The present disclosure is directed to systems and methods for planning and performing an image-guided procedure and more particularly to systems and methods for defining an anatomical boundary using a graphical user interface.
Minimally invasive medical techniques are intended to reduce the amount of tissue that is damaged during medical procedures, thereby reducing patient recovery time, discomfort, and harmful side effects. Such minimally invasive techniques may be performed through natural orifices in a patient anatomy or through one or more surgical incisions. Through these natural orifices or incisions clinicians may insert minimally invasive medical instruments (including surgical, diagnostic, therapeutic, or biopsy instruments) to reach a target tissue location. One such minimally invasive technique is to use a flexible elongate device, such as a catheter, which may be steerable, that can be inserted into anatomic passageways and navigated toward a region of interest within the patient anatomy. Control of such an elongate device by medical personnel during an image-guided procedure involves the management of several degrees of freedom including at least the management of insertion and retraction of the elongate device as well as steering or bend radius of the device. In addition, different modes of operation may also be supported.
Accordingly, it would be advantageous to provide a graphical user interface that supports intuitive planning of medical procedures including minimally invasive medical techniques.
The embodiments of the invention are best summarized by the claims that follow the description.
In one embodiment, a medical system comprises a display system and a user input device. The medical system also comprises a control system communicatively coupled to the display system and the user input device. The control system is configured to display image data corresponding to a three-dimensional anatomical region via the display system and receive a first user input to generate a first curve in the three-dimensional anatomical region via the user input device. The control system is also configured to receive a second user input to generate a second curve in the three-dimensional anatomical region via the user input device and determine an anatomical boundary bounded by the first curve and the second curve. The anatomical boundary indicates a surface of an anatomical structure in the three-dimensional anatomical region.
In another embodiment, a method of planning a medical procedure comprises displaying, via a display system, image data corresponding to a three-dimensional anatomical region and receiving, via a user input device, a plurality of user inputs to generate a plurality of curves in the three-dimensional anatomical region. The method also comprises determining from the plurality of curves an anatomical boundary. The anatomical boundary demarcates a vulnerable portion of the three-dimensional anatomical region. The method also comprises displaying, via the display system, the anatomical boundary overlaid on the image data.
In another embodiment, a non-transitory machine-readable medium comprises a plurality of machine readable instructions which when executed by one or more processors associated with a planning workstation are adapted to cause the one or more processors to perform a method. The method comprises displaying, via a display system, CT image data corresponding to a lung and receiving, via a user input device, a plurality of user inputs to generate a plurality of curves in different slices of the CT image data. The method also includes interpolating among the plurality of curves to determine an anatomical boundary indicating a location of a pleura of the lung in the CT image data; and displaying, via the display system, the anatomical boundary overlaid on the CT image data.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory in nature and are intended to provide an understanding of the present disclosure without limiting the scope of the present disclosure. In that regard, additional aspects, features, and advantages of the present disclosure will be apparent to one skilled in the art from the following detailed description.
The patent or application file contains at least one drawing executed in color. Copies of this patent or patent application publication with color drawing(s) will be provided by the Office upon request and payment of the necessary fee.
Embodiments of the present disclosure and their advantages are best understood by referring to the detailed description that follows. It should be appreciated that like reference numerals are used to identify like elements illustrated in one or more of the figures, wherein showings therein are for purposes of illustrating embodiments of the present disclosure and not for purposes of limiting the same.
In the following description, specific details are set forth describing some embodiments consistent with the present disclosure. Numerous specific details are set forth in order to provide a thorough understanding of the embodiments. It will be apparent, however, to one skilled in the art that some embodiments may be practiced without some or all of these specific details. The specific embodiments disclosed herein are meant to be illustrative but not limiting. One skilled in the art may realize other elements that, although not specifically described here, are within the scope and the spirit of this disclosure. In addition, to avoid unnecessary repetition, one or more features shown and described in association with one embodiment may be incorporated into other embodiments unless specifically described otherwise or if the one or more features would make an embodiment non-functional.
In some instances well known methods, procedures, components, and circuits have not been described in detail so as not to unnecessarily obscure aspects of the embodiments.
