Simultaneous Dual Catheter Control System And Method For Controlling An Imaging Catheter To Enable Treatment By Another Catheter

• US 20150182726A1
• Filed: 12/30/2013
• Published: 07/02/2015
• Est. Priority Date: 12/30/2013
• Status: Abandoned Application

• Current Assignee: Catheter Robotics, Inc.
• Original Assignee: Catheter Robotics, Inc.
• Inventors: Jenkins, David A.
• Application Number:
  US14/143,435
• Publication Number:
  US 20150182726A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2018/00351 Heart
• CPC Class Codes: A61B 2018/00494 Stomach, intestines or bowel
• CPC Class Codes: A61B 2018/00511 Kidney
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• 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 2090/3782 transmitter or receiver in catheter or minimal invasive instrument
• CPC Class Codes: A61B 2090/3784 both receiver and transmitter being in the instrument or receiver being also transmitter
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/52 Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves image processing per se G06T
• 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 25/0108 using radio-opaque or ultrasound markers
• 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 25/0136 Handles therefor

Abstract

Systems, devices, methods, and non-transitory processor-readable storage media for a computing device to generate repositioning instructions for a remotely-controlled catheter positioning system to position a first catheter co-located with a second catheter within a patient'"'"'s organ, including performing image analysis on imagery generated based on data from the first catheter, calculating positioning corrections based on the performed image analysis, generating repositioning instructions based on the calculated positioning correction information, and transmitting control signals based on the generated repositioning instructions to the remotely-controlled catheter positioning device. The computing device may also determine whether a representation of the second catheter is within the imagery based on the performed image analysis and whether a representation of a tip of the second catheter is at a desired location within the imagery. In an embodiment, the first catheter may be an ultrasound catheter.

Claims

1. A method for a computing device to generate repositioning instructions for a first remotely-controlled catheter positioning system to position a first catheter that is co-located with a second catheter within a patient, comprising:

performing image analysis on imagery generated based on data from the first catheter;

calculating positioning corrections based on the performed image analysis;

generating repositioning instructions based on the calculated positioning corrections; and

transmitting the generated repositioning instructions to the first remotely-controlled catheter positioning system.

2. The method of claim 1, further comprising determining whether the second catheter appears within the imagery based on the performed image analysis, and

wherein calculating positioning corrections based on the performed image analysis comprises calculating the positioning corrections in response to determining that the second catheter appears within the imagery based on the performed image analysis.

3. The method of claim 1, further comprising determining whether a tip of the second catheter is at a desired location within the imagery based on the performed image analysis, and

wherein calculating positioning corrections based on the performed image analysis comprises calculating the positioning corrections based on a current location of the tip of the second catheter within the imagery in response to determining that the tip of the second catheter is within the imagery but not at the desired location within the imagery.

4. The method of claim 1, further comprising:

rendering a prompt requesting user input to confirm automated repositioning operations; and

determining whether a user input is received confirming automated repositioning operations,

wherein transmitting control signals based on the generated repositioning instructions to the first remotely-controlled catheter positioning system comprises transmitting the control signals based on the generated repositioning instructions to the first remotely-controlled catheter positioning system in response to determining that a user input confirming automated repositioning operations is received.

5. The method of claim 1, further comprising calculating the positioning corrections using context information from the performed image analysis.

6. The method of claim 1, further comprising:

obtaining a report indicating control signals transmitted to a second remotely-controlled catheter positioning system for repositioning the second catheter; and

generating the repositioning instructions for the first remotely-controlled catheter positioning system based on the obtained report.

7. The method of claim 1, wherein the first catheter is an ultrasound catheter.

8. A computing device configured for controlling a first remotely-controlled catheter positioning system, comprising a processor configured with processor-executable instructions to cause the computing device to perform operations comprising:

performing image analysis on imagery generated based on data from a first catheter;

calculating positioning corrections based on the performed image analysis;

generating repositioning instructions based on the calculated positioning corrections; and

transmitting the generated repositioning instructions to the first remotely-controlled catheter positioning system.

9. The computing device of claim 8, wherein the processor is configured with processor-executable instructions to cause the computing device to perform operations further comprising determining whether a second catheter appears within the imagery based on the performed image analysis, and

wherein the processor is configured with processor-executable instructions to cause the computing device to perform operations such that calculating positioning corrections based on the performed image analysis comprises calculating the positioning corrections in response to determining that the second catheter appears within the imagery based on the performed image analysis.

