the heart,

wherein the plurality of location points includes at least some location points on a surface of the portion of the heart and at least some location points not on the surface of the portion of the heart.

22. An apparatus according to claim 21, wherein the plurality of location points comprises a cloud of location points, and wherein the means for generating a three-dimensional model of the portion of the heart includes a surface construction algorithm adapted to wrap a surface around the cloud of location points.

23. An apparatus according to claim 22, wherein the surface construction algorithm comprises a shrink-wrap algorithm.

24. An apparatus according to claim 21, wherein the plurality of location points includes a majority of location points on the surface of the portion of the heart and a minority of location points not on the surface of the portion of the heart.

25. An apparatus according to claim 21, wherein the means for generating a three-dimensional model of the portion of the heart includes a surface construction algorithm adapted to distinguish a subset of the plurality of location points defining a three-dimensional surface model of the portion of the heart, thereby generating a plurality of surface location points that define the surface of the portion of the heart.