Image space control for endovascular tools
Inventors
Bell, David James • Sganga, Jake Anthony • Kahn, Gregory
Assignees
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Publication Number
US-11707332-B2
Publication Date
2023-07-25
Expiration Date
Abstract
Systems and methods for image space control of a medical instrument are provided. In one example, a system is configured to display a two-dimensional medical image including a view of at least a distal end of an instrument. The system can determine, based on one or more fiducials on the instrument, a roll estimate of the instrument. The system further can receive a user input comprising a heading command to change a heading of the instrument within a plane of the medical image, or an incline command to change an incline of the instrument into or out of the plane of the medical image. Based on the roll estimate and the user input, the system can generate one or more motor commands configured to cause a robotic system coupled to the medical instrument to move the robotic medical instrument.
Core Innovation
The invention provides a computer-implemented system that displays, on a graphical user interface, a two-dimensional medical image including a view of at least a distal end of a medical instrument. The distal end includes one or more fiducials positioned thereon that are visible in the medical image, and the two-dimensional medical image comprises a fluoroscopic image captured with a medical imaging device decoupled from the medical instrument.
Based on the one or more fiducials in the medical image, the system determines a roll estimate of a current roll angle of the medical instrument. The system can determine the roll estimate based on the two-dimensional appearance of the fiducials in the medical image and/or based on a computer-vision analysis of the fiducials.
The user provides control commands via a user input device configured to allow control of the medical instrument relative to a plane of the medical image. The user input includes at least one of a heading command to change a heading of the medical instrument within the plane of the medical image, or an incline command to change an incline of the medical instrument into or out of the plane of the medical image.
The system generates one or more motor commands configured to cause a robotic system coupled to the medical instrument to move the medical instrument according to the user input. The motor commands are generated based on the roll estimate and the user input provided relative to the plane of the medical instrument, thereby aligning instrument movement with image-plane-relative user commands while accounting for the current roll estimate.
Claims Coverage
The document includes two independent claims, a system claim and a method claim. Across these claims, there are four main inventive feature groups.
Decoupled fluoroscopic two-dimensional display with visible distal fiducials
Displaying, on a graphical user interface, a two-dimensional medical image including a view of at least a distal end of a medical instrument, where the distal end includes one or more fiducials positioned thereon that are visible in the medical image and where the two-dimensional medical image comprises a fluoroscopic image captured with a medical imaging device decoupled from the medical instrument.
Roll estimate from fiducials in the two-dimensional medical image
Determining, based on the one or more fiducials in the medical image, a roll estimate of a current roll angle of the medical instrument.
Image-plane relative heading and incline user commands
Receiving a user input from a user input device to provide control commands for control of the medical instrument relative to a plane of the medical image, where the user input comprises at least one of a heading command to change a heading within the plane of the medical image or an incline command to change an incline into or out of the plane of the medical image.
Motor commands for robotic movement generated from roll estimate and image-plane input
Generating one or more motor commands configured to cause a robotic system coupled to the medical instrument to move the medical instrument according to the user input, where the one or more motor commands are generated based on the roll estimate and the user input provided relative to the plane of the medical instrument, and causing the robotic system to move the medical instrument based on the one or more motor commands.
The independent claims require presenting a decoupled fluoroscopic two-dimensional image of a distal instrument end with visible fiducials, determining a roll estimate from the fiducials in that image, receiving heading and/or incline commands relative to the image plane, and generating motor commands for a robotic system based on both the roll estimate and the image-plane-relative user commands.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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