Catheter sensor systems

• US 9,387,048 B2
• Filed: 10/14/2011
• Issued: 07/12/2016
• Est. Priority Date: 10/14/2011
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Donhowe, Caitlin Q., Duindam, Vincent, Prisco, Giuseppe Maria
• Primary Examiner(s): Park, Patricia
• Application Number:
  US13/274,237
• Publication Number:
  US 20130096572A1
• Time in Patent Office: 1,733 Days
• Field of Search: 600/424
• US Class Current: 1/1
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• 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 5/062 using magnetic field
• CPC Class Codes: A61M 25/0127 Magnetic means; Magnetic markers
• CPC Class Codes: A61M 25/0147 with movable mechanical means, e.g. pull wires

Abstract

A medical system including a catheter or other flexible structure uses a combination of two different sensor systems to measure a pose of a section or tip of the catheter or flexible structure. The first sensor system, which may include an electromagnetic sensor, can measure a pose of a first section of the catheter, and the second sensor system can measure a pose of the second section relative to the first section. The second sensor system may employ a technology such as fiber shape sensing that permits the second section to be smaller than the first section, so that a distal tip of the catheter or flexible structure can fit within smaller natural lumens.

Claims

1. A medical system comprising:

a catheter having a first section and a second section, the second section adjacent to the first section, wherein the first section defines a first longitudinal catheter axis and the second section defines a second longitudinal catheter axis;

an electromagnetic sensor system in the first section including;

a first electromagnetic sensor in a first lumen portion extending along a longitudinal sensor axis in parallel with the first longitudinal catheter axis at a proximal end of the first section, and

a second electromagnetic sensor in a second lumen portion extending along the longitudinal sensor axis in parallel with the first longitudinal catheter axis at a distal end of the first section, the distal end of the first section being adjacent to the second section,

wherein the first section between the proximal and distal ends flexibly couples the first and second electromagnetic sensors so that the first electromagnetic sensor is movable with respect to the second electromagnetic sensor, wherein the first electromagnetic sensor includes a first signal wire coupled to a first coil extending within the first lumen portion along the longitudinal sensor axis and the second electromagnetic sensor includes a second signal wire coupled to a second coil extending within the second lumen portion along the longitudinal sensor axis; and

a fiber shape sensor system that extends through the first section between and along the first electromagnetic sensor and the second electromagnetic sensor, the fiber shape sensor extending through the second section, the fiber shape sensor system being configured for measurement of a pose of the second section relative to the distal end of the first section and measurement of a relative orientation between the first electromagnetic sensor and the second electromagnetic sensor.

2. The system of claim 1, wherein the second section is narrower than the first section.

3. The system of claim 2, wherein the first longitudinal catheter axis is offset from the second longitudinal catheter axis.

4. The system of claim 1, wherein the first electromagnetic sensor is configured to measure a position and an orientation of the proximal end of the first section relative to an external reference.

5. The system of claim 4, wherein the second electromagnetic sensor is configured to measure a position and an orientation of the distal end of the first section relative to the proximal end of the first section.

6. The system of claim 1, wherein the first electromagnetic sensor and the second electromagnetic sensor are five-degree-of-freedom sensors and wherein the electromagnetic sensor system and the fiber shape sensor system comprise a measurement system for determining a six-degree-of-freedom measurement.

7. The system of claim 1, wherein the fiber shape sensor system comprises Bragg gratings.

8. The system of claim 1, wherein

the first coil has a first magnetic axis oriented at a first angle relative to the first longitudinal catheter axis;

and

the second coil has a second magnetic axis that is oriented at a second angle relative to the first longitudinal catheter axis, the first and second angles being different such that the second magnetic axis is askew from the first magnetic axis.

9. The system of claim 1, wherein the fiber shape sensor system is configured to measure a spatial relationship between the first coil and the second coil.

10. The system of claim 1, wherein the first section further comprises an accelerometer configured to measure a direction of gravity.

