Patent application number | Description | Published |
20090076476 | SYSTEMS AND METHODS EMPLOYING FORCE SENSING FOR MAPPING INTRA-BODY TISSUE - A medical instrument system includes a controller and a guide instrument coupled to an instrument driver, the instrument driver configured to manipulate a distal end portion of the guide instrument in response to control signals generated by the controller. A force sensor is associated with the guide instrument or with a working instrument carried by the guide instrument, and generates force signals responsive to a force applied to a respective distal end portion of the guide instrument or working instrument. A position determining system generates position data indicative of a position of the respective guide or working instrument distal end portion associated with the force sensor, and a processor operatively coupled to the force sensor and position determining system processes respective force signals and position data to generate and display a geometric rendering of an internal body tissue surface based on sensed forces applied to the respective instrument distal end portion as the guide instrument is maneuvered within an interior region of a body containing the body surface. | 03-19-2009 |
20090137952 | ROBOTIC INSTRUMENT SYSTEMS AND METHODS UTILIZING OPTICAL FIBER SENSOR - Robotic medical instrument systems and associated methods utilizing an optical fiber sensors such as Bragg sensor optical fibers. In one configuration, an optical fiber is coupled to an elongate instrument body and includes a fiber core having one or more Bragg gratings. A controller is configured to initiate various actions in response thereto. For example, a controller may generate and display a graphical representation of the instrument body and depict one or more position and/or orientation variables thereof, or adjust motors of an instrument driver to reposition the catheter or another instrument. Optical fibers having Bragg gratings may also be utilized with other system components including a plurality of working instruments that are positioned within a sheath lumen, an instrument driver, localization sensors, and/or an image capture device, and may also be coupled to a patient's body or associated structure that stabilizes the body. | 05-28-2009 |
20100048998 | AUXILIARY CAVITY LOCALIZATION - A method and system for maintaining calibration of a distributed localization system are presented. After a baseline calibration of sensors distributed on a working instrument and reference instrument, if movement of the reference instrument is detected, shape sensing data from a Bragg shape sensing fiber also coupled to the reference instrument may be utilized to recalibrate the localization system. The reference instrument preferably is located intraoperatively in a relatively constrained anatomical environment, such as in the coronary sinus of the heart, to prevent significant movement. | 02-25-2010 |
20100125284 | REGISTERED INSTRUMENT MOVEMENT INTEGRATION - Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed. | 05-20-2010 |
20100125285 | AUTOMATED ALIGNMENT - Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed. | 05-20-2010 |
20100228191 | LOCKABLE SUPPORT ASSEMBLY AND METHOD - Assemblies and methods related to controllably lockable support structures are described. An assembly may comprise an interface defined by two adjacent tubular structures whereby the adjacent structures may be spatially locked and unlocked relative to each other with application of a load. The tubular structures may comprise one or more spring members configured to deflect with application of a load greater than a preconfigured threshold, thereby causing a locking state of the interface to change from a first locking state to a second locking state. Embodiments are described wherein such load may be a tensile and/or compressive load. Various embodiments are described wherein an interface may be locked without application of a load and unlocked upon application of the requisite load, or locked only after application of a load. | 09-09-2010 |
20100280449 | FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS WITH SHAPE CONTROL AND SUPPORT ELEMENTS - An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member. Furthermore, the flex member may be configured to selectively decouple articulation or steering forces of a first portion of the elongate body away from a second portion of the elongate body; thereby, preventing compression of the second portion of the elongate body while maintaining elasticity or flexibility of the second portion of the elongate body. | 11-04-2010 |
20100280525 | FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS WITH SHAPE CONTROL AND SUPPORT ELEMENTS - An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member. Furthermore, the flex member may be configured to selectively decouple articulation or steering forces of a first portion of the elongate body away from a second portion of the elongate body; thereby, preventing compression of the second portion of the elongate body while maintaining elasticity or flexibility of the second portion of the elongate body. | 11-04-2010 |
20100331856 | MULTIPLE FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS FOR MINIMALLY INVASIVE OPERATIONS - Configurations are described for conducting minimally invasive medical interventions utilizing elongate robotically controlled instruments and assemblies thereof. In one embodiment, a junction sheath may be utilized to facilitate surgical triangulation of two interventional instrument assemblies, while also directing them to the surgical theater through a minimal single wound or surgical port. One or more instrument drivers, and one or more master input devices comprising an operator workstation, may be utilized to independently and simultaneously control multiple degrees of freedom pertinent to each instrument comprising one or more instrument assembly. | 12-30-2010 |