This disclosure describes various instruments and portions of instruments in terms of their state in three-dimensional space. As used herein, the term “position” refers to the location of an object or a portion of an object in a three-dimensional space (e.g., three degrees of translational freedom along Cartesian x-, y-, and z-coordinates). As used herein, the term “orientation” refers to the rotational placement of an object or a portion of an object (three degrees of rotational freedom—e.g., roll, pitch, and yaw). As used herein, the term “pose” refers to the position of an object or a portion of an object in at least one degree of translational freedom and to the orientation of that object or portion of the object in at least one degree of rotational freedom (up to six total degrees of freedom). As used herein, the term “shape” refers to a set of poses, positions, or orientations measured along an object.
As shown in
Master assembly 106 may be located at an operator console which is usually located in the same room as operating table T, such as at the side of a surgical table on which patient P is located. However, it should be understood that operator O can be located in a different room or a completely different building from patient P. Master assembly 106 generally includes one or more control devices for controlling manipulator assembly 102. The control devices may include any number of a variety of input devices, such as joysticks, trackballs, data gloves, trigger-guns, hand-operated controllers, voice recognition devices, body motion or presence sensors, and/or the like.
Manipulator assembly 102 supports medical instrument 104 and may include a kinematic structure of one or more non-servo controlled links (e.g., one or more links that may be manually positioned and locked in place, generally referred to as a set-up structure), and/or one or more servo controlled links (e.g. one more links that may be controlled in response to commands from the control system), and a manipulator. Manipulator assembly 102 may optionally include a plurality of actuators or motors that drive inputs on medical instrument 104 in response to commands from the control system (e.g., a control system 112). The actuators may optionally include drive systems that when coupled to medical instrument 104 may advance medical instrument 104 into a naturally or surgically created anatomic orifice. Other drive systems may move the distal end of medical instrument 104 in multiple degrees of freedom, which may include three degrees of linear motion (e.g., linear motion along the X, Y, Z Cartesian axes) and in three degrees of rotational motion (e.g., rotation about the X, Y, Z Cartesian axes). Additionally, the actuators can be used to actuate an articulable end effector of medical instrument 104 for grasping tissue in the jaws of a biopsy device and/or the like.
Medical system 100 may include a sensor system 108 with one or more sub-systems for receiving information about the manipulator assembly 102 and/or the medical instrument 104. Such sub-systems may include a position/location sensor system (e.g., an electromagnetic (EM) sensor system); a shape sensor system for determining the position, orientation, speed, velocity, pose, and/or shape of a distal end and/or of one or more segments along a flexible body that may make up medical instrument 104; a visualization system for capturing images from the distal end of medical instrument 104; and actuator position sensors such as resolvers, encoders, potentiometers, and the like that describe the rotation and orientation of the motors controlling the instrument 104.
Medical system 100 also includes a display system 110 for displaying an image or representation of the surgical site and medical instrument 104. Display system 110 and master assembly 106 may be oriented so operator O can control medical instrument 104 and master assembly 106 with the perception of telepresence.
In some embodiments, medical instrument 104 may include a visualization system which may include an image capture assembly that records a concurrent or real-time images of a surgical site and provides the image to the operator O through one or more displays of display system 110. The concurrent image may be, for example, a two or three dimensional image captured by an endoscope positioned within the surgical site. In some embodiments, the visualization system includes endoscopic components that may be integrally or removably coupled to medical instrument 104. However in some embodiments, a separate endoscope, attached to a separate manipulator assembly may be used with medical instrument 104 to image the surgical site. The visualization system may be implemented as hardware, firmware, software or a combination thereof which interact with or are otherwise executed by one or more computer processors, which may include the processors of a control system 112.
Display system 110 may also display an image of the surgical site and medical instruments captured by the visualization system. In some examples, medical system 100 may configure medical instrument 104 and controls of master assembly 106 such that the relative positions of the medical instruments are similar to the relative positions of the eyes and hands of operator O. In this manner operator O can manipulate medical instrument 104 and the hand control as if viewing the workspace in substantially true presence. By true presence, it is meant that the presentation of an image is a true perspective image simulating the viewpoint of a physician that is physically manipulating medical instrument 104.
