Robotically controlled catheter and method of its calibration

• US 8,155,910 B2
• Filed: 08/22/2007
• Issued: 04/10/2012
• Est. Priority Date: 05/27/2005
• Status: Active Grant

• Current Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Original Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Inventors: Hauck, John A.
• Primary Examiner(s): Le, John H
• Application Number:
  US11/843,589
• Publication Number:
  US 20080033284A1
• Time in Patent Office: 1,693 Days
• Field of Search: 702/75, 702/77, 702/85, 702/94, 702/95, 702/150, 702/151, 702/158, 702/163, 702/175, 702/176, 700/249, 700/260, 600/301, 600/374, 600/424, 600/437, 600/449, 600/466, 600/509, 600/518, 600/547, 600/587, 600/407, 604/95.01, 604/95.04, 604/117, 604/264, 604/500, 604/525, 604/528, 606/1, 606/28, 606/41, 607/101, 607/122, 607/125, 607/128, 128/899
• US Class Current: 702/95
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2017/00703 correcting for movement of heart, e.g. ECG-triggered
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2017/22075 with motorized advancing or retracting means
• CPC Class Codes: A61B 2017/3409 including needle or instrument drives
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2053 Tracking an applied voltage gradient
• 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 2560/0223 of calibration, e.g. protocols for calibrating sensors
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 5/283 Invasive
• CPC Class Codes: A61B 5/7257 using Fourier transforms
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• 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
• CPC Class Codes: A61M 25/0133 : Tip steering devices

Abstract

A method of calibrating a robotic device, such as a cardiac catheter, includes oscillating the device on an actuation axis by applying an oscillation vector at an oscillation frequency. While oscillating, a location of the device is periodically measured to generate a plurality of location data points, which may express the location of the device relative to a plurality of measurement axes. The location data points are then processed using a signal processing algorithm, such as a Fourier transform algorithm, to derive a transfer function relating a position of the device to a movement vector for the actuation axis. The transfer function may be resolved into and expressed as a calibration vector for the actuation axis, which may include one or more components, including zero components, directed along each of the measurement axes. The process may be repeated for any actuation axes on which calibration is desired.

Claims

1. A method of calibrating a robotic device capable of movement relative to at least one actuation axis, the method comprising:

oscillating the robotic device on a first actuation axis by applying a first oscillation vector at a first oscillation frequency;

while oscillating the robotic device on the first actuation axis, periodically measuring a location of the robotic device, thereby generating a first plurality of location data points measured as a function of time;

processing the first plurality of location data points using a Fourier transform algorithm to isolate a displacement of the robotic device attributable to application of the first oscillation vector; and

resolving an output of the processing step into a calibration vector for the first actuation axis.

2. The method according to claim 1, wherein the measuring step comprises, while oscillating the robotic device, periodically measuring a location of the robotic device relative to a plurality of measurement axes, thereby creating a first plurality of location data points for each of the measurement axes.

3. The method of claim 2, wherein the processing step comprises processing the first plurality of location data points for each of the measurement axes using a Fourier transform algorithm.

4. The method according to claim 3, wherein the resolving step comprises calculating a calibration vector for the first actuation axis, the calibration vector comprising at least one value for each of the measurement axes.

5. The method according to claim 1, further comprising:

oscillating the robotic device on a second actuation axis by applying a second oscillation vector at a second oscillation frequency;

while oscillating the robotic device on the second actuation axis, periodically measuring a location of the robotic device, thereby generating a second plurality of location data points measured as a function of time;

processing the second plurality of location data points using a Fourier transform algorithm to isolate a displacement of the robotic device attributable to application of the second oscillation vector; and

resolving an output of the processing step into a calibration vector for the second actuation axis.

6. The method according to claim 5, further comprising storing the second plurality of location data points.

7. The method according to claim 5, further comprising:

oscillating the robotic device on a third actuation axis by applying a third oscillation vector at a third oscillation frequency;

while oscillating the robotic device on the third actuation axis, periodically measuring a location of the robotic device, thereby generating a third plurality of location data points measured as a function of time;

processing the third plurality of location data points using a Fourier transform algorithm to isolate a displacement of the robotic device attributable to application of the third oscillation vector; and

resolving an output of the processing step into a calibration vector for the third actuation axis.