20110015484 | ENDOSCOPIC ROBOTIC CATHETER SYSTEM - A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device. | 01-20-2011 |
20110295248 | SYSTEM AND METHOD FOR AUTOMATED MINIMALLY INVASIVE INSTRUMENT COMMAND - In one embodiment a system may comprise a controller including a master input device; and an electromechanically steerable elongate instrument having proximal interface and portions, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion being configured to be interactively navigated adjacent internal tissue structures of a patient's body in response to signals from the controller; wherein the controller is operatively coupled to a treatment interactivity variable sensor selected from the group consisting of: a cardiac electrogram electrode, an RF generator power output sensor, an instrument distal portion impedance sensor, and an instrument distal portion force sensor; and wherein the controller is configured to affect the operation of the electromechanically steerable elongate catheter by automatically executing an instrument movement or treatment command based upon changes in information received from the treatment interactivity variable sensor. | 12-01-2011 |
20110295267 | SYSTEM AND METHOD FOR AUTOMATED TISSUE STRUCTURE TRAVERSAL - Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic tissue structure traversal system may comprise a controller including a master input device, an electromechanically controlled elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion comprising a traversing tip and being configured to be interactively navigated about internal structures of a patient's body in response to signals from the controller; and a load sensor operatively coupled between the distal portion of the elongate instrument and the controller; wherein the controller is configured to automatically advance the traversing tip through a thickness of an internal structure by observing loads from the load sensor. | 12-01-2011 |
20110295268 | SYSTEM AND METHOD FOR AUTOMATED MASTER INPUT SCALING - Embodiments are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic medical instrument system, comprising an elongate instrument having proximal and distal ends; a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move the instrument; a master input device in communication with the controller and configured to generate input commands in response to a directional movement of the master input device; and a load sensor operatively coupled to the elongate instrument and configured to sense magnitude and direction of loads applied to the distal end of the elongate instrument; wherein the controller is configured to compute an instrument movement command to selectively move the instrument based upon the input commands and an input command scaling factor applied to the input commands, the input command scaling factor being variable with the magnitude of sensed loads. | 12-01-2011 |
20110319714 | METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE MEDICAL DEVICE - Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region. | 12-29-2011 |
20110319815 | FIBER OPTIC INSTRUMENT SENSING SYSTEM - Systems are described herein that improve control of a shapeable or steerable instrument using shape data. Additional systems use such shape data for improved mapping or adjusting models of the instrument. Such systems include robotic medical systems for controlling a shapeable instrument within an anatomical region having a controller, one or more actuators, and a localization system for guiding one or more shapeable instruments. | 12-29-2011 |
20110319910 | METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE INSTRUMENT - Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include of controlling a shapeable instrument within an anatomical region using a robotic medical system. | 12-29-2011 |
20120071752 | USER INTERFACE AND METHOD FOR OPERATING A ROBOTIC MEDICAL SYSTEM - System and methods for interfacing user in the control of elongated flexible members for use inside a patient's body is described herein. In one embodiment, a system includes a processor configured for generating a virtual representation of a catheter on a viewing screen, a first control for allowing a user to rotate the virtual representation of the catheter about a first axis, until a heading direction of the virtual representation of the catheter aligns with a heading direction of the catheter as it appears in a first fluoroscopic image, and a second control for allowing the user to rotate the virtual representation of the catheter about a second axis, until a tilt angle of the virtual representation of the catheter aligns with a tilt angle of the catheter as it appears in the first fluoroscopic image or in a second fluoroscopic image. | 03-22-2012 |
20120071894 | ROBOTIC MEDICAL SYSTEMS AND METHODS - Systems and methods for robotically controlling flexible medical apparatus are described herein. In one embodiment, a robotic surgical system includes a flexible elongated member, a first member movably disposed around at least a portion of the flexible elongated member, a second member movably disposed around at least a portion of the first member, a drive assembly coupled to each of the flexible elongated member, the first member, and the second member, and a control interface for receiving an input command from a user, wherein the drive assembly is configured to automatically move one or both of the first member and the second member while maintaining the flexible elongated member at a fixed axial position in response to the received input command. | 03-22-2012 |
