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-11229488-B2
Publication Date
2022-01-25
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 relates to guiding an instrument within a vascular network of a patient using real-time medical imaging and computer vision. A processor receives a medical image from a medical imaging device and identifies, within the medical image, a distal tip of the instrument and a direction of the distal tip, then determines a current position and a current direction of the distal tip with respect to the medical image based on the identified distal tip and the identified direction.
The processor identifies vessels of the vascular network within the medical image and determines, based on the current position, the current direction, the identified vessels, and a target location, a vessel roadmap from the current position to the target location. The vessel roadmap includes a sequence of at least some of the identified vessels extending to the target location, and the processor determines a waypoint path comprising a plurality of waypoints positioned along the vessel roadmap.
The processor displays the waypoint path overlaid onto the medical image on a graphical user interface and receives input data comprising confirmation or modification of a next waypoint. The processor generates at least one current trajectory command based on the current position, current direction, the next waypoint, and the input data, and transmits the trajectory command to a robotic medical system coupled to the instrument to semi-autonomously advance the distal tip through the vascular network to reach a new position, using closed-loop guidance from the medical image.
Claims Coverage
The independent claim is clm-00001. The claim system covers 4 inventive features centered on image-based guidance of an instrument through a vascular network.
Image-based distal-tip identification for navigation
Receive a medical image; identify a distal tip and a direction of the distal tip within the medical image; determine a current position and a current direction of the distal tip with respect to the medical image based on the identified distal tip and direction.
Vessel-roadmap determination to a target
Identify one or more vessels within the medical image; determine, based on current position, current direction, identified vessels, and a target location, a vessel roadmap comprising a sequence of at least some identified vessels extending from the current position to the target location.
Waypoint-path computation and gui overlay
Determine a waypoint path based at least in part on the determined current position, current direction, and the vessel roadmap, wherein the waypoint path comprises a plurality of waypoints positioned along the vessel roadmap; cause display of the waypoint path overlaid onto the medical image on a GUI on a user device.
Semi-autonomous trajectory-command generation with confirmation or modification
Receive from the GUI input data comprising a confirmation or modification of a next waypoint of the waypoint path; generate at least one current trajectory command based on the current position, current direction, the next waypoint, and the input data; transmit the at least one trajectory command to a robotic medical system coupled to the instrument so the robotic medical system executes the trajectory command to semi-autonomously advance the distal tip through the vascular network to reach a new position.
Overall, the claimed coverage centers on closed-loop guidance where image-based localization and vessel roadmap computation define a waypoint path that is confirmed or modified via a GUI, after which trajectory commands are transmitted to a robotic medical system for semi-autonomous advancement of an instrument through a vascular network.
Stated Advantages
Semi-autonomously advances the distal tip of the instrument through the vascular network to reach a new position.
Provides a GUI overlay of the waypoint path on the medical image and allows confirmation or modification of the next waypoint.
Supports safety via force-threshold stopping/retraction when an insertion force exceeds a predetermined limit.
Documented Applications
Guiding an instrument within a patient’s vascular network for endovascular procedures, including mechanical thrombectomy (MT) for large vessel occlusion (LVO) ischemic stroke.
Pre-operative CT-based screening for patient candidacy for endovascular procedures.
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