Systems and methods for guidance of intraluminal devices within the vasculature
Inventors
Sganga, Jake Anthony • Bell, David James • Fredrickson, Benjamin • Kahn, Gregory
Assignees
Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Publication Number
US-11779406-B2
Publication Date
2023-10-10
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 from an insertion site to a target site during an endovascular procedure. It uses medical images obtained non-invasively to identify a distal tip of the instrument and a direction of the distal tip within the medical image, and determines a current position and a current direction of the distal tip with respect to a two-dimensional imaging plane based on the identified distal tip and direction, one or more past positions and past directions, and one or more past trajectory commands generated during previously executed steps.
The invention provides closed-loop guidance by displaying the medical image together with an indication of the determined current position and current direction of the distal tip on a display device of a user device. It receives 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, and based on the determined current position and current direction, generates at least one current trajectory command for moving the instrument within the vascular network toward the navigation waypoint and provides the current trajectory command to a robotic medical system configured to move the instrument.
For each plurality of steps, the invention can determine a waypoint for the distal tip based at least in part on the determined current position and current direction, and then generate trajectory commands to move the instrument through the vascular network from the current position to the waypoint. It further supports navigation using a suggested waypoint and a waypoint confirmation or adjustment workflow, and can determine a pre-operatively determined pathway through the vascular network based on a pre-operative CT scan. The system can also include safety and decision logic, including stopping or retracting the instrument when an insertion-force threshold is exceeded, and deciding whether to inject contrast material into a vascular network based on time elapsed and distance moved along with the current position and direction of the distal tip.
Claims Coverage
The independent claims identified are clm-00001 and clm-00007. Across these independent claims, the inventive features center on non-invasive image-based distal tip and direction identification, closed-loop current position and current direction estimation using past states and past trajectory commands, waypoint determination using image-space pixel or group selection or computed waypoint selection, and generating and providing trajectory commands to a robotic medical system for stepwise movement through a vascular network.
Non-invasive image-based distal tip and direction identification
The processor receives a medical image obtained non-invasively and identifies, within the medical image, a distal tip of the instrument and a direction of the distal tip of the instrument.
Current position and current direction estimation using past states and past commands
The processor determines a current position and a current direction of the distal tip with respect to a two-dimensional imaging plane based on the identified distal tip and direction, one or more past positions and past directions determined during one or more previously executed steps, and one or more past trajectory commands generated during one or more previously executed steps.
Image display with determined distal tip state
The processor displays 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.
Pixel or group-of-pixels waypoint selection on the displayed image
The processor receives, on an input device of the user device, a selection of a navigation waypoint comprising a pixel or group of pixels on the displayed medical image.
Trajectory command generation toward the navigation waypoint
The processor generates at least one current trajectory command based on the determined current position and the current direction, the at least one current trajectory command for moving the instrument within the vascular network toward the navigation waypoint, and provides the at least one current trajectory command to a robotic medical system configured to move the instrument according to the current trajectory command.
Waypoint determination based on current position and current direction
The processor determines a waypoint for the distal tip based at least in part on the determined current position and the current direction of the distal tip.
Trajectory command generation from current position to the determined waypoint
The processor generates at least one current trajectory command based on the determined current position, the determined current direction, and the determined waypoint, the at least one current trajectory command for moving the instrument through the vascular network from the current position to the waypoint.
The independent claims cover an endovascular guidance system that performs non-invasive medical image acquisition, identifies the instrument distal tip and direction, estimates current position and direction in a two-dimensional imaging plane using past positions, past directions, and past trajectory commands, determines waypoints including pixel or group-of-pixels selection and computed waypoint selection, and generates and provides trajectory commands to a robotic medical system to move the instrument stepwise through a vascular network.
Stated Advantages
Documented Applications
Mechanical thrombectomy for large vessel occlusion stroke treatment during an endovascular procedure.
Interested in licensing this patent?