In some examples, display system 110 may present images of a surgical site recorded pre-operatively or intra-operatively using image data from imaging technology such as, computed tomography (CT), magnetic resonance imaging (MRI), fluoroscopy, thermography, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-ray imaging, and/or the like. The pre-operative or intra-operative image data may be presented as two-dimensional, three-dimensional, or four-dimensional (including e.g., time based or velocity based information) images and/or as images from models created from the pre-operative or intra-operative image data sets.
In some embodiments, often for purposes of image-guided medical procedures, display system 110 may display a virtual navigational image in which the actual location of medical instrument 104 is registered (i.e., dynamically referenced) with the preoperative or concurrent images/model. This may be done to present the operator O with a virtual image of the internal surgical site from a viewpoint of medical instrument 104.
Medical system 100 may also include control system 112. Control system 112 includes at least one memory and at least one computer processor (not shown) for effecting control between medical instrument 104, master assembly 106, sensor system 108, and display system 110. Control system 112 also includes programmed instructions (e.g., a non-transitory machine-readable medium storing the instructions) to implement some or all of the methods described in accordance with aspects disclosed herein, including instructions for providing information to display system 110. While control system 112 is shown as a single block in the simplified schematic of
Control system 112 may optionally further include a virtual visualization system to provide navigation assistance to operator O when controlling medical instrument 104 during an image-guided medical procedure. Virtual navigation using the virtual visualization system may be based upon reference to an acquired preoperative or intraoperative dataset of anatomic passageways. Software, which may be used in combination with operator inputs, is used to convert the recorded images into segmented two dimensional or three dimensional composite representation of a partial or an entire anatomic organ or anatomic region. An image data set is associated with the composite representation. The virtual visualization system obtains sensor data from sensor system 108 that is used to compute an approximate location of medical instrument 104 with respect to the anatomy of patient P. The system may implement the sensor system 108 to register and display the medical instrument together with the preoperatively or intraoperatively recorded surgical images. For example, PCT Publication WO 2016/191298 (published Dec. 1, 2016) (disclosing “Systems and Methods of Registration for Image Guided Surgery”), which is incorporated by reference herein in its entirety, discloses such one system.
Medical system 100 may further include optional operations and support systems (not shown) such as illumination systems, steering control systems, irrigation systems, and/or suction systems. In some embodiments, medical system 100 may include more than one manipulator assembly and/or more than one master assembly. The exact number of manipulator assemblies will depend on the medical procedure and the space constraints within the operating room, among other factors. Master assembly 106 may be collocated or they may be positioned in separate locations. Multiple master assemblies allow more than one operator to control one or more manipulator assemblies in various combinations.
Elongate device 310 may also include one or more sensors (e.g., components of the sensor system 108). In some embodiments, an optical fiber shape sensor 314 is fixed at a proximal point 316 on instrument body 312. In some embodiments, proximal point 316 of optical fiber shape sensor 314 may be movable along with instrument body 312 but the location of proximal point 316 may be known (e.g., via a tracking sensor or other tracking device). Shape sensor 314 measures a shape from proximal point 316 to another point such as distal end 318 of elongate device 310. Shape sensor 314 may be aligned with flexible elongate device 310 (e.g., provided within an interior channel (not shown) or mounted externally). In one embodiment, the optical fiber has a diameter of approximately 200 μm. In other embodiments, the dimensions may be larger or smaller. The shape sensor 314 may be used to determine the shape of flexible elongate device 310. In one alternative, optical fibers including Fiber Bragg Gratings (FBGs) are used to provide strain measurements in structures in one or more dimensions. Various systems and methods for monitoring the shape and relative position of an optical fiber in three dimensions are described in U.S. patent application Ser. No. 11/180,389 (filed Jul. 13, 2005) (disclosing “Fiber optic position and shape sensing device and method relating thereto”); U.S. patent application Ser. No. 12/047,056 (filed on Jul. 16, 2004) (disclosing “Fiber-optic shape and relative position sensing”); and U.S. Pat. No. 6,389,187 (filed on Jun. 17, 1998) (disclosing “Optical Fibre Bend Sensor”), which are all incorporated by reference herein in their entireties. Sensors in some embodiments may employ other suitable strain sensing techniques, such as Rayleigh scattering, Raman scattering, Brillouin scattering, and fluorescence scattering. Various systems for using fiber optic sensors to register and display a surgical instrument with surgical images are provided in PCT Publication WO 2016/191298 (published Dec. 1, 2016) (disclosing “Systems and Methods of Registration for Image Guided Surgery”), which is incorporated by reference herein in its entirety.
