Robotically controlled catheter and method of its calibration

• US 9,237,930 B2
• Filed: 02/27/2013
• Issued: 01/19/2016
• 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:
  US13/778,893
• Publication Number:
  US 20140081290A1
• Time in Patent Office: 1,056 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, 600/301, 600/374, 600/407, 600/424, 600/437, 600/449, 600/466, 600/509, 600/518, 600/547, 600/587, 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, 700/249, 700/260, 128/899
• US Class Current: 1/1
• 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 robotic surgical system, comprising:

a servo mechanism adapted to be coupled to a medical device such that the servo mechanism can induce the medical device to oscillate on a first axis;

a positional feedback system adapted to output a first position signal representative of the position of at least one point on the medical device as the medical device oscillates on the first axis; and

a processor to process the first position signal into a transfer function that relates inputs by the servo mechanism to movements of the medical device coupled thereto.

2. The robotic surgical system according to claim 1, further comprising a controller operably connected to the servo mechanism to energize the servo mechanism.

3. The robotic surgical system according to claim 1, wherein the servo mechanism comprises a translation servo mechanism and a deflection servo mechanism.

4. The robotic surgical system according to claim 3, wherein the servo mechanism further comprises a rotation servo mechanism.

5. The robotic surgical system according to claim 1, wherein the positional feedback system defines one or more measurement axes, and wherein the transfer function comprises a calibration vector including a component directed along each of the one or more measurement axes.

6. The robotic surgical system according to claim 1, wherein the positional feedback system is adapted to output the first position signal by periodically measuring the position of at least one point on the medical device as the medical device oscillates on the first axis.

7. The robotic surgical system according to claim 6, wherein a sampling rate at which the positional feedback system operates is an integer multiple of an oscillation frequency at which the servo mechanism operates.

8. An apparatus for calibrating a robotic surgical system including a servo mechanism operable to apply an oscillation vector to a medical device operably coupled thereto and a positional feedback system operable to output a position signal representative of a position of the medical device, the apparatus comprising:

a position output processor configured to receive the position signal and generate a position output signal reflecting movement of the medical device attributable to the application of the oscillation vector; and

a calibration processor configured to receive the position output signal and generate a transfer function that relates inputs to the servo mechanism to movements of the medical device operably coupled thereto.

9. The apparatus according to claim 8, wherein the position output processor applies a Fourier transform algorithm to the position signal.

10. The apparatus according to claim 8, wherein the position output processor applies a synchronous demodulation algorithm to the position signal.

11. The apparatus according to claim 8, wherein the position output processor applies a cross correlation algorithm to the first position signal.

12. An apparatus for calibrating a robotic surgical system including a servo mechanism and a positional feedback system, the apparatus comprising:

a processor operably coupled to the robotic surgical system and configured to;

energize the servo mechanism to apply an oscillation vector to a device coupled thereto;

periodically measure a location of at least one point on the device while the oscillation vector is being applied to the device, thereby generating a position signal for the device;

process the position signal to generate an output signal, wherein the output signal reflects movement of the device attributable to application of the oscillation vector to the device by the servo mechanism; and

generate a transfer function from the output signal that relates inputs to the servo mechanism to resulting movements of the device.

13. The apparatus according to claim 12, wherein the oscillation vector is applied on a single axis selected from the group consisting of a translation axis, a rotation axis, and a deflection axis.

14. The apparatus according to claim 12, wherein the oscillation vector is applied to two or more axes selected from the group consisting of a translation axis, a rotation axis, and a deflection axis.

15. The apparatus according to claim 12, wherein the output signal is generated by applying a Fourier transform algorithm to the position signal.

16. The apparatus according to claim 12, wherein the output signal is generated by applying a synchronous demodulation algorithm to the position signal.

17. The apparatus according to claim 12, wherein the output signal is generated by applying a cross correlation algorithm to the position signal.