Methods and devices for controlling a shapeable medical device

• US 8,672,837 B2
• Filed: 06/24/2010
• Issued: 03/18/2014
• Est. Priority Date: 06/24/2010
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Roelle, Matthew J., Tanner, Neal A., Younge, Robert G., Carlson, Christopher, Barbagli, Federico, Camarillo, David
• Primary Examiner(s): BOUCHELLE, LAURA A
• Application Number:
  US12/823,032
• Publication Number:
  US 20110319714A1
• Time in Patent Office: 1,363 Days
• Field of Search: 606/1, 600/117, 600/118, 604/95.01, 604/523, 604/528
• US Class Current: 600/118
• CPC Class Codes: A61B 1/00006 of control signals
• CPC Class Codes: A61B 1/00042 for mechanical operation
• CPC Class Codes: A61B 1/0011 Manufacturing of endoscope parts
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/008 Articulations
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• 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 2090/061 for measuring dimensions, e.g. length
• 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: A61M 25/0147 with movable mechanical means, e.g. pull wires

Abstract

Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region.

Claims

1. A method of preparing a robotic medical system for use with a shapeable instrument, where the shapeable instrument includes a working end and one or more positioning elements that move the shapeable instrument:

obtaining a plurality of localization data to determine a real shape of at least the first portion of the shapeable instrument;

pretensioning the shapeable instrument by incrementally actuating at least one of the actuators, thereby causing a movement of the first portion of the shapeable instrument from an initial position to a pretensioned shape, the movement reducing a slack in the shapeable instrument; and

providing the movement to a controller including a master input device, wherein the controller accounts for the movement in at least one actuation command where the actuation command manipulates one or more of the positioning elements to reposition the working end or the first portion of the shapeable instrument.

2. The method of claim 1, where the shapeable instrument comprises a proximal non-articulating portion and a distal articulating portion, the method further comprising:

advancing the shapeable instrument into an anatomic path within a body such that the non-articulating portion assumes a profile as a result of the anatomic path; and

where obtaining the plurality of localization data occurs after advancing the shapeable instrument into the anatomic path; and

subsequently pretensioning the shapeable instrument.

3. The method of claim 2, where obtaining the plurality of localization data comprises determining a first real shape of the non-articulating portion, and further comprising obtaining a second plurality of localization data to determine a second shape of the non-articulating portion.

4. The method of claim 3, further comprising monitoring a change between the first and second shape of the non-articulating portion for a minimum value, and further comprising further pre-tensioning the shapeable instrument if the change exceeds a pre-determined level, wherein the further pre-tensioning includes causing a second movement of the first portion of the shapeable instrument.

5. The method of claim 1, wherein the shapeable instrument is a catheter.

6. The method of claim 1, further comprising determining an amount of the slack in the shapeable instrument.

7. The method of claim 1, wherein pretensioning the shapeable instrument includes removing the slack in the shapeable instrument.

8. The method of claim 1, wherein the localization data includes three-dimensional position data relating to the shapeable instrument.

9. The method of claim 1, further comprising determining a path for the shapeable instrument between a first position and a second position, wherein determining the path includes determining a force associated with a movement of the shapeable instrument between the first and second positions.

10. The method of claim 1, further comprising determining a magnitude of a force associated with a contact of the shapeable instrument with an environment of the shapeable instrument.

11. The method of claim 10, wherein determining the magnitude of the force includes matching a measured shape of the shapeable instrument to a model of the shapeable instrument.

12. The method of claim 1, further comprising detecting a contact of the shapeable instrument based upon a difference between a commanded shape of the shapeable instrument and a measured shape of the shapeable instrument.

13. The method of claim 12, wherein the measured shape is determined from the plurality of localization data.

14. The method of claim 12, wherein detecting the contact includes determining a mean square error between the commanded shape of the shapeable instrument and the measured shape of the shapeable instrument.