In various embodiments, position sensors such as electromagnetic (EM) sensors, may be incorporated into the medical instrument 304. In various embodiments, a series of position sensors may be positioned along elongate device 310 and then used for shape sensing. In some embodiments, position sensors may be configured and positioned to measure six degrees of freedom, e.g., three position coordinates X, Y, Z and three orientation angles indicating pitch, yaw, and roll of a base point or five degrees of freedom, e.g., three position coordinates X, Y, Z and two orientation angles indicating pitch and yaw of a base point. Further description of a position sensor system is provided in U.S. Pat. No. 6,380,732 (filed Aug. 11, 1999) (disclosing “Six-Degree of Freedom Tracking System Having a Passive Transponder on the Object Being Tracked”), which is incorporated by reference herein in its entirety.
Elongate device 310 may also house cables, linkages, or other steering controls (not shown) that extend between instrument body 312 and distal end 318 to controllably bend distal end 318. In some examples, at least four cables are used to provide independent “up-down” steering to control a pitch of distal end 318 and “left-right” steering to control a yaw of distal end 318. Steerable elongate devices are described in detail in U.S. patent application Ser. No. 13/274,208 (filed Oct. 14, 2011) (disclosing “Catheter with Removable Vision Probe”), which is incorporated by reference herein in its entirety. The instrument body 312 may include drive inputs that removably couple to and receive power from drive elements, such as actuators, of the manipulator assembly.
Instrument body 312 may be coupled to instrument carriage 306. Instrument carriage 306 is mounted to an insertion stage 308 fixed within surgical environment 300. Alternatively, insertion stage 308 may be movable but have a known location (e.g., via a tracking sensor or other (racking device) within surgical environment 300. Instrument carriage 306 may be a component of a manipulator assembly (e.g., manipulator assembly 102) that couples to medical instrument 304 to control insertion motion (i.e., motion along the A axis) and, optionally, motion of a distal end 318 of an elongate device 310 in multiple directions including yaw, pitch, and roll. Instrument carriage 306 or insertion stage 308 may include actuators, such as servomotors, (not shown) that control motion of instrument carriage 306 along insertion stage 308.
A sensor device 320, which may be a component of the sensor system 108, provides information about the position of instrument body 312 as it moves on insertion stage 308 along an insertion axis A. Sensor device 320 may include resolvers, encoders, potentiometers, and/or other sensors that determine the rotation and/or orientation of the actuators controlling the motion of instrument carriage 306 and consequently the motion of instrument body 312. In some embodiments, insertion stage 308 is linear. In some embodiments, insertion stage 308 may be curved or have a combination of curved and linear sections.
In an illustrative application, a medical system, such as medical system 100, may include a robotic catheter system for use in lung biopsy procedures. A catheter of the robotic catheter system provides a conduit for tools such as endoscopes, endobronchial ultrasound (EBUS) probes, and/or biopsy tools to be delivered to locations within the airways where one or more anatomic targets of the lung biopsy, such as lesions, nodules, tumors, and/or the like, are present. When the catheter is driven through anatomy, typically an endoscope is installed such that a clinician, such as surgeon O, can monitor a live camera feed of a distal end of the catheter. The live camera feed and/or other real-time navigation information may be displayed to the clinician via a graphical user interface. An example of a graphical user interface for monitoring the biopsy procedure is covered in U.S. Provisional Patent Application No. 62/486,879 entitled “Graphical User Interface for Monitoring an Image-Guided Procedure and filed Apr. 18, 2017, which is hereby incorporated by reference in its entirety.
