Intuitive user interface control for remote catheter navigation and 3D mapping and visualization systems

• US 9,888,973 B2
• Filed: 03/31/2011
• Issued: 02/13/2018
• Est. Priority Date: 03/31/2010
• Status: Active Grant

• Current Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Original Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Inventors: Olson, Eric S., Hauck, John A., Patronik, Nicholas A., Shaquer, Cem M.
• Primary Examiner(s): Harvey, David
• Application Number:
  US13/637,401
• Publication Number:
  US 20130172906A1
• Time in Patent Office: 2,511 Days
• Field of Search: 348 77
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• 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 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means

Abstract

The present disclosure relates to a control system for user-guided robotic control of a medical device and includes an electronic control unit, a computer-readable memory coupled to the ECU, and a visualization system configured to provide a view of an anatomical model. The memory contains user interface logic configured to be executed by the ECU, and configured to obtain input from a touch screen display with respect to the view of an anatomical model. Control logic stored in the memory is also configured to be executed by said ECU and is configured to produce an actuation control signal responsive to the input to control actuation of a manipulator assembly so as to move the medical device.

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;

a visualization system configured to provide a view of an anatomical model;

user interface (UI) logic stored in said memory configured to be executed by said ECU, said user interface logic configured to obtain input from a touch screen display with respect to said view of said anatomical model;

control logic stored in said memory configured to be executed by said ECU, said control logic configured to produce an actuation control signal based at least in part on said input to control actuation of a manipulator assembly so as to move the medical device;

a safety switch, said control logic, when said switch is actuated, controls said manipulator assembly to cause said medical device into retracing an immediately preceding path of movement. and

wherein the ECU is configured to suppress recognition of said input from said touch screen display when predetermined criteria indicative of an inadvertent, incorrect, or too rapid touch is satisfied while the control system is in use, and wherein the ECU is configured to add a temporal delay after the input is entered into the touch screen to allow the input to be retracted or retraced before the actuation control signal is produced.

2. The control system of claim 1, wherein said safety switch comprises at least one of a foot pedal and a button on said touch screen display.

3. The control system of claim 1, further comprising a safety switch, said manipulator assembly being inoperative until said safety switch is actuated.

4. The control system of claim 1, wherein said UI logic is configured to obtain input comprising a touch with a deformable-tipped instrument from said touch display.

5. The control system of claim 1, wherein said UI logic is further configured to obtain input via said touch screen display corresponding to at least one of:

designation of a targeted lesion location relative to said view;

selection of one of a plurality of items from (i) a drop-down menu and (ii) a list;

enlargement or reduction of a portion of said view;

pan of a portion of said view;

activation of a replay feature of a stored, temporally varying physiologic parameter;

activation of a replay of a stored video clip;

rotation of said view of said anatomical model;

change one or more display attributes, including color and screen location;

designation of automated motion targets on three-dimensional (3D) objects; and

wherein said medical device includes at least a catheter and a sheath, selection of one or more of said catheter and sheath for navigation or manipulation.

6. The control system of claim 5, wherein said UI logic is further configured to obtain input corresponding to a manipulation mode for the medical device selected from the group comprising:

a control point drag mode; and

a target point mode.

7. The control system of claim 5, wherein said UI logic is further configured to obtain input corresponding to a manipulation mode relating to said view selected from the group comprising:

a pan mode;

a zoom mode; and

a rotate mode.

8. The control system of claim 5, wherein said UI logic is further configured to obtain input corresponding to a desired operating mode selected from the group comprising:

a combined translation and deflection mode;

a translation-only mode; and

a deflection-only mode.

9. The control system of claim 1, further comprising display logic stored in said memory configured to be executed by said ECU, said display logic configured to provide said view of said anatomical model from said visualization system for display on said touch screen display, said touch screen display being a first display, said display logic being further configured to drive a second display.

10. The control system of claim 9, wherein said first display is a multi-touch display.

11. The control system of claim 9, wherein said first display has a processor independent from said ECU.

12. The control system of claim 9, wherein said view is a first view, said display logic being further configured to provide a second view of an anatomical model for said second display.

13. The control system of claim 1, wherein said model comprises one of a three-dimensional (3D) geometry of an anatomical feature, a map of an electrophysiological (EP) parameter, and a 3D geometry or map of said anatomical feature from an imaging system.

14. The control system of claim 13 wherein said imaging system comprises one of a computed tomography (CT) system, a magnetic resonance imaging (MRI) system, an intra-cardiac echocardiography (ICE) imaging system.

15. 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;

a visualization system configured to provide a view of an anatomical model;

user interface logic stored in said memory configured to be executed by said ECU, said user interface logic configured to obtain input from a touch screen display with respect to said view of said anatomical model;

control logic stored in said memory configured to be executed by said ECU, said control logic configured to produce an actuation control signal based at least in part on said input to control actuation of a manipulator assembly so as to move the medical device;

a safety switch, said control logic, when said switch is actuated, controls said manipulator assembly to cause said medical device into retracing an immediately preceding path of movement, and

display logic stored in said memory configured to be executed by said ECU, said display logic configured to provide said view of said anatomical model from said visualization system for said touch screen display, and wherein said view includes a representation of said medical device;

wherein the ECU is configured to suppress recognition of said input from said touch screen display when predetermined criteria indicative of an inadvertent, incorrect, or too rapid touch is satisfied while the control system is in use, and wherein the ECU is configured to add a temporal delay after the input is entered into the touch screen to allow the input to be retracted or retraced before the actuation control signal is produced.

16. The control system of claim 15, wherein said view is a first view and said display logic is further configured to provide a second view of an anatomical model for said touch screen display.

17. The control system of claim 16, wherein said second view is orthogonal to said first view.