US 10,588,597 B2Granted

Systems and methods for interventional procedure planning

AssigneeIntuitive Surgical Operations, Inc.

InventorsTao Zhao, Dorin Panescu

Life of this patent

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Abstract

A method includes registering a distal segment of a guide catheter with a patient coordinate system; tracking a position of the distal segment; determining an insertion length based on the tracked position, wherein the imaging probe is disposed within the guide catheter; receiving an image of an anatomic structure from the imaging probe, the image having an image frame of reference, the distal segment having a catheter frame of reference; receiving location data associated with a target structure identified in the image, wherein the received location data is in the image frame of reference; and transforming the location data from the image frame of reference to the catheter frame of reference based on the determined insertion length and the tracked position of the distal segment, wherein transforming the location data further includes determining a roll angle for the image frame of reference with respect to the catheter frame of reference.

Claims27

Dependent claims

A method of deploying an interventional instrument, the method performed by a processing system, the method comprising:

registering a distal segment of a guide catheter with a patient coordinate system;
tracking, using a tracking system, a position of the distal segment of the guide catheter;
determining an insertion length between an imaging probe and the distal segment of the guide catheter based on the tracked position of the distal segment of the guide catheter, wherein the imaging probe is extendably disposed within the guide catheter;
with the imaging probe extended to the insertion length relative to the distal segment of the guide catheter, receiving an image of an anatomic structure from the imaging probe, the image having an image frame of reference, the distal segment of the guide catheter having a catheter frame of reference;
receiving location data associated with a target structure identified in the image, wherein the received location data is in the image frame of reference;
and
transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference based on the determined insertion length and the tracked position of the distal segment of the guide catheter, wherein transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference further includes determining a roll angle for the image frame of reference with respect to the catheter frame of reference.

4 more elements

A system comprising:

non-transitory computer readable media containing computer executable instructions for planning a procedure to deploy an interventional instrument including:
instructions for registering a distal segment of a guide catheter with a patient coordinate system;
instructions for tracking, using a tracking system, a position of the distal segment of the guide catheter;
instructions for determining an insertion length between an imaging probe and the distal segment of the guide catheter based on the tracked position of the distal segment of the guide catheter, wherein the imaging probe is extendably disposed within the guide catheter;
instructions for receiving an image of an anatomic structure from the imaging probe while extended the insertion length beyond the distal segment of the guide catheter, the image having an image frame of reference, the distal segment of the guide catheter having a catheter frame of reference;
instructions for receiving location data associated with a target structure identified in the image, wherein the received location data is in the image frame of reference;
and
instructions for transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference based on the insertion length and the tracked position of the distal segment of the guide catheter, wherein transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference further includes determining a roll angle for the image frame of reference with respect to the catheter frame of reference.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/144,186Filed 30 Dec 2013 · us provisional application
Priority: 31 Dec 2012
Published: US 2014/0187949 A13 Jul 2014
Granted: 17 Mar 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification15 codes

A61B 8/12
Diagnosis using ultrasonic, sonic or infrasonic waves: in body cavities or body tracts, e.g. by using catheters
A61B 8/0841
Involving detecting or locating foreign bodies or organic structures: for locating instruments
A61B 8/085
Involving detecting or locating foreign bodies or organic structures: for locating body or organic structures, e.g. tumours, calculi, blood…
A61B 8/4263
Involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient: using sensors not mounted on…