Before the biopsy procedure is performed using the robotic catheter system, pre-operative planning steps may be performed to plan the biopsy procedure. Pre-operative planning steps may include segmentation of image data, such as a patient CT scan, to create a 3D model of anatomy, selecting anatomic targets within the 3D model, determining airways in the model, growing the airways to form a connected tree of airways, and planning trajectories between the targets and the connected tree. One or more of these steps may be performed on the same robotic catheter system used to perform the biopsy. Alternately or additionally, planning may be performed on a different system, such as a workstation dedicated to pre-operative planning. The plan for the biopsy procedure may be saved (e.g., as one or more digital files) and transferred to the robotic catheter system used to perform the biopsy procedure. The saved plan may include the 3D model, identification of airways, target locations, trajectories to target locations, routes through the 3D model, and/or the like.
Illustrative embodiments of a graphical user interface for planning a medical procedure, including but not limited to the lung biopsy procedure described above, are provided below. The graphical user interface may include a plurality of modes including a data selection mode, a hybrid segmentation and planning mode, a preview mode, a save mode, a management mode, and a review mode. Some aspects of the graphical user interface are similar to features described in U.S. Provisional Patent Application No. 62/357,217, entitled “Graphical User Interface for Displaying Guidance Information During and Image-Guided. Procedure” and filed Jun. 30, 2016, and U.S. Provisional Patent Application No. 62/357,258, entitled “Graphical User Interface for Displaying Guidance Information in a Plurality of Modes During and Image-Guided Procedure” and filed Jun. 30, 2016, which are hereby incorporated by reference in their entirety.
In the planning and execution of a medical procedure, an anatomical boundary or a virtual “hazard fence” may be defined by identifying a surface that is not to be crossed by a medical instrument during the medical procedure. The anatomical boundary may shield vulnerable portions of the anatomy that are in the vicinity of the target location or other portions of interest from being inadvertently penetrated by the medical instrument. Portions of interest, including vulnerable anatomic structures or surfaces, may include, for example, pulmonary pleurae, pulmonary fissures, large bullae, and blood vessels. For example, puncturing the lung pleura during the medical procedure could cause dangerous pneumothorax to the patient. Consistent with such embodiments, defining an anatomical boundary corresponding to the lung pleura may allow the operator to constrain the path of the medical instrument to avoid the vulnerable portion of the anatomy. For example, a candidate path may be invalid when it passes within a threshold distance of a vulnerable portion of the anatomy, breaches a vulnerable portion of the anatomy, and/or the like.
Graphical user interface 500 displays information associated with planning a medical procedure in one or more views that are viewable to a user, such as operator O. Although illustrative arrangements of views are depicted in
The methods disclosed herein are illustrated as a set of operations or processes. Not all of the illustrated processes may be performed in all embodiments of an illustrated method. Additionally, one or more processes that are not expressly illustrated may be included before, after, in between, or as part of the illustrated processes. In some embodiments, one or more of the processes may be implemented, at least in part, in the form of executable code stored on non-transitory, tangible, machine-readable media that when run by one or more processors (e.g., the processors of a control system) may cause the one or more processors to perform one or more of the processes. In one or more embodiments, the processes may be performed by the control system 112.
At a process 410, image data 510 corresponding to a three-dimensional anatomical region of a patient P is displayed via graphical user interface 500. As depicted in
At a process 420, a first user input for generating or defining a curve 520 in the three-dimensional anatomical region is received via a user input device. The curve 520 is generated in one plane of the image data 510. In some embodiments, the first user input may be provided by the operator via a mouse, a touchscreen, a stylus, or the like. As depicted in
At a process 430, a second user input for generating or defining a second curve 530 in the three-dimensional anatomical region is received via the user input device. The curve 530 is generated in a plane of the image data 510 that is different from the image plan in which the curve 520 was defined. As depicted in
At a process 440, optionally, additional user inputs may be received, each additional user input generating or defining an additional curve (e.g., additional curve 532,
At a process 450 and as illustrated in
Optionally, at a process 460, anatomical boundary 540 is displayed via graphical user interface 500. According to some embodiments, a visual representation of anatomical boundary 540 may be overlaid on the image data. As depicted in
In some cases, an interpolated portion of anatomical boundary 540 may not accurately track the actual anatomical boundary that the operator seeks to define. For example, in the illustrative example depicted in
Before or after the display of image data at process 410, at an optional process 412, the user may be presented with a selectable choice between curve drawing options including freehand and polyline form. In some embodiments, curve 520 may be drawn in freehand, in polyline form, in a series of plotted points, or the like. In the case of a polyline input (e.g. a series of straight line segments) or the series of plotted points, the curve 520 may be determined, for example, by spline fitting. Optionally, the spline fitting may be performed when all the points are received. Optionally, the spline fitting may be performed on all the received points and is updated when a new point is received. Optionally, the spline fitting may be performed by all points that have been received and the current mouse location so that user can see in real time the shape of the fitted curve before a point is received. According to some embodiments, the first user input may be received in response to receiving a selection of an anatomical boundary tool 518 by the operator. The selection of anatomical boundary tool 518 indicates that the operator intends to define an anatomical boundary via graphical user interface 500.