11. A method for sensing a pose of a distal tip of an elongated flexible structure of a medical instrument, the method comprising:

applying a time-varying magnetic field to a space containing at least a portion of the elongated flexible structure, the elongated flexible structure defining an instrument longitudinal axis and comprising a catheter;

analyzing an electric signal induced in a first coil positioned with a first signal wire in a first lumen portion having a sensor longitudinal axis arranged in parallel with the instrument longitudinal axis at a first location along the flexible structure of the medical instrument, wherein the first location is separated from a proximal end and a distal end of the flexible structure; and

measuring, with a shape sensor, a shape of a portion of the flexible structure of the medical instrument, wherein the portion measured extends from the first location of the first coil toward the distal end of the flexible structure;

measuring, with the shape sensor, a relative orientation between the first coil and a second coil, wherein the second coil is positioned with a second signal wire in a second lumen portion along the sensor longitudinal axis arranged in parallel with the instrument longitudinal axis at a second location along the flexible structure such that the first coil is flexibly coupled to and movable with respect to the second coil as the flexible structure bends and wherein the shape sensor extends between and along the first and second coils; and

generating, by control logic, a corrected actuator control signal based on a desired configuration of the flexible structure and the measured shape of the portion of the flexible structure extending from the first location of the first coil toward the distal end of the flexible structure and based on the measured relative orientation between the first coil and the second coil.

12. The method of claim 11, wherein the catheter comprises:

a first catheter section containing the first and second coils; and

a second catheter section adjacent to the first section and extending to the distal tip.

13. The method of claim 11, wherein the control logic determines a six-degree-of-freedom measurement from a first five-degree-of-freedom measurement obtained with the first coil and a second five-degree-of-freedom measurement obtained with the second coil.

14. The method of claim 11, wherein analyzing the electric signal in the first coil comprises determining a global position and orientation at a point along the shape sensor.

15. The method of claim 14, determining the global position and orientation further comprises using a second electrical signal induced in the second coil positioned along the flexible structure.

16. A medical system comprising:

a catheter having a first section and a second section, the second section adjacent to the first section, wherein the catheter defines a longitudinal catheter axis;

a first electromagnetic sensor in a first lumen portion aligned along a longitudinal sensor axis arranged in parallel with the longitudinal catheter axis at a first location along the first section;

a second electromagnetic sensor in a second lumen portion aligned along the longitudinal sensor axis arranged in parallel with the longitudinal catheter axis at a distal end of the first section, the distal end of the first section being adjacent to the second section, wherein the first section between the first location and distal end flexibly couples the first and second electromagnetic sensors so that the first electromagnetic sensor is movable with respect to the second electromagnetic sensor, and wherein the first and second electromagnetic sensors are five-degree-of-freedom sensors; and

a fiber shape sensor system that extends through the first section between and along the first electromagnetic sensor and the second electromagnetic sensor, the fiber shape sensor extending through the second section, the fiber shape sensor system being configured for measurement of a pose of the second section relative to the distal end of the first section and measurement of a relative orientation between the first electromagnetic sensor and the second electromagnetic sensor; and

control logic that receives measurement information from the first and second electromagnetic sensors and the fiber shape sensor and that generates a corrected actuator control signal based on a desired configuration of the catheter and a measured shape of the portion of the catheter extending from the first location toward the distal end of the first section and based on the measured relative orientation between the first electromagnetic sensor and the second electromagnetic sensor.

17. The medical system of claim 16, wherein

the first electromagnetic sensor includes a first coil that has a first magnetic axis oriented at a first angle relative to the longitudinal catheter axis;

and

the second electromagnetic sensor includes a second coil has a second magnetic axis that is oriented at a second angle relative to the longitudinal catheter axis, the first and second angles being different such that the second magnetic axis is askew from the first magnetic axis.

18. The medical system of claim 16, wherein the second section is narrower than the first section and the first and second lumen portions are portions of a sensor lumen extending along a length of the first section.

19. The medical system of claim 16, wherein the control logic determines a six-degree-of-freedom measurement from a first five-degree-of-freedom measurement from the first electromagnetic sensor and a second five-degree-of-freedom measurement from the second electromagnetic sensor.