Instrument having radio frequency identification systems and methods for use

• US 9,980,778 B2
• Filed: 10/20/2014
• Issued: 05/29/2018
• Est. Priority Date: 03/07/2003
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Ohline, Robert M., Whitin, Katherine, Belson, Amir, Justice, Christopher D.
• Primary Examiner(s): Leubecker, John P
• Application Number:
  US14/518,546
• Publication Number:
  US 20150038788A1
• Time in Patent Office: 1,317 Days
• Field of Search: 600117
• CPC Class Codes: A61B 1/005 Flexible endoscopes
• CPC Class Codes: A61B 1/31 for the rectum, e.g. proctoscopes, sigmoidoscopes , colonoscopes
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/062 penetration depth
• CPC Class Codes: A61B 2090/397 electromagnetic other than visible, e.g. microwave
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 5/064 using markers A61B5/062 takes precedence
• 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 5/068 using impedance sensors
• CPC Class Codes: A61B 8/4254 using sensors mounted on the probe
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders

Abstract

One RFID equipped instrument includes an elongate body with a plurality of uniquely identified radio frequency identification chips spaced along the length of the elongate body. One system used for determining the position of an instrument includes an instrument; a plurality of radio frequency identification chips attached to the instrument; a reader connected to an antenna and adapted to communicate with each radio frequency identification chip using the antenna. One method for determining the position of an instrument using radio frequency identification chips includes providing a radio frequency identification chip reader and antenna; providing an instrument having a longitudinal axis and comprising a plurality of radio frequency identification chips placed along the longitudinal axis; moving the instrument relative to the antenna; and using information about a radio frequency identification chip detected by the antenna to determine the position of the instrument.

Claims

1. A system for determining a position of an endoscopic instrument, the system comprising:

an endoscopic instrument comprising an elongate body portion configured to be inserted along a path from a reference position;

a sensing circuit disposed along a length of the elongate body portion, wherein the sensing circuit changes state in response to a change in environment as the elongate body portion is moved along the path, and wherein the sensing circuit is configured to provide a variable output based on the change in state;

an insertion depth determining system in signal communication with the sensing circuit to receive the variable output, the insertion depth determining system being configured to output a depth of insertion of the elongate body portion along the path, as measured from the reference position, based on the received variable output; and

a storage device configured to store data indicating the depth of insertion as the elongate body portion is moved along the path,

wherein the sensing circuit comprises a plurality of individual electrical switches configured to change between open and closed states in response to at least one of interaction with electrically conductive material, a change in pressure, a change in moisture, a change in pH, a change in temperature, and a change in light, and

wherein the variable output is a differing resistance respectively associated with a closed state of each of the plurality of individual electrical switches.

2. The system of claim 1, wherein the insertion depth determining system is configured to map the variable output relative to the elongate body portion of the endoscopic instrument to determine the depth of insertion.

3. A system for determining a position of an endoscopic instrument, the system comprising:

an endoscopic instrument comprising an elongate body portion configured to be inserted along a path from a reference position;

a plurality of individual electrical switches consecutively disposed along a length of the elongate body portion,

wherein open and closed states of the switches are changeable based on a position of the elongate body portion relative to the path; and

an insertion depth determining system in signal communication with the plurality of individual electrical switches to receive a variable output, the insertion depth determining system being configured to output a depth of insertion of the elongate body portion along the path, as measured from the reference position, based on the received variable output.

4. The system of claim 3, wherein the plurality of individual electrical switches form a continuous circuit.

5. The system of claim 3, wherein the plurality of individual electrical switches are positioned at predetermined intervals along the length of the elongate body portion.

6. The system of claim 5, wherein the predetermined intervals between the plurality of individual electrical switches determine accuracy of determining the position of the endoscopic instrument.

7. The system of claim 3, wherein the plurality of individual electrical switches include at least one of a membrane switch, a force sensitive resistor, or a light detecting transducer.

8. The system of claim 7, wherein the light detecting transducer includes at least one of a photoemissive detector, a photoconductive cell, a photovoltaic cell, a photodiode, or a phototransistor.

9. The system of claim 3, wherein the plurality of individual electrical switches are disposed in parallel in a continuous circuit.

10. The system of claim 3, wherein the variable output is resistivity.

11. The system of claim 3, wherein the open and closed states are changeable in response to at least one of interaction with electrically conductive material, a change in pressure, a change in moisture, a change in pH, a change in temperature, and a change in light.

12. The system of claim 3, wherein the variable output is a differing resistance respectively associated with a closed state of each of the plurality of individual electrical switches.