8. The method according to claim 7, further comprising storing the third plurality of location data points.

9. The method according to claim 7, wherein each of the measuring steps is carried out for a sampling interval between about 0.5 seconds and about 10 seconds.

10. The method according to claim 7, wherein the first oscillation frequency, the second oscillation frequency, and the third oscillation frequency are equal.

11. The method according to claim 7, wherein the first plurality of location data points, the second plurality of location data points, and the third plurality of location data points are measured at a first sampling rate, a second sampling rate, and a third sampling rate, respectively.

12. The method according to claim 11, wherein the first sampling rate, the second sampling rate, and the third sampling rate are equal.

13. The method according to claim 11, wherein the first sampling rate is a multiple of the first oscillation frequency, the second sampling rate is a multiple of the second oscillation frequency, and the third sampling rate is a multiple of the third oscillation frequency.

14. The method according to claim 7, wherein the first, second, and third actuation axes comprise a translation axis, a rotation axis, and a deflection axis.

15. The method according to claim 1, further comprising storing the first plurality of location data points.

16. The method according to claim 1, wherein the first plurality of location data points are measured at a first sampling rate, and wherein the first sampling rate is a multiple of the first oscillation frequency.

17. The method according to claim 16, wherein the first sampling rate is at least about two times greater than the first oscillation frequency.

18. The method according to claim 17, wherein the first sampling rate is between about five times and about twenty times greater than the first oscillation frequency.

19. The method according to claim 16, wherein the first sampling rate is between about 60 Hz and about 200 Hz.

20. A method of calibrating a robotically controlled catheter capable of movement relative to at least one actuation axis, the method comprising:

mechanically actuating the catheter on a first actuation axis by applying a first oscillation vector at a first oscillation frequency;

periodically measuring a location of the catheter, thereby generating a first plurality of location data points measured as a function of time;

processing the first plurality of location data points using a Fourier transform algorithm to distinguish mechanical actuation of the catheter from at least one of patient motion, cardiac motion, respiration, and electronic noise; and

resolving an output of the processing step into a calibration vector for the first actuation axis.

21. The method according to claim 20, wherein the measuring step comprises, while mechanically actuating the catheter, periodically measuring a location of the catheter relative to a plurality of measurement axes, thereby creating a first plurality of location data points for each of the measurement axes.

22. The method according to claim 21, wherein the processing step comprises processing the first plurality of location data points for each of the measurement axes using a Fourier transform algorithm.

23. The method according to claim 22, wherein the resolving step comprises calculating a calibration vector for the first actuation axis, the calibration vector comprising at least one value for each of the measurement axes.

24. The method according to claim 20, further comprising:

mechanically actuating the catheter on a second actuation axis by applying a second oscillation vector at a second oscillation frequency;

while mechanically actuating the catheter on the second actuation axis, periodically measuring a location of the catheter, thereby generating a second plurality of location data points measured as a function of time;

processing the second plurality of location data points using a Fourier transform algorithm to distinguish mechanical actuation of the catheter from at least one of patient motion, cardiac motion, respiration, and electronic noise;

resolving an output of the processing step into a calibration vector for the second actuation axis;

mechanically actuating the catheter on a third actuation axis by applying a third oscillation vector at a third oscillation frequency;

while mechanically actuating the catheter on the third actuation axis, periodically measuring a location of the catheter, thereby generating a third plurality of location data points measured as a function of time;

processing the third plurality of location data points using a Fourier transform algorithm to distinguish mechanical actuation of the catheter from at least one of patient motion, cardiac motion, respiration, and electronic noise; and

resolving an output of the processing step into a calibration vector for the third actuation axis.

25. The method according to claim 24, wherein the measuring steps comprise periodically measuring a location of a tip of the catheter.