20120191107 | SYSTEMS AND METHODS FOR POSITIONING AN ELONGATE MEMBER INSIDE A BODY - Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration. | 07-26-2012 |
20120316432 | OPTICAL FIBER INSTRUMENT SYSTEM FOR DETECTING TWIST OF ELONGATED INSTRUMENTS - An instrument system that includes an elongate body and an optical fiber is provided. The elongate body has a longitudinal axis and capable of being twisted about the longitudinal axis. The optical fiber is operatively coupled with the elongate body and having a strain sensor provided thereon. The strain sensor is configured to indicate twist of the elongate body. | 12-13-2012 |
20120321243 | OPTICAL FIBER INSTRUMENT SYSTEM FOR DETECTING AND DECOUPLING TWIST EFFECTS - An instrument system that includes an elongate body, an optical fiber, and a detector is provided. The elongate body is capable of being twisted. The optical fiber includes a first portion coupled to the elongate body and a second portion having a curved shape adapted to reduce transfer of twisting or bending from the elongate body to the second portion, the second portion having a strain sensor provided thereon. The detector is coupled to the optical fiber and adapted to receive a signal from the strain sensor. | 12-20-2012 |
20120323075 | OPTICAL FIBER SHAPE SENSING SYSTEMS - A method for measuring bending is provided. The method includes receiving a reflected signal from a strain sensor provided on an optical fiber; determining a spectral profile of the reflected signal; and determining bending of the optical fiber based on a comparison of the spectral profile of the reflected signal with a predetermined spectral profile. | 12-20-2012 |
20120323115 | OPTICAL FIBER INSTRUMENT SYSTEM FOR DYNAMIC RECALIBRATION - A method for tracking an elongate body is provided. The method includes determining a spatial relationship between an elongate body and an optical fiber, wherein the optical fiber is located in a structure having a substantially constant shape; receiving a signal from a strain sensor provided on the optical fiber; and determining, based on the signal, whether a position of the optical fiber relative to the structure has changed. | 12-20-2012 |
20120323116 | OPTICAL FIBER INSTRUMENT SYSTEM FOR DYNAMIC RECALIBRATION - An instrument system that includes an elongate body, an optical fiber and a controller is provided. The optical fiber is at least partially separate from the elongate body. The controller is operatively coupled to the elongate body and to the optical fiber and the controller is adapted to receive a signal from the optical fiber, detect movement of the optical fiber based on the signal; and update a position of the elongate body relative to the optical fiber based on the detected movement. | 12-20-2012 |
20130028554 | APPARATUS AND METHODS FOR FIBER INTEGRATION AND REGISTRATION - Systems and methods for integrating and/or registering a shape sensing fiber in or to various instruments are described herein. Registration fixtures and registration techniques for matching the coordinate system of a fiber to the coordinate system of an elongate instrument or other device are provided. Various systems and methods for integrating a shape sensing fiber into an elongate instrument or other device are also described herein. | 01-31-2013 |
20130030363 | SYSTEMS AND METHODS UTILIZING SHAPE SENSING FIBERS - Systems and methods that utilize shape sensing fibers are described herein. In certain variations, a fiber may include a service loop or other length that allows for sliding or displacing of a fiber within the lumen of an elongate instrument when the distal portion of the elongate instrument is articulated. Systems and methods for registering a shape sensing fiber, including registration fixtures and registration techniques are also described herein. | 01-31-2013 |
20130085330 | SYSTEM AND METHOD FOR ERROR ANALYSIS OF FIBER OPTIC INSTRUMENT DATA - An instrument system that includes an elongate body, a first optical fiber, a second optical fiber, and a controller is provided. The first optical fiber is operatively coupled to the elongate body and has a first strain sensor provided on the first optical fiber. The second optical fiber is operatively coupled to the elongate body and has a second strain sensor provided on the second optical fiber. The controller is operatively coupled to the first optical fiber and the second optical fiber and is adapted to receive a first signal from the first strain sensor and a second signal from the second strain sensor and to compare the first signal with the second signal. | 04-04-2013 |
20130085331 | SYSTEM AND METHOD FOR SELECTIVE MEASUREMENT OF FIBER OPTIC INSTRUMENT SENSORS - An instrument system that includes an elongate body, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a plurality of strain sensors provided on the optical fiber. The controller is operatively coupled to the optical fiber and adapted to obtain signals from one of the plurality of strain sensors more frequently than from another of the plurality of strain sensors and to determine a position of the elongate body based on the obtained signals from the one of the plurality of strain sensors. | 04-04-2013 |
