Catheters with control modes for interchangeable probes

• US 10,744,303 B2
• Filed: 02/22/2019
• Issued: 08/18/2020
• 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: Duindam, Vincent, Prisco, Giuseppe Maria
• Primary Examiner(s): Neal, Timothy J
• Application Number:
  US16/283,039
• Publication Number:
  US 20190192819A1
• Time in Patent Office: 543 Days
• Field of Search: None
• CPC Class Codes: A61B 18/24 with a catheter A61B18/26, A61B18/28 take precedence
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• 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 34/30 Surgical robots
• CPC Class Codes: A61M 2025/0166 Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/0133 Tip steering devices
• CPC Class Codes: A61M 25/0147 with movable mechanical means, e.g. pull wires
• CPC Class Codes: A61M 25/0158 with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials

Abstract

A medical system comprises a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter. The medical system also comprises a sensor configured to at least partly measure a pose of the distal tip and a control system coupled to the mechanical system. The control system includes a memory operable to store parameters of a working configuration of the distal tip of the catheter and a plurality of operating modes including a holding mode in which the control system operates the mechanical system to actively maintain the working configuration of the distal tip based on feedback from the sensor. The control system also includes a plurality of modules. During activation of the holding mode, the plurality of modules is configured to sense a current pose of the distal tip and determine a difference between the current pose and the working configuration. The difference is due to an external disturbance. Without user input, the plurality of modules is also configured to operate the mechanical system to move the catheter to minimize the difference between the current pose and the working configuration.

Claims

1. A medical system comprising:

a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter;

a sensor configured to at least partly measure a pose of the distal tip; and

a control system coupled to the mechanical system, wherein the control system includes;

a memory operable to store parameters of a working configuration of the distal tip of the catheter;

a plurality of modules; and

a plurality of operating modes including;

a holding mode in which the control system operates the mechanical system to actively maintain the working configuration of the distal tip based on feedback from the sensor; and

a selection mode for selecting which of the plurality of modules to use;

wherein during activation of the holding mode, the plurality of modules is configured to;

sense a current pose of the distal tip;

determine a difference between the current pose and the working configuration, wherein the difference is due to an external disturbance; and

without user input, operate the mechanical system to move the catheter to minimize the difference between the current pose and the working configuration.

2. The medical system of claim 1, wherein the plurality of operating modes of the control system further includes a mode in which the control system operates the mechanical system to steer the catheter in response to user input.

3. The medical system of claim 1, wherein the control system and the sensor form a closed-loop system for movement and sensing of the working configuration of the distal tip.

4. The medical system of claim 1, wherein the working configuration defines a position of the distal tip relative to a work site.

5. The medical system of claim 1, wherein the working configuration defines an orientation of the distal tip relative to a work site.

6. The medical system of claim 1, wherein maintaining the working configuration includes maintaining a combination of a position and an orientation of the distal tip such that the distal tip remains pointed at a target in a work site.

7. The medical system of claim 6, wherein the medical system further comprises a removable probe deployed in the catheter, and wherein the removable probe includes a laser configured so that the working configuration points the laser at the target.

8. The medical system of claim 1, wherein maintaining the working configuration comprises keeping the distal tip on a target line.

9. The medical system of claim 8, wherein maintaining the working configuration further comprises maintaining an axis of the distal tip along the target line.

10. The medical system of claim 1 wherein the selection mode bases the selection of which of the plurality of modules to use on a type of a removable probe deployed in the catheter.

11. The medical system of claim 1 wherein the selection mode bases the selection of which of the plurality of modules to use on a status of a removeable probe deployed in the catheter.

12. The medical system of claim 1 wherein the selection mode bases the selection of which of the plurality of modules to use on a user input.

13. The medical system of claim 1 wherein the selection mode bases the selection of which of the plurality of modules to use on a task.

14. The medical system of claim 1, wherein the plurality of modules includes a position module in which the control system maintains a position of the distal tip relative to a worksite, and the selection mode places the control system in the position module when the distal tip is in contact with patient tissue.

15. The medical system of claim 1, wherein the plurality of modules includes an orientation module in which the control system maintains an orientation of the distal tip relative to a work site, and the selection mode places the control system in the orientation module when a vision probe is deployed in the catheter.

16. The medical system of claim 1, wherein the plurality of modules includes a target sub-mode in which the control system maintains a combination of a position and an orientation of the distal tip such that the distal tip remains pointed at a target in a work site, and the selection mode places the control system in the target sub-mode when a probe including a laser is deployed in the catheter.

17. The medical system of claim 1, wherein the plurality of modules includes a target axial sub-mode in which the control system maintains a combination of a position and an orientation of the distal tip such that the distal tip remains on a target line and pointed along the target line, and the selection mode places the control system in the target axial sub-mode when a probe including a needle is deployed in the catheter.

18. The medical system of claim 1 wherein the sensor includes at least one electromagnetic sensor.

19. The medical system of claim 1 wherein the sensor includes an optical fiber shape sensor.