Method and system for determining information of extrema during expansion and contraction cycles of an object

• US 8,827,934 B2
• Filed: 11/15/2011
• Issued: 09/09/2014
• Est. Priority Date: 05/13/2011
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Chopra, Prashant, Donhowe, Caitlin Q., Duindam, Vincent, Prisco, Giuseppe Maria
• Primary Examiner(s): HINDENBURG, MAX F
• Application Number:
  US13/297,066
• Publication Number:
  US 20120289843A1
• Time in Patent Office: 1,029 Days
• Field of Search: 600/534, 600/587, 600/593
• US Class Current: 600/593
• CPC Class Codes: A61B 1/0005 combining images e.g. side-by-side, superimposed or tiled
• CPC Class Codes: A61B 1/00154 using guiding arrangements for insertion
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2090/3614 using optical fibre
• 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 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61B 5/1076 for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence

Abstract

A medical system provides navigation assistance to a surgeon for navigating a flexible medical device through linked passages of an anatomical structure to a target area. For tracking, navigation, and other purposes, information of extrema is determined during expansion and contraction cycles of an object by receiving time sampled information from sensors distributed along a length of a flexible device so as to indicate the shape of the device over time while the device extends through a lumen of the object so as to conform to and resemble the shape of the lumen, displacements over time of a selected point at a selected insertion length of the flexible device into the lumen of the object relative to a reference point are determined, extrema time points are determined by identifying sign changes of the slope of the determined displacements over time, and extrema types are determined using extrema type characteristics.

Claims

1. A method for determining information of extrema during expansion and contraction cycles of an object, the method comprising:

receiving time sampled information from a plurality of sensors distributed along a length of a flexible device so as to indicate the shape of the flexible device over time while the flexible device extends through a lumen of the object so as to conform to and resemble the shape of the lumen;

determining displacements over time of a selected point at a selected insertion length of the flexible device into the lumen of the object relative to a reference point using the time sampled information received from the plurality of sensors;

determining extrema time points during the expansion and contraction cycles of the object by identifying sign changes of the slope of the determined displacements of the point of the lumen over time; and

identifying extrema types during the expansion and contraction cycles of the object by using extrema type characteristics.

2. The method of claim 1, wherein the plurality of sensors include strain sensors configured on an optical fiber extending along the length of the flexible device.

3. The method of claim 1, wherein the determination of the displacements over time of the selected point comprises periodically:

determining a vector from the reference point to the pose of the selected point at each point in time; and

determining the displacement of the selected point by calculating the magnitude of the determined vector.

4. The method of claim 1, wherein the determination of the displacements over time of the selected point comprises determining a second vector from the reference point to the pose of the selected point at an initial point of time and periodically:

determining a first vector from the reference point to the pose of the selected point;

determining a first difference vector between the first vector and the second vector; and

determining the displacement of the selected point by calculating the magnitude of the determined first difference vector.

5. The method of claim 4, wherein the determination of the displacements over time of the selected point further comprises determining a unit vector indicating the pointing direction of the flexible device at the initial point of time at the selected point from a plurality of sensors distributed along a length of the flexible device and periodically:

determining a scalar product of the first vector difference and the unit vector;

determining a second vector difference between the first vector and the unit vector multiplied by the scalar product; and

determining the displacement of the selected point by calculating the magnitude of the second vector difference.

6. The method of claim 1, wherein the reference point is a point from which points of the object move away from during expansion of the object.

7. The method of claim 1, wherein the reference point is a point which moves less than all points of the object during expansion and contraction cycles of the object.

8. The method of claim 1, wherein the determination of the extrema time points during expansion and contraction of the object over time comprises:

filtering the determined displacements of the point of the lumen over time; and

determining changes in the sign of the slope of the filtered determined displacements of the point of the lumen over time.

9. The method of claim 8, wherein the filtering of the determined displacements of the selected point over time comprises:

determining a curve that best fits through the determined displacements of the selected point over time.

10. The method of claim 1, wherein the object is an anatomical structure within a patient.

11. The method of claim 10, wherein the anatomical structure is a lung and the lumen comprises one or more of a trachea, bronchi, bronchioles, and artificial passages.

12. The method of claim 11, wherein the reference point is a point on an adjacent object that is stationary with respect to the expansion and contraction movement of the object.

13. The method of claim 10, wherein the anatomical structure is one of a heart, brain, digestive system, circulatory system, and urinary system.

14. The method of claim 1, wherein the flexible device includes one of an endoscope, a catheter, and a medical instrument.

15. The method of claim 1, wherein the expansion and contraction of the object is associated with a circulation through the object of at least one of air and blood.

16. The method of claim 1, wherein the selected point of the flexible device is selected by determining which point of a plurality of selected points of the flexible device has the largest determined displacement relative to the reference point over an expansion and contraction cycle of the object.

17. The method of claim 1, wherein the selected point of the flexible device is selected by determining which point of a plurality of selected points of the flexible device has a largest displacement between positions of adjacent extrema over an expansion and contraction cycle of the object.

18. The method of claim 1, wherein the extrema type characteristics include sign changes for a slope of the displacements over time of the selected point, and wherein the identifying of the extrema types during expansion and contraction cycles of the object comprise identifying a first extrema type if the sign of the slope changes from positive to negative and identifying a second extrema type if the sign of the slope changes from n.

