Systems and methods for guidance of intraluminal devices within the vasculature
Inventors
Sganga, Jake Anthony • Bell, David James • Fredrickson, Benjamin • Kahn, Gregory
Assignees
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Publication Number
US-11197725-B1
Publication Date
2021-12-14
Expiration Date
Abstract
System for guiding an instrument within a vascular network of a patient are disclosed. In some embodiments, the system receives a medical image from a medical imaging device and identifies a distal tip and a direction the instrument in the image. The system may then determine a waypoint for the distal tip of the instrument based at least in part on the position and direction of the distal tip of the instrument. The system may then generate a trajectory command for moving the instrument through the vascular network from the current position to the waypoint. The system may operate in a closed loop. The system may provide the trajectory command to a robotic medical system configured to move the instrument according to the command.
Core Innovation
The invention provides a computing system for guiding an instrument within a vascular network of a patient from an insertion site to a target site during an endovascular procedure. The system receives a medical image from a medical imaging device obtained external to the patient non-invasively and uses computer vision analysis to identify the distal tip of the instrument and a direction of the distal tip within the medical image. It determines the current position and current direction of the distal tip with respect to a two-dimensional imaging plane based on the identified distal tip and direction, together with one or more past positions, past directions, and one or more past trajectory commands.
The computing system displays the medical image and an indication of the determined current position and current direction of the distal tip on a display device of a user device. The user provides input data through a graphical user interface displayed on an input device, where the input includes a selection of a navigation waypoint for movement of the distal tip, and the selection comprises a pixel or group of pixels on the displayed medical image.
Based on the determined current position and current direction and the input data, the computing system dynamically generates at least one patient specific trajectory command for moving the instrument within the vascular network toward the navigation waypoint. The system transmits the patient specific trajectory command to a robotic medical system configured to semi-autonomously advance the distal tip of the instrument through the vasculature to reach a position within the vasculature.
In the remote implementation, the user device is remotely located relative to the patient, the instrument, and the robotic medical system, and the user device is in electronic communication with the robotic medical system through a wide area network or the internet or an electronic network. The invention further supports safety-oriented behaviors such as warnings when an unsafe action is determined for a navigation waypoint and verification of the distal tip state based on movement executed by the robotic medical system.
Claims Coverage
The partial content includes two independent claims (clm-00001 and clm-00016). Each independent claim covers a computing system that uses non-invasive external medical imaging and computer vision to identify an instrument distal tip and direction, computes a current position and direction in a two-dimensional imaging plane, displays this to a remote user, receives GUI-based pixel or group-of-pixels waypoint input, dynamically generates patient specific trajectory commands, and transmits those commands to a robotic medical system for semi-autonomous advancement via an electronic network.
Non-invasive external medical imaging with computer vision instrument localization
Receive a medical image from a medical imaging device obtained external to the patient non-invasively, and identify within the medical image a distal tip of the instrument and a direction of the distal tip based on computer vision analysis of the instrument within the medical image.
Two-dimensional current distal tip pose determination using prior steps and trajectory commands
Determine a current position and a current direction of the distal tip of the instrument with respect to a two-dimensional imaging plane based on the identified distal tip and the identified direction, and one or more past positions and past directions and one or more past trajectory commands determined during one or more previously executed steps.
Remote GUI pixel or group-of-pixels navigation waypoint selection
Transmit display data to display the medical image including an indication of the determined current position and the current direction of the distal tip on a display device of a user device, and receive input data through a GUI displayed on an input device of the user device, the input data comprising a selection of a navigation waypoint for movement of the distal tip where the selection comprises a pixel or group of pixels on the displayed medical image.
Dynamically generated patient specific trajectory commands to move toward the navigation waypoint
Generate dynamically at least one patient specific trajectory command based on the determined current position and the current direction and the input data, the patient specific trajectory command for moving the instrument within the vascular network toward the navigation waypoint, and transmit the patient specific trajectory command to a robotic medical system configured to move the instrument according to the patient specific trajectory command.
Semi-autonomous advancement of distal tip controlled via remote electronic communication
The selection of the navigation waypoint causes the robotic medical system to semi-autonomously advance the distal tip of the instrument through the vasculature to reach a position within the vasculature, wherein the user device is remotely located relative to the patient, the instrument, and the robotic medical system, and wherein the user device is in electronic communication with the robotic medical system through a wide area network or the internet or an electronic network.
Safety gating and warning notification for unsafe navigation waypoint actions
Generate the patient specific trajectory command only if the navigation waypoint is not determined to be an unsafe action, and transmit a warning notification to the user device when the unsafe action is determined.
Verification of distal tip position and direction based on executed movement
Verify the distal tip’s current position and current direction of the instrument within a patient based on movement of the instrument according to at least one patient-specific trajectory command executed by the robotic medical system.
Across the independent claims, the core claim coverage centers on externally obtained non-invasive medical images; computer vision localization of instrument distal tip and direction; determination of current position and direction in a two-dimensional imaging plane; GUI-based selection of a navigation waypoint via pixel or group of pixels on the displayed image; dynamic generation and transmission of patient specific trajectory commands to a robotic medical system for semi-autonomous advancement; and remote operation over an electronic network. Dependent features in the partial claim set add safety gating with warning notifications and verification of the computed distal tip state based on executed motion.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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