At the process 450, anatomical boundary 540 may be determined based on stored or displayed as a three-dimensional surface mesh that includes a plurality of vertices.
Referring again to
At an optional process 462, the anatomical boundary 540 may be deformed based on patient movement. During navigation, the patient anatomy and consequently the model may move or become deformed by, for example, forces from the medical instrument, the lung expiration and inspiration, and the beating heart. The deformation may be measured, for example by a shape sensor in the medical instrument or predicted by simulation and the deformation may be applied to the model. The anatomical boundary 540 may likewise be adjusted or deformed to correspond to the deformation of the model.
At the process 414, guidance information and visualization aides may further be displayed to suggest a range or shape that anatomical border 540 should cover. Accordingly, range guidance information may be displayed to improve the range of protection provided by anatomical border 540, as discussed in further detail below with reference to
As depicted in
Based on determining the at-risk portion 640 of surface 610, guidance information may be provided in image data 510 to the operator to ensure that the anatomical boundary 540 defined during method 400A provides sufficient protection for the at-risk portion 640 of surface 610. For example, visual representations of at-risk portion 640, projection 642, or both may be displayed via graphical user interface 500.
As depicted in
During a planning procedure, a safety score may be computed and provided to the operator that indicates the likelihood that the instrument will breach the boundary 540. Based on the score, the planned navigational path may be adjusted or revised to achieve a safer route. A variety of paths with different, safety scores may be provided to the operator for selection.
Referring again to
At a process 488, guidance information may include a starting point and an ending point of the first curve. In some embodiments, anatomical boundary 540 may also have an irregular shape when curve 530 is inadvertently flipped relative to curve 520 (e.g., when the respective start and end points are on opposite ends of the curves). For example, anatomical boundary 540 may have a twisted shape when the directions are flipped. Accordingly, guidance information may be displayed to indicate which direction curve 530 should be oriented to match curve 520. For example, with respect to the projection or shadow of curve 520 discussed above (or, analogously, the projection of anatomical boundary 540), a starting point may be displayed in visually distinguishable manner from the end point (e.g., using different colors, patterns, textures, etc.).
Referring again to
At an optional process 491, suggested deployment locations for a medical instrument may be provided. For example, during a registration procedure to register the three-dimensional model to the patient anatomy, a point gathering medical instrument may be used to touch a recommended cloud of points in the patient anatomy. The recommended cloud of points may be determined based on their location relative to the boundary 540. For example a point may be recommended only if it is within a threshold distance from the boundary 540. Similarly, during the biopsy procedure, recommended biopsy locations may be determined based on their location relative to the boundary 540. For example a biopsy point may be recommended only if it is within a threshold distance from the boundary 540.
At an optional process 492, during a medical procedure, the position and orientation of the medical instrument relative to the anatomical boundary 540 may be monitored. A distance between the medical instrument and the anatomical boundary 540 may be measured, for example, from the distal end portion of the instrument or from a portion of the instrument that is closest to the anatomical boundary 540. At a process 493, when the distance between the instrument and the anatomical boundary 540 becomes less than a predetermined threshold distance value, an indicator may be provided to an operator. For example, a visual indicator on the graphical user interface 500 may be provided in the form of a color change, textual alert, highlighted instrument, highlighted boundary 540, or other visual warning signal. Indicators may also be provided in the form of audible, haptic, or other operator-perceptible signals. Additionally or alternatively, at a process 494, the control system 112 may monitor the distance and slow the instrument speed or stop it completely as it approaches the surface corresponding to the boundary 540. Additionally or alternatively, at a process 495, the operator may provide a user input (e.g., pressing a button) that will aim the distal end of the medical instrument away from the surface corresponding to the boundary 540. Additionally or alternatively, the distance based-indicator may be used in a planning procedure with a virtual medical instrument.
