Automated alignment

• US 8,317,746 B2
• Filed: 07/22/2009
• Issued: 11/27/2012
• Est. Priority Date: 11/20/2008
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Sewell, Christopher M., Tanner, Neal A., Miller, Teresa
• Primary Examiner(s): Cattungal, Sanjay
• Application Number:
  US12/507,777
• Publication Number:
  US 20100125285A1
• Time in Patent Office: 1,224 Days
• Field of Search: 600/101, 600/109, 600/114, 600/117, 600/118, 600/139, 600/146, 600/424, 606/130, 604/95.04, 604/164.12, 604/164.09
• US Class Current: 604/95.04
• CPC Class Codes: A61B 18/24 with a catheter A61B18/26, A61B18/28 take precedence
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• 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 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/306 using optical fibres
• CPC Class Codes: A61B 2090/3614 using optical fibre
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed.

Claims

1. A method for registering an elongate medical instrument relative to nearby anatomical structures, comprising:

moving a distal portion of a robotically controlled elongate medical instrument between a first position in situ and a second position in situ relative to an instrument coordinate reference frame, wherein the elongate medical instrument is coaxially positioned through a working lumen of a robotically-controlled sheath instrument, and wherein respective robotic movement of the medical and sheath instruments is controlled by a processor operatively coupled to the respective medical and sheath instruments, wherein the processor

tracks movement of the distal portion of the medical instrument relative to the instrument coordinate reference frame using respective kinematic models for the medical and sheath instruments,

tracks movement of the distal portion of the medical instrument relative to a localization coordinate reference frame using one or more localization sensors coupled to the distal portion of the medical instrument,

determines the orientation of the instrument distal end portion relative to both the instrument coordinate reference frame and the localization coordinate reference frame, and

adjusts the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic models and localization sensors.

2. The method of claim 1, wherein the first position in situ is a substantially straight position for the distal portion of the medical instrument.

3. The method of claim 2, wherein in the first position in situ, the distal portion is medical instrument is substantially coincident with a coordinate axis representing a substantially unloaded, substantially straight, longitudinal axis of the distal portion of the medical instrument.

4. The method of claim 1, wherein the distal portion of the medical instrument has been retracted toward the working lumen of the sheath instrument with the sheath instrument in a substantially straight position in the first position in situ.

5. The method of claim 1, wherein the first position in situ is achieved with an electromechanical autoretraction command.

6. The method of claim 1, wherein the processor tracks movement of the distal portion of the medical instrument relative to the instrument coordinate reference frame by determining an estimated position of the distal portion of the medical instrument based at least in part upon an insertion position of the portion of the medical instrument and positions of one or more steering positioners comprising the medical instrument.

7. The method of claim 6, wherein the elongate medical instrument is a steerable catheter, and wherein the one or more steering positioners comprise steering pullwires.

8. The method of claim 1, wherein the one or more localization sensors are potential difference based localization sensors.

9. The method of claim 1, wherein the one or more localization sensors are magnetic field based localization sensors.

10. The method of claim 1, wherein the second position in situ is a curved position for the distal portion of the medical instrument.

11. The method of claim 10, wherein the curved position has a minimum radius of curvature, and wherein a user interface is configured to assist an operator in positioning the distal portion of the medical instrument into a curved position having a radius of curvature greater than or equal to the minimum radius of curvature.

12. The method of claim 11, wherein the user interface presents the operator with a cylindrical shaped guiding envelope past which the medical instrument distal portion should be driven to place the portion into a curved position having a radius of curvature greater than or equal to the minimum radius of curvature.

13. The method of claim 1, wherein the processor determines the orientation of the medical instrument distal portion relative to the localization coordinate reference frame by selecting a subset of available localization data collected for movement of the medical instrument distal portion between the first position in situ and the second position in situ, fitting a line through the subset, and determining orientation relative to the localization coordinate reference frame based upon the position of the line.

