Multi-user touch-based control of a remote catheter guidance system (RCGS)

• US 8,920,368 B2
• Filed: 12/22/2011
• Issued: 12/30/2014
• Est. Priority Date: 12/22/2011
• Status: Active Grant

• Current Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Original Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Inventors: Sandhu, Kulbir, Mo, Huaicai, Adusumilli, Venkata
• Primary Examiner(s): MENDEZ, MANUEL A
• Application Number:
  US13/334,470
• Publication Number:
  US 20130165854A1
• Time in Patent Office: 1,104 Days
• Field of Search: 604/95.01
• US Class Current: 604/95.01
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2017/00044 Sensing electrocardiography, i.e. ECG
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2017/00292 mounted on or guided by flexible, e.g. catheter-like, means
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2034/2074 Interface software
• CPC Class Codes: A61B 2034/258 providing specific settings for specific users
• 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 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: G16H 40/67 : for remote operation

Abstract

A control system for a medical remote catheter guidance system includes an ECU, a computer-readable memory coupled to the ECU, and user interface (UI) logic stored in the memory configured to be executed by the ECU. The user interface logic receives input from a touch screen display with respect to a view of an anatomical model, associates a user type with the input, and interprets the input according to the associated user type and input. The user interface logic may be further configured to receive simultaneous inputs from at least two different users and to associate different user types with each of said simultaneous inputs. The user interface logic may associate each input with a user type according to a location of the input on the touch screen display.

Claims

1. A control system for user-guided robotic manipulation of a medical device comprising:

an electronic control unit (ECU);

a computer-readable memory coupled to said ECU;

user interface (UI) logic stored in said memory configured to be executed by said ECU, said user interface logic configured to;

receive input from a touch screen display with respect to a view of an anatomical model;

associate a user type selected from two or more user types with said input;

determine whether said user type is associated with a permission to instruct movement of the medical device; and

interpret said input; and

control logic stored in said memory configured to be executed by said ECU, said control logic configured to produce a control signal based at least in part on the interpretation of said UI logic and said input to control the medical device if said user type is associated with a permission to instruct movement of the medical device.

2. The control system of claim 1, wherein said UI logic associates said input with a user type according to a location of said input on said touch screen display.

3. The control system of claim 1, wherein said UI logic is configured to receive simultaneous inputs from at least two different users and to associate user types with each of said simultaneous inputs.

4. The control system of claim 3, wherein said UI logic is configured to receive said simultaneous inputs through the touch screen.

5. The control system of claim 1, wherein said UI logic is configured to receive inputs from at least two different points on said touch screen display.

6. The control system of claim 5, wherein said UI logic is configured to receive said inputs from at least two different points simultaneously.

7. The control system of claim 6, wherein each of said inputs comprises a separate gesture.

8. The control system of claim 1, wherein said control logic is further configured to produce said control signal to control actuation of a manipulator assembly.

9. The control system of claim 1, further comprising display logic configured to provide a view of said anatomical model based at least in part on the determination of said UI logic and said input.

10. The control system of claim 1, wherein said UI logic receives said input as one or more gestures.

11. The control system of claim 1, wherein said UI logic receives said input as raw touch input data.

12. The control system of claim 11, wherein said raw touch input data includes a location of said input and a pressure of said input.

13. The control system of claim 11, wherein said raw touch input data includes a location of said input and a speed of said input.

14. The control system of claim 1, wherein said UI logic is further configured to provide haptic feedback through said touch screen display.

15. The control system of claim 1, wherein said UI logic is configured to associate a user type with said input according to a biometric identifier associated with said input.

16. The control system of claim 15, wherein said biometric identifier comprises a fingerprint obtained through said touch screen display.

17. The control system of claim 1, wherein said UI logic is configured to only allow one user type at a time to instruct movement of the medical device.

18. The control system of claim 1, wherein said UI logic is configured to interpret said input according to one or more permissions associated with said user type.