26. The method according to claim 24, wherein the first, second, and third actuation axes comprise a translation axis, a rotation axis, and a deflection axis.

27. The method according to claim 20, wherein the first oscillation frequency is between about 1 Hz and about 10 Hz.

28. The method according to claim 27, wherein the first oscillation frequency is between about 3 Hz and about 5 Hz.

29. A method of calibrating a robotically controlled catheter, the method comprising:

oscillating the catheter on an actuation axis by applying an oscillation vector at an oscillation frequency;

periodically measuring a location of a point on the catheter, thereby generating a plurality of location data points measured as a function of time;

applying a signal processing algorithm to the plurality of location data points to isolate a displacement of the catheter attributable to application of the oscillation vector; and

resolving an output of the signal processing algorithm into a calibration vector for the actuation axis.

30. The method according to claim 29, wherein applying a signal processing algorithm to the plurality of location data points comprises applying a Fourier transform algorithm to the plurality of location data points.

31. The method according to claim 29, wherein the measuring step comprises periodically measuring a location of a point on the catheter relative to one or more measurement axes, thereby creating a plurality of location data points for each of the one or more measurement axes.

32. The method according to claim 31, wherein the resolving step comprises calculating a calibration vector for the actuation axis, the calibration vector including at least one component directed along each of the one or more measurement axes.

33. The method according to claim 29, wherein the plurality of location data points is measured at a sampling rate, and wherein the sampling rate is a multiple of the oscillation frequency.

34. The method according to claim 29, wherein the sampling rate is between about five times and about twenty times greater than the oscillation frequency.

35. The method according to claim 29, wherein the actuation axis is selected from the group consisting of a rotation axis, a translation axis, and a deflection axis.

36. A robotically controlled medical device, comprising:

an end-effector configured to perform a medical procedure;

an actuator for moving said end-effector;

a controller for mechanically actuating said end-effector by energizing said actuator to apply an oscillation vector on an actuation axis to said end-effector;

a positional feedback system for periodically measuring a location of said end-effector, thereby creating a plurality of location data points measured as a function of time; and

a processor for processing said plurality of location data points according to a Fourier transform algorithm to generate a transfer function relating a position of said end-effector to a movement vector for said actuation axis.

37. The medical device according to claim 36, wherein said end-effector comprises a cardiac catheter.

38. The medical device according to claim 36, wherein said positional feedback system periodically measures a location of said end-effector relative to one or more measurement axes, thereby creating a plurality of location data points for each of said one or more measurement axes.

39. The medical device according to claim 38, wherein said processor processes said plurality of location data points for each of said one or more measurement axes according to a Fourier transform algorithm.

40. The medical device according to claim 38, wherein said transfer function comprises a calibration vector including at least one component directed along each of the one or more measurement axes.

41. A method of calibrating a robotically controlled catheter capable of movement relative to at least one actuation axis, the method comprising:

mechanically actuating the catheter on a first actuation axis by applying a first oscillation vector at a first oscillation frequency;

periodically measuring a location of the catheter to generate a first plurality of location data points measured as a function of time; and

processing the first plurality of location data points using a Fourier transform algorithm to generate a transfer function that relates a position of the robotically controlled catheter to a movement vector for the first actuation axis.

42. The method according to claim 41, further comprising:

mechanically actuating the catheter on a second actuation axis by applying a second oscillation vector at a second oscillation frequency;

periodically measuring a location of the catheter to generate a second plurality of location data points measured as a function of time;

processing the second plurality of location data points using a Fourier transform algorithm to generate a transfer function that relates a position of the robotically controlled catheter to a movement vector for the second actuation axis;

actuating the catheter on a third actuation axis by applying a third oscillation vector at a third oscillation frequency;

periodically measuring a location of the catheter to generate a third plurality of location data points measured as a function of time; and

processing the third plurality of location data points using a Fourier transform algorithm to generate a transfer function that relates a position of the robotically controlled catheter to a movement vector for the third actuation axis.