Medical system with multiple operating modes for steering a medical instrument through linked body passages

• US 9,572,481 B2
• Filed: 05/13/2011
• Issued: 02/21/2017
• 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: Duindam, Vincent, Prisco, Giuseppe Maria
• Primary Examiner(s): Leubecker, John P
• Assistant Examiner(s): TORRES DIAZ, ARNALDO
• Application Number:
  US13/107,052
• Publication Number:
  US 20120289783A1
• Time in Patent Office: 2,111 Days
• Field of Search: 600/146, 600/114, 600/117, 600/145, 600/118, 600/152, 600/585, 604/510, 227/2, 227/107
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00147 Holding or positioning arrangements
• 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 1/01 Guiding arrangements therefore
• CPC Class Codes: A61B 2017/003 Steerable
• 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 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• 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 90/03 Automatic limiting or abutting means, e.g. for safety

Abstract

A controller operates in different operating modes to control movement of a distal tip of a medical instrument when inserting and retracting the medical instrument through linked body passages. When inserting the medical instrument, the controller normally operates in an automatic navigation mode unless manually overridden to operate in a manual mode. When retracting the medical instrument, the controller normally operates in a zero-force mode to allow the distal tip to freely move so that it may comply with the shape of the passages as the medical instrument is being retracted through the linked body unless manually overridden to operate in a manual mode.

Claims

1. A medical system comprising:

a steerable medical instrument defining a central axis therethrough, the steerable medical instrument comprising a steerable tip at a distal end thereof;

at least one actuator; and

control means for;

commanding the at least one actuator to actively steer the medical instrument according to a programmed navigation path according to an insertion control mode as the medical instrument moves in an insertion direction along the central axis through an anatomic passageway;

transitioning from the insertion control mode to a manual override control mode in response to movement of an operator input device that is in contradiction to the programmed navigation path; and

while in the manual override control mode, displaying on a display screen a graphical indication of a steering direction corresponding to the programmed navigation path.

2. The medical system of claim 1, wherein the insertion control mode commands the at least one actuator to steer the medical instrument according to the programmed navigation path, wherein the programmed navigation path is determined pre-operatively.

3. The medical system of claim 2, wherein the programmed navigation path indicates a steering direction determined from a current insertion position of the medical instrument.

4. The medical system of claim 2, wherein the insertion control mode commands the at least one actuator to steer the medical instrument according to operator interaction with a control device if an operator overrides the programmed navigation path.

5. The medical system of claim 4, wherein the control means causes a nudging force to be exerted on the control device so as to indicate the steering direction corresponding to the programmed navigation path.

6. The medical system of claim 4, further comprising a display screen and an image capturing device, wherein the control means causes images captured by the image capturing device to be displayed on the display screen.

7. The medical system of claim 1, further comprising detection means for detecting movement of the medical instrument in the insertion direction by a change exceeding a threshold amount in the insertion direction.

8. The medical system of claim 1, further comprising detection means for detecting movement of the medical instrument in a retraction direction by a change exceeding a threshold amount in the retraction direction.

9. The medical system of claim 1, wherein the insertion control mode commands the at least one actuator to steer the medical instrument according to operator interaction with a control device.

10. The medical system of claim 9, wherein the control means causes a nudging force to be exerted on the control device so as to indicate the steering direction corresponding to the programmed navigation path.

11. The medical system of claim 1, wherein the steerable medical instrument is moved in the insertion and retraction directions by an operator manually pushing and pulling the steerable medical instrument into and out a passage.

12. A method for controlling steering of a medical instrument, the method comprising:

receiving an indication of movement of the medical instrument along a central axis defined through the medical instrument; and

commanding at least one actuator to actively steer a steerable tip of the medical instrument according to a programmed navigation path according to an insertion control mode as the medical instrument moves in an insertion direction along the central axis through an anatomic passageway

transitioning from the insertion control mode to a manual override control mode in response to movement of an operator input device that is in contradiction to the programmed navigation path; and

while in the manual override control mode, displaying on a display screen a graphical indication of a steering direction corresponding to the programmed navigation path.

13. A medical system comprising:

an operator input device;

a medical instrument;

at least one insertion actuator;

at least one steering actuator; and

control means for commanding the at least one insertion actuator to move the medical instrument in an insertion direction in response to a movement of the operator input device commanding such insertion in a normal control mode and commanding the at least one steering actuator to steer the medical instrument according to a programmed navigation path in the normal control mode in response to the movement of the operator input device,

for commanding the at least one steering actuator to cause the medical instrument to be steered according to another movement of the operator input device commanding such steering when the normal control mode is manually overridden by an operator of the operator input device, and

for commanding the at least one steering actuator to steer the medical instrument according to an updated programmed navigation path based on a resulting pose of the medical instrument caused by the other movement of the operator input device, wherein the updated programmed navigation path is different that the programmed navigation path.

14. The medical system of claim 13, wherein the programmed navigation path indicates a steering direction determined from a current insertion position of the medical instrument and the updated programmed navigation path indicates a new steering direction.

15. The medical system of claim 13, wherein the control means causes a nudging force to be exerted on the operator input device so as to indicate a steering direction in conformance with the programmed navigation path.

16. The medical system of claim 13, further comprising a display screen, wherein the control means causes an indication of a steering direction in conformance with the programmed navigation path to be displayed on the display screen when the normal control mode is manually overridden.

17. The medical system of claim 13, wherein the control means detects movement of the medical instrument in the insertion direction by a change exceeding a threshold amount in the insertion direction.

18. The medical system of claim 13, wherein the medical instrument is moved in insertion and retraction directions by the operator manually pushing and pulling the medical instrument into and out of a passage.

19. A method for controlling steering of a medical instrument, the method comprising:

commanding at least one insertion actuator to move the medical instrument in an insertion direction in response to movement of an operator input device commanding such insertion and commanding at least one steering actuator to steer the medical instrument according to a programmed navigation path in response to the movement of the operator input device;

receiving a manual override indication based on another movement of the operator input device;

in response to the manual override indication, commanding the at least one steering actuator to steer the medical instrument according to the other movement of the operator input device such that the medical instrument has a resulting pose; and

commanding the at least one steering actuator to steer the medical instrument according to an updated programmed navigation path based on the resulting pose of the medical instrument caused by the other movement of the operator input device, wherein the updated programmed navigation path is different from the programmed navigation path.