20130085332 | SYSTEM AND METHOD FOR CALIBRATION OF OPTICAL FIBER INSTRUMENT - An instrument system that includes an elongate body in a geometric configuration, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber, wherein at least a portion of the optical fiber is in the geometric configuration. The controller is operatively coupled to the optical fiber and adapted to receive, from a source other than the optical fiber, information indicative of the geometric configuration, receive a signal from the strain sensor, and associate the signal with the geometric configuration. | 04-04-2013 |
20130085333 | FIBER OPTIC INSTRUMENT SHAPE SENSING SYSTEM AND METHOD - An instrument system that includes an elongate body, a first optical fiber, a second optical fiber, and a controller is provided. The first optical fiber is operatively coupled to the elongate body and has a first strain sensor provided on the first optical fiber. The second optical fiber is not directly coupled to the elongate body and has a second strain sensor provided on the second optical fiber. The controller is operatively coupled to the first optical fiber and to the second optical fiber. The controller is adapted to receive a first signal from the first strain sensor and to receive a second signal from the second strain sensor. The first optical fiber has a different size than the second optical fiber. | 04-04-2013 |
20130085334 | FIBER OPTIC INSTRUMENT SHAPE SENSING SYSTEM AND METHOD - An instrument system that includes an elongate body, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a plurality of strain sensors provided on the optical fiber. Each of the plurality of strain sensors has a reflectivity, wherein one of the plurality of strain sensors has a different reflectivity than another one of the plurality of strain sensors. The controller is operatively coupled to the optical fiber and adapted to: receive one or more signals from the plurality of strain sensors; and determine a position of the elongate body based on the one or more signals. | 04-04-2013 |
20130085382 | SYSTEM AND METHOD FOR SENSING SHAPE OF ELONGATED INSTRUMENT - An instrument system that includes an elongate body, an optical fiber, a localization sensor and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The localization sensor is operatively coupled to the elongate body. The controller is operatively coupled to the optical fiber and to the localization sensor and is adapted to receive a first signal from the strain sensor, receive a second signal from the localization sensor, and determine a position or orientation of the elongate body based on the first signal and the second signal. | 04-04-2013 |
20130085397 | OPTICAL FIBER INSTRUMENT SYSTEM AND METHOD WITH MOTION-BASED ADJUSTMENT - An instrument system that includes an optical fiber and a controller is provided. The optical fiber is coupled to an external structure of a patient and has a strain sensor provided thereon. The controller is operatively coupled to the optical fiber and adapted to receive a signal from the strain sensor and to determine a property of respiration of the patient based on the signal. | 04-04-2013 |
20130090528 | INSTRUMENT SYSTEMS AND METHODS UTILIZING OPTICAL FIBER SENSOR - A method for mapping an internal structure of a patient with an elongate body is provided. The method includes detecting, at a plurality of instances, contact between a distal portion of an elongate body and an internal structure of the patient; determining a plurality of geometric configurations of the distal portion, the plurality of geometric configurations corresponding to the plurality of instances of contact between the distal portion and the internal structure; determining a plurality of positions of the distal portion, the plurality of positions corresponding to the plurality of geometric configurations; and generating a map of the internal structure based on the plurality of positions of the distal portion. | 04-11-2013 |
20130090530 | INSTRUMENT SYSTEMS AND METHODS UTILIZING OPTICAL FIBER SENSOR - An instrument system that includes an elongate instrument body and an optical fiber sensor is provided. The optical fiber sensor includes an elongate optical fiber that is coupled to the elongate instrument body, wherein a portion of the optical fiber is coupled to the elongate instrument body in a manner to provide slack in the fiber to allow for axial extension of the elongate instrument body relative to the optical fiber. | 04-11-2013 |
20130090552 | SYSTEM AND METHOD FOR SENSING SHAPE OF ELONGATED INSTRUMENT - An instrument system that includes a first optical fiber, a second optical fiber and a controller is provided. The first optical fiber is operatively coupled to an elongate body that is adapted to be placed inside a patient. The second optical fiber is operatively coupled to the patient, to an actuating element adapted to actuate the elongate body, or to a portion of an imaging system adapted to identify a location of the portion relative to the elongate body. The controller is operatively coupled to the first optical fiber and the second optical fiber and is adapted to receive a first signal from the strain sensor provided on the first optical fiber, receive a second signal from the strain sensor provided on the second optical fiber; and determine a position or orientation of the elongate body based on the first signal and based on the second signal. | 04-11-2013 |
20130165945 | METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE INSTRUMENT - Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include of controlling a shapeable instrument within an anatomical region using a robotic medical system. | 06-27-2013 |