One or more elements in embodiments of this disclosure may be implemented in software to execute on a processor of a computer system such as control processing system. When implemented in software, the elements of the embodiments of the invention are essentially the code segments to perform the necessary tasks. The program or code segments can be stored in a processor readable storage medium or device that may have been downloaded by way of a computer data signal embodied in a carrier wave over a transmission medium or a communication link. The processor readable storage device may include any medium that can store information including an optical medium, semiconductor medium, and magnetic medium. Processor readable storage device examples include an electronic circuit; a semiconductor device, a semiconductor memory device, a read only memory (ROM), a flash memory, an erasable programmable read only memory (EPROM); a floppy diskette, a CD-ROM, an optical disk, a hard disk, or other storage device. The code segments may be downloaded via computer networks such as the Internet, Intranet, etc. Any of a wide variety of centralized or distributed data processing architectures may be employed. Programmed instructions may be implemented as a number of separate programs or subroutines, or they may be integrated into a number of other aspects of the systems described herein. In one embodiment, the control system supports wireless communication protocols such as Bluetooth, IrDA, HomeRF, IEEE 802.11, DECT, and Wireless Telemetry.
Medical tools that may be delivered through the flexible elongate devices or catheters disclosed herein may include, for example, image capture probes, biopsy instruments, laser ablation fibers, and/or other surgical, diagnostic, or therapeutic tools. Medical tools may include end effectors having a single working member such as a scalpel, a blunt blade, an optical fiber, an electrode, and/or the like. Other end effectors may include, for example, forceps, graspers, scissors, clip appliers, and/or the like. Other end effectors may further include electrically activated end effectors such as electrosurgical electrodes, transducers, sensors, and/or the like. Medical tools may include image capture probes that include a stereoscopic or monoscopic camera for capturing images (including video images). Medical tools may additionally house cables, linkages, or other actuation controls (not shown) that extend between its proximal and distal ends to controllably bend the distal end of medical instrument 304. Steerable instruments are described in detail in U.S. Pat. No. 7,316,681 (filed on Oct. 4, 2005) (disclosing “Articulated Surgical Instrument for Performing Minimally Invasive Surgery with Enhanced Dexterity and Sensitivity”) and U.S. patent application Ser. No. 12/286,644 (filed Sep. 30, 2008) (disclosing “Passive Preload and Capstan Drive for Surgical Instruments”), which are incorporated by reference herein in their entireties.
The systems described herein may be suited for navigation and treatment of anatomic tissues, via natural or surgically created connected passageways, in any of a variety of anatomic systems, including the lung, colon, the intestines, the kidneys and kidney calices, the brain, the heart, the circulatory system including vasculature, and/or the like.
Note that the processes and displays presented may not inherently be related to any particular computer or other apparatus. Various general-purpose systems may be used with programs in accordance with the teachings herein, or it may prove convenient to construct a more specialized apparatus to perform the operations described. The required structure for a variety of these systems will appear as elements in the claims. In addition, the embodiments of the invention are not described with reference to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the invention as described herein.
While certain exemplary embodiments of the invention have been described and shown in the accompanying drawings, it is to be understood that such embodiments are merely illustrative of and not restrictive on the broad invention, and that the embodiments of the invention not be limited to the specific constructions and arrangements shown and described, since various other modifications may occur to those ordinarily skilled in the art.
This application claims the benefit of U.S. Provisional Application 62/741,157 filed Oct. 4, 2018, which is incorporated by reference herein in its entirety.
Filing Document | Filing Date | Country | Kind |
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PCT/US19/53820 | 9/30/2019 | WO | 00 |
Number | Date | Country | |
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62741157 | Oct 2018 | US |