19. The method of claim 1, wherein the extrema type characteristics include expected displacements of the selected point at the extrema, and wherein the identifying of the extrema types during expansion and contraction cycles of the object comprise identifying the extrema type by comparing the current displacement of the selected point with the expected displacements of the selected point at the extrema.

20. The method of claim 1, wherein the extrema type characteristics include expected times spent near the extrema, and wherein the identifying of the extrema types during expansion and contraction cycles of the object comprise comparing the time spent near a detected extremum with the expected times spent near the extrema.

21. The method of claim 1, wherein the extrema type characteristics include 3-D computer models of the object at the extrema, and wherein the identifying of the extrema types during expansion and contraction cycles of the object comprise comparing a current shape of the flexible device with lumens of the 3-D computer models of the object at the extrema.

22. A system comprising:

a flexible device including a plurality of sensors distributed along a length of the flexible device so as to indicate the shape of the flexible device as the flexible device extends through a lumen of an object so as to conform to and resemble the shape of the lumen; and

one or more processors adapted to determine information of extrema during expansion and contraction cycles of the object by receiving time sampled information from the plurality of sensors, determine displacements over time of a selected point at a selected insertion length of the flexible device into the lumen of the object relative to a reference point using the time sampled information received from the plurality of sensors, determine the extrema time points during the expansion and contraction of the object over time by identifying changes in the sign of the slope of the determined displacements of the point over time, and identify extrema types during the expansion and contraction cycles of the object by using extrema type characteristics.

23. The system of claim 22, wherein the plurality of sensors include strain sensors configured on an optical fiber extending along the length of the flexible device.

24. The system of claim 22, wherein the one or more processors is adapted to determine the displacements over time of the selected point by periodically:

determining a vector from the reference point to the pose of the selected point at each point in time;

determine the displacement of the selected point by calculating the magnitude of the determined vector.

25. The system of claim 22, wherein the one or more processors is adapted to determine the displacements over time of the selected point by determining a second vector from the reference point to the pose of the selected point at an initial point of time and periodically:

determining a first vector from the reference point to the pose of the selected point;

determining a first difference vector between the first vector and the second vector; and

determining the displacement of the selected point by calculating the magnitude of the determined first difference vector.

26. The system of claim 25, wherein the one or more processors is adapted to determine the displacements over time of the selected point by further determining a unit vector indicating the pointing direction of the flexible device at the initial point of time at the selected point from a plurality of sensors distributed along a length of the flexible device and periodically:

determining a scalar product of the first vector difference and the unit vector;

determining a second vector difference between the first vector and the unit vector multiplied by the scalar product; and

determining the displacement of the selected point by calculating the magnitude of the second vector difference.

27. The system of claim 22, wherein the reference point is a point from which points of the object move away from during expansion of the object.

28. The system of claim 22, wherein the reference point is a point which moves less than all points of the object during expansion and contraction cycles of the object.

29. The system of claim 22, wherein the one or more processors is adapted to determine the extrema time points during expansion and contraction of the object over time by filtering the determined displacements of the point of the lumen over time and determining changes in the sign of the slope of the filtered determined displacements of the point of the lumen over time.

30. The system of claim 29, wherein the one or more processors is adapted to filter the determined displacements of the selected point over time by determining a curve that best fits through the determined displacements of the selected point over time.

31. The system of claim 22, wherein the object is an anatomical structure within a patient.

32. The system of claim 31, wherein the anatomical structure is a lung and the lumen comprises one or more of a trachea, bronchi, bronchioles, and artificial passages.

33. The system of claim 32, wherein the reference point is a point adjacent to the object that is stationary with respect to the expansion and contraction movement of the object.

34. The system of claim 31, wherein the anatomical structure is one of a heart, brain, digestive system, circulatory system, and urinary system.

35. The system of claim 22, wherein the flexible device includes one of an endoscope, a catheter, and a medical instrument.

36. The system of claim 22, wherein the expansion and contraction of the object is associated with a circulation through the object of at least one of air and blood.

37. The system of claim 22, wherein the one or more processors is adapted to select the selected point of the flexible device by determining which point of a plurality of selected points of the flexible device has the largest determined displacement relative to the reference point over an expansion and contraction cycle of the object.

38. The system of claim 22, wherein the one or more processors is adapted to select the selected point of the flexible device by determining which point of a plurality of selected points of the flexible device has a largest displacement between positions of adjacent extrema over an expansion and contraction cycle of the object.

39. The system of claim 22, wherein the extrema type characteristics include sign changes for a slope of the displacements over time of the selected point, and wherein the one or more processors is adapted to identify the extrema types during expansion and contraction cycles of the object by identifying a first extrema type if the sign of the slope changes from positive to negative and identifying a second extrema type if the sign of the slope changes from negative to positive.

40. The system of claim 22, wherein the extrema type characteristics include expected displacements of the selected point at the extrema, and wherein the one or more processors is adapted to identify the extrema types during expansion and contraction cycles of the object by comparing the current displacement of the selected point with the expected displacements of the selected point at the extrema.

41. The system of claim 22, wherein the extrema type characteristics include expected times spent near the extrema, and wherein the one or more processors is adapted to identify the extrema types during expansion and contraction cycles of the object by comparing the time spent near a detected extremum with the expected times spent near the extrema.

42. The system of claim 22, wherein the extrema type characteristics include 3-D computer models of the object at the extrema, and wherein the one or more processors is adapted to identify the extrema types during expansion and contraction cycles of the object by comparing a current shape of the flexible device with lumens of the 3-D computer models of the object at the extrema.