10. The computing device of claim 8, wherein the processor configured with processor-executable instructions to cause the computing device to perform operations further comprising determining whether a tip of a second catheter is at a desired location within the imagery based on the performed image analysis, and

wherein the processor is configured with processor-executable instructions to cause the computing device to perform operations such that calculating positioning corrections based on the performed image analysis comprises calculating the positioning corrections based on a current location of the tip of the second catheter within the imagery in response to determining that the tip of the second catheter is within the imagery but not at the desired location within the imagery.

11. The computing device of claim 8, wherein the processor is configured with processor-executable instructions to cause the computing device to perform operations further comprising:

rendering a prompt requesting user input to confirm automated repositioning operations; and

determining whether a user input is received confirming automated repositioning operations,

wherein the processor is configured with processor-executable instructions to cause the computing device to perform operations such that transmitting control signals based on the generated repositioning instructions to the first remotely-controlled catheter positioning system comprises transmitting the control signals based on the generated repositioning instructions to the first remotely-controlled catheter positioning system in response to determining that a user input confirming automated repositioning operations is received.

12. The computing device of claim 8, wherein the processor is configured with processor-executable instructions to cause the computing device to perform operations further comprising calculating the positioning corrections using context information from the performed image analysis.

13. The computing device of claim 8, wherein the processor is configured with processor-executable instructions to cause the computing device to perform operations further comprising:

obtaining a report indicating control signals transmitted to a second remotely-controlled catheter positioning system associated with a second catheter; and

generating the repositioning instructions for the first catheter based on the obtained report.

14. A system comprising:

a first remotely-controlled catheter positioning system comprising;

a modular plate configured to receive a proximal portion of a catheter;

a sled member coupled to the modular plate; and

a sled base configured to advance the sled member along a guide towards a body of a patient;

an imaging catheter coupled to the first remotely-controlled catheter positioning system; and

a computing device comprising a processor configured with executable instructions to cause the computing device to perform operations comprising;

performing image analysis on imagery generated based on data collected from the imaging catheter;

calculating positioning corrections based on the performed image analysis;

generating repositioning instructions based on the calculated positioning corrections configured to control the first remote-controlled catheter positioning system in order to maintain an object within a field of view of the imaging catheter; and

transmitting control signals based on the generated repositioning instructions to the first remotely-controlled catheter positioning system.

15. The system of claim 14, wherein the processor is configured with executable instructions to cause the computing device to perform operations further comprising determining whether a second catheter appears within the imagery based on the performed image analysis, and

wherein the processor is configured with executable instructions to cause the computing device to perform operations such that calculating positioning corrections based on the performed image analysis comprises calculating the positioning corrections in response to determining that the second catheter appears within the imagery based on the performed image analysis.

16. The system of claim 14, wherein the processor is configured with executable instructions to cause the computing device to perform operations further comprising determining whether a tip of a second catheter is at a desired location within the imagery based on the performed image analysis, and

wherein the processor is configured with executable instructions to cause the computing device to perform operations such that calculating positioning corrections based on the performed image analysis comprises calculating the positioning corrections based on a current location of the tip of the second catheter within the imagery in response to determining that the tip of the second catheter is within the imagery but not at the desired location within the imagery.

17. The system of claim 14, wherein the processor is configured with executable instructions to cause the computing device to perform operations further comprising:

rendering a prompt requesting user input to confirm automated repositioning operations; and

determining whether a user input is received confirming automated repositioning operations,

wherein the processor is configured with executable instructions to cause the computing device to perform operations such that transmitting control signals based on the generated repositioning instructions to the first remotely-controlled catheter positioning system comprises transmitting the control signals based on the generated repositioning instructions to the first remotely-controlled catheter positioning system in response to determining that a user input confirming automated repositioning operations is received.

18. The system of claim 14, wherein the processor is configured with executable instructions to cause the computing device to perform operations further comprising calculating the positioning corrections using context information from the performed image analysis.

19. The system of claim 14, further comprising a second remotely-controlled catheter positioning system coupled to second catheter, wherein the processor is configured with executable instructions to cause the computing device to perform operations further comprising:

obtaining a report indicating control signals transmitted to the second remotely-controlled catheter positioning system for repositioning the second catheter; and

generating the repositioning instructions for the first remotely-controlled catheter positioning system based on the obtained report.