14. The method of claim 13, wherein selecting a subset of available localization data comprises fitting a line through an initial subset of available localization data collected for movement of the medical instrument distal portion between the first position in situ and the second position in situ, the initial subset being one that is presumed to contain data that is less likely to be noisy.

15. The method of claim 14, further comprising sequentially

a) adding additional data from the available localization data collected to form an updated subset of data;

b) fitting a line through the updated subset of data;

c) determining the quality of fit of the line through the updated subset of data; and

d) determining, based upon the quality of fit, an optimized subset of data for determining the orientation of the medical instrument distal portion relative to the localization coordinate reference frame.

16. The method of claim 15, wherein determining the quality of fit comprises determining the root mean square error of data comprising the updated subset of data relative to the line fitted through such data.

17. The method of claim 1, wherein moving a distal portion of the medical instrument between a first position in situ and a second position in situ is conducted as an overlay to other concurrent navigation of the medical instrument.

18. The method of claim 1, further comprising stopping other navigation of the medical instrument before initiating the moving of the distal portion of the medical instrument between a first position in situ and a second position in situ.

19. The method of claim 1, wherein an IVUS imaging assembly is coupled to the medical device, and wherein the processor takes into account image data acquired by the IVUS imaging assembly for tracking movement of the distal portion of the medical device.

20. The method of claim 19, further comprising allowing for an operator adjustment of the orientation of the instrument coordinate reference frame, and synchronizing adjustment of an associated master input device coordinate reference frame to retain instinctiveness of the master input device relative to observed operation of the elongate medical device.

21. A system for registering an elongate medical instrument relative to nearby anatomical structures, comprising:

a. a remotely navigated working elongate medical instrument having a distal end, an elongate body, and one or more localization sensors coupled to the elongate body;

b. a remotely navigated secondary instrument having a working lumen configured to slidably engage the elongate medical instrument;

c. a localization system coupled to the one or more localization sensors and configured to determine the positions of such sensors relative to a localization coordinate reference frame;

d. a processor operatively coupled to the working elongate medical instrument and secondary instrument, and configured to determine the position thereof relative to an instrument coordinate reference frame based upon kinematic models for the instruments;

wherein the processor is configured to;

1) move a portion of the working elongate medical instrument between a first position in situ and a second position in situ relative to the instrument coordinate reference frame;

2) track movement of the portion relative to the instrument coordinate reference frame using a kinematic model, and also tracking movement of the portion relative to a localization coordinate reference frame using one or more localization sensors coupled to the portion;

3) determine the orientation of the portion relative to both the instrument coordinate reference frame and the localization coordinate reference frame; and

4) adjust the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors.

22. The system of claim 21, wherein the working elongate medical instrument is a flexible catheter.

23. The system of claim 21, wherein the secondary instrument is a flexible sheath catheter.

24. The system of claim 22, wherein the flexible catheter is a robotically steerable catheter, and wherein the processor is configured to move the catheter between a first position and a second position electromechanically.

25. The system of claim 21, wherein the processor is configured to track movement of the portion using a kinematic model by determining an estimated position of the portion based at least in part upon an insertion position of the portion and positions of one or more steering positioners comprising the elongate medical instrument.

26. The system of claim 25, wherein the one or more steering positioners comprise steering pullwires.

27. The system of claim 21, wherein the one or more localization sensors are potential difference based localization sensors.

28. The system of claim 21, wherein the one or more localization sensors are magnetic field based localization sensors.

29. The system of claim 21, wherein the first position is a substantially straight position, and the second position is a curved position wherein the portion has a radius of curvature greater than or equal to a threshold minimum radius of curvature.

30. The system of claim 29, wherein the processor is configured to assist an operator in positioning the portion into the curved position.

31. The system of claim 30, wherein the processor directs a user interface to present to the operator a cylindrical shaped guiding envelope past which the elongate instrument portion should be driven to place the portion into a curved position having a radius of curvature greater than or equal to the minimum radius of curvature.

32. The system of claim 24, wherein the processor is configured to autoretract the catheter between a first